Merge pull request #1664 from MRprusa3d/PFW-811

"disable_z()" for Delta PSU

Firmware/Marlin.h

@@ -172,6 +172,17 @@ void manage_inactivity(bool ignore_stepper_queue=false);
   #define disable_z() {}
 #endif
 
+#ifdef PSU_Delta
+void init_force_z();
+void check_force_z();
+#undef disable_z()
+#define disable_z() disable_force_z()
+void disable_force_z();
+#undef enable_disable_z()
+#define enable_z() enable_force_z()
+void enable_force_z();
+#endif // PSU_Delta
+
 
 
 

Firmware/Marlin_main.cpp

@@ -1298,6 +1298,9 @@ void setup()
 	update_mode_profile();
 	tmc2130_init();
 #endif //TMC2130
+#ifdef PSU_Delta
+     init_force_z();                              // ! important for correct Z-axis initialization
+#endif // PSU_Delta
     
 	setup_photpin();
 
@@ -1335,7 +1338,7 @@ void setup()
   }
 #endif //TMC2130
 
-#if defined(Z_AXIS_ALWAYS_ON)
+#if defined(Z_AXIS_ALWAYS_ON) && !defined(PSU_Delta)
 	enable_z();
 #endif
 	farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
@@ -9813,3 +9816,69 @@ void marlin_wait_for_click()
 }
 
 #define FIL_LOAD_LENGTH 60
+
+#ifdef PSU_Delta
+bool bEnableForce_z;
+
+void init_force_z()
+{
+WRITE(Z_ENABLE_PIN,Z_ENABLE_ON);
+bEnableForce_z=true;                              // "true"-value enforce "disable_force_z()" executing
+disable_force_z();
+}
+
+void check_force_z()
+{
+if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
+     init_force_z();                              // causes enforced switching into disable-state
+}
+
+void disable_force_z()
+{
+uint16_t z_microsteps=0;
+
+if(!bEnableForce_z)
+     return;                                      // motor already disabled (may be ;-p )
+bEnableForce_z=false;
+
+// alignment to full-step
+#ifdef TMC2130
+z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
+#endif // TMC2130
+planner_abort_hard();
+sei();
+plan_buffer_line(
+     current_position[X_AXIS], 
+     current_position[Y_AXIS], 
+     current_position[Z_AXIS]+float((1024-z_microsteps+7)>>4)/cs.axis_steps_per_unit[Z_AXIS], 
+     current_position[E_AXIS],
+     40, active_extruder);
+st_synchronize();
+
+// switching to silent mode
+#ifdef TMC2130
+tmc2130_mode=TMC2130_MODE_SILENT;
+update_mode_profile();
+tmc2130_init(true);
+#endif // TMC2130
+
+axis_known_position[Z_AXIS]=false; 
+}
+
+
+void enable_force_z()
+{
+if(bEnableForce_z)
+     return;                                      // motor already enabled (may be ;-p )
+bEnableForce_z=true;
+
+// mode recovering
+#ifdef TMC2130
+tmc2130_mode=eeprom_read_byte((uint8_t*)EEPROM_SILENT)?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
+update_mode_profile();
+tmc2130_init(true);
+#endif // TMC2130
+
+WRITE(Z_ENABLE_PIN,Z_ENABLE_ON);                  // slightly redundant ;-p
+}
+#endif // PSU_Delta

Firmware/io_atmega2560.h

@@ -368,6 +368,7 @@
 #define PIN_SET(pin) PORT(pin) |= __MSK(pin)
 #define PIN_VAL(pin, val) if (val) PIN_SET(pin); else PIN_CLR(pin);
 #define PIN_GET(pin) (PIN(pin) & __MSK(pin))
+#define PIN_INQ(pin) (PORT(pin) & __MSK(pin))
 
 
 #endif //_IO_ATMEGA2560

Firmware/stepper.cpp

@@ -1306,6 +1306,9 @@ void st_init()
       SET_OUTPUT(Z2_STEP_PIN);
       WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
     #endif
+    #ifdef PSU_Delta
+      init_force_z();
+    #endif // PSU_Delta
     disable_z();
   #endif
   #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)

Firmware/tmc2130.cpp

@@ -143,7 +143,7 @@ uint16_t __tcoolthrs(uint8_t axis)
 	return 0;
 }
 
-void tmc2130_init()
+void tmc2130_init(bool bSupressFlag=false)
 {
 //	DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("STEALTH"):_n("NORMAL"));
 	WRITE(X_TMC2130_CS, HIGH);
@@ -216,6 +216,11 @@ void tmc2130_init()
 	tmc2130_set_wave(E_AXIS, 247, tmc2130_wave_fac[E_AXIS]);
 #endif //TMC2130_LINEARITY_CORRECTION
 
+#ifdef PSU_Delta
+     if(!bSupressFlag)
+          check_force_z();
+#endif // PSU_Delta
+
 }
 
 uint8_t tmc2130_sample_diag()

Firmware/tmc2130.h

@@ -51,7 +51,7 @@ typedef struct
 extern tmc2130_chopper_config_t tmc2130_chopper_config[4];
 
 //initialize tmc2130
-extern void tmc2130_init();
+extern void tmc2130_init(bool bSupressFlag=false);
 //check diag pins (called from stepper isr)
 extern void tmc2130_st_isr();
 //update stall guard (called from st_synchronize inside the loop)

Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h

@@ -26,6 +26,9 @@
 #define STEEL_SHEET
 #define HAS_SECOND_SERIAL_PORT
 
+// PSU
+#define PSU_Delta                                 // uncomment if DeltaElectronics PSU installed
+
 
 // Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
 //#define E3D_PT100_EXTRUDER_WITH_AMP