sync with upstream
This commit is contained in:
PavelSindler
commit
ae0c64248f
14 changed files with 822 additions and 543 deletions
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@ -269,10 +269,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
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#define DISABLE_E false // For all extruders
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#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
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#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
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#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
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#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true
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#define INVERT_E0_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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@ -426,8 +426,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
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// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
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// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
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#define DEFAULT_XJERK 10.0 // (mm/sec)
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#define DEFAULT_YJERK 10.0 // (mm/sec)
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//#define DEFAULT_XJERK 5.0 // (mm/sec)
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//#define DEFAULT_YJERK 5.0 // (mm/sec)
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#define DEFAULT_XJERK 2.5 // (mm/sec)
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#define DEFAULT_YJERK 2.5 // (mm/sec)
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#define DEFAULT_ZJERK 0.2 // (mm/sec)
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#define DEFAULT_EJERK 2.5 // (mm/sec)
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@ -463,8 +465,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
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#define SDSUPPORT // Enable SD Card Support in Hardware Console
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//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
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#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
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#define ENCODER_PULSES_PER_STEP 4 // Increase if you have a high resolution encoder
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#define ENCODER_STEPS_PER_MENU_ITEM 1 // Set according to ENCODER_PULSES_PER_STEP or your liking
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#define ENCODER_PULSES_PER_STEP 2 // Increase if you have a high resolution encoder
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#define ENCODER_STEPS_PER_MENU_ITEM 2 // Set according to ENCODER_PULSES_PER_STEP or your liking
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//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
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//#define ULTIPANEL //the UltiPanel as on Thingiverse
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//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
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@ -1812,7 +1812,7 @@ static float probe_pt(float x, float y, float z_before) {
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}
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#endif // #ifdef ENABLE_AUTO_BED_LEVELING
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/*
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void homeaxis(int axis) {
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#define HOMEAXIS_DO(LETTER) \
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((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
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@ -1823,7 +1823,8 @@ void homeaxis(int axis) {
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0) {
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int axis_home_dir = home_dir(axis);
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#ifdef HAVE_TMC2130_DRIVERS
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tmc2130_st_home_enter(axis);
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if ((axis == X_AXIS) || (axis == Y_AXIS))
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tmc2130_home_enter(axis);
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#endif //HAVE_TMC2130_DRIVERS
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current_position[axis] = 0;
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@ -1840,6 +1841,92 @@ void homeaxis(int axis) {
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
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// feedrate = homing_feedrate[axis]/2 ;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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axis_is_at_home(axis);
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destination[axis] = current_position[axis];
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feedrate = 0.0;
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endstops_hit_on_purpose();
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axis_known_position[axis] = true;
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#ifdef HAVE_TMC2130_DRIVERS
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if ((axis == X_AXIS) || (axis == Y_AXIS))
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tmc2130_home_exit();
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#endif //HAVE_TMC2130_DRIVERS
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}
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}
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/**/
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void homeaxis(int axis) {
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#define HOMEAXIS_DO(LETTER) \
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((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
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if (axis==X_AXIS ? HOMEAXIS_DO(X) :
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axis==Y_AXIS ? HOMEAXIS_DO(Y) :
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0) {
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int axis_home_dir = home_dir(axis);
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#ifdef HAVE_TMC2130_DRIVERS
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tmc2130_home_enter(axis);
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#endif
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
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feedrate = homing_feedrate[axis];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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// sg_homing_delay = 0;
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st_synchronize();
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = -home_retract_mm(axis) * axis_home_dir;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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// sg_homing_delay = 0;
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st_synchronize();
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destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
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#ifdef HAVE_TMC2130_DRIVERS
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if (tmc2130_didLastHomingStall())
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feedrate = homing_feedrate[axis];
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else
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#endif
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feedrate = homing_feedrate[axis] / 2;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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// sg_homing_delay = 0;
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st_synchronize();
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axis_is_at_home(axis);
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destination[axis] = current_position[axis];
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feedrate = 0.0;
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endstops_hit_on_purpose();
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axis_known_position[axis] = true;
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#ifdef HAVE_TMC2130_DRIVERS
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tmc2130_home_exit();
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#endif
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}
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else if (axis==Z_AXIS ? HOMEAXIS_DO(Z) :
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0) {
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int axis_home_dir = home_dir(axis);
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
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feedrate = homing_feedrate[axis];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = -home_retract_mm(axis) * axis_home_dir;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
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feedrate = homing_feedrate[axis]/2 ;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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@ -1849,13 +1936,9 @@ void homeaxis(int axis) {
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feedrate = 0.0;
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endstops_hit_on_purpose();
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axis_known_position[axis] = true;
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#ifdef HAVE_TMC2130_DRIVERS
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tmc2130_st_home_enter(axis);
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#endif //HAVE_TMC2130_DRIVERS
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}
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}
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/**/
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void home_xy()
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{
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set_destination_to_current();
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@ -5408,6 +5491,37 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
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#endif
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}
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break;
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case 910: // M910 TMC2130 init
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{
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tmc2130_init();
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}
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break;
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case 911: // M911 Set TMC2130 holding currents
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{
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if (code_seen('X')) tmc2130_set_current_h(0, code_value());
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if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
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if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
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if (code_seen('E')) tmc2130_set_current_h(3, code_value());
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}
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break;
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case 912: // M912 Set TMC2130 running currents
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{
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if (code_seen('X')) tmc2130_set_current_r(0, code_value());
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if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
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if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
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if (code_seen('E')) tmc2130_set_current_r(3, code_value());
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}
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break;
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case 913: // M912 Print TMC2130 currents
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{
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tmc2130_print_currents();
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}
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break;
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case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
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{
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#if defined(X_MS1_PIN) && X_MS1_PIN > -1
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@ -3,7 +3,8 @@
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#define BOARD_UNKNOWN -1
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#define BOARD_EINY_0_1a 300 // EINY 0.1a
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#define BOARD_EINY_0_4a 299 // EINY 0.4a
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#define BOARD_EINY_0_3a 300 // EINY 0.3a
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#define BOARD_RAMBO 301 // Rambo
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#define BOARD_RAMBO_MINI_1_3 302 // Rambo-mini 1.3
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#define BOARD_RAMBO_MINI_1_0 102 // Rambo-mini 1.0
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109
Firmware/pins.h
109
Firmware/pins.h
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@ -316,10 +316,10 @@
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#endif
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/*****************************************************************
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* EINY Rambo Pin Assignments 0.1a
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* EINY Rambo Pin Assignments 0.3a
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******************************************************************/
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#if MOTHERBOARD == 300
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#define ELECTRONICS "EINY_01a"
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#define ELECTRONICS "EINY_03a"
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#define KNOWN_BOARD
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#ifndef __AVR_ATmega2560__
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#error Oops! Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
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@ -419,10 +419,115 @@
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#endif //NEWPANEL
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#endif //ULTRA_LCD
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#endif //MOTHERBOARD == 300
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/*****************************************************************
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* EINY Rambo Pin Assignments 0.4a
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******************************************************************/
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#if MOTHERBOARD == 299
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#define ELECTRONICS "EINY_04a"
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#define KNOWN_BOARD
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#ifndef __AVR_ATmega2560__
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#error Oops! Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
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#endif
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#define LARGE_FLASH true
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#define HAVE_TMC2130_DRIVERS
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#define X_STEP_PIN 37
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#define X_DIR_PIN 49
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#define X_MIN_PIN 12
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#define X_MAX_PIN 30
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#define X_ENABLE_PIN 29
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#define X_MS1_PIN -1
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#define X_MS2_PIN -1
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#define X_TMC2130_CS 41
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#define Y_STEP_PIN 36
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#define Y_DIR_PIN 48
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#define Y_MIN_PIN 11
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#define Y_MAX_PIN 24
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#define Y_ENABLE_PIN 28
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#define Y_MS1_PIN -1
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#define Y_MS2_PIN -1
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#define Y_TMC2130_CS 39
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#define Z_STEP_PIN 35
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#define Z_DIR_PIN 47
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#define Z_MIN_PIN 10
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#define Z_MAX_PIN 23
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#define Z_ENABLE_PIN 27
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#define Z_MS1_PIN -1
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#define Z_MS2_PIN -1
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#define Z_TMC2130_CS 67
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#define HEATER_BED_PIN 4
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#define TEMP_BED_PIN 2
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#define HEATER_0_PIN 3
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#define TEMP_0_PIN 0
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#define HEATER_1_PIN 7
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#define TEMP_1_PIN 1
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#ifdef BARICUDA
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#define HEATER_2_PIN 6
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#else
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#define HEATER_2_PIN -1
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#endif
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#define TEMP_2_PIN -1
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#define E0_STEP_PIN 34
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#define E0_DIR_PIN 43
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#define E0_ENABLE_PIN 26
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#define E0_MS1_PIN -1
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#define E0_MS2_PIN -1
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#define E0_TMC2130_CS 66
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#define MOTOR_CURRENT_PWM_XY_PIN 46
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#define MOTOR_CURRENT_PWM_Z_PIN 45
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#define MOTOR_CURRENT_PWM_E_PIN 44
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#define SDPOWER -1
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#define SDSS 53
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#define LED_PIN 13
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#define FAN_PIN 6
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#define FAN_1_PIN -1
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#define PS_ON_PIN -1
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#define KILL_PIN -1 // 80 with Smart Controller LCD
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#define SUICIDE_PIN -1 // PIN that has to be turned on right after start, to keep power flowing.
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#ifdef ULTRA_LCD
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#define KILL_PIN 32
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#ifdef NEWPANEL
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#define BEEPER 84 // Beeper on AUX-4
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#define LCD_PINS_RS 82
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//#define LCD_PINS_ENABLE 18
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//#define LCD_PINS_D4 19
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#define LCD_PINS_ENABLE 61
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#define LCD_PINS_D4 59
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#define LCD_PINS_D5 70
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#define LCD_PINS_D6 85
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#define LCD_PINS_D7 71
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//buttons are directly attached using AUX-2
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#define BTN_EN1 72
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#define BTN_EN2 14
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#define BTN_ENC 9 // the click
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#define SDCARDDETECT 15
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#define TACH_0 81
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#define TACH_1 80
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#endif //NEWPANEL
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#endif //ULTRA_LCD
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#endif //MOTHERBOARD == 300
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#ifndef KNOWN_BOARD
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@ -83,11 +83,12 @@ static bool old_y_max_endstop=false;
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static bool old_z_min_endstop=false;
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static bool old_z_max_endstop=false;
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#ifdef SG_HOMING
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#ifdef SG_HOMING_SW
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static bool check_endstops = false;
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#else
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static bool check_endstops = true;
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#endif
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||||
static bool check_z_endstop = false;
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int8_t SilentMode;
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||||
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|
@ -404,7 +405,11 @@ ISR(TIMER1_COMPA_vect)
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|||
{
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||||
{
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#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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#ifndef SG_HOMING_SW
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bool x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
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#else //SG_HOMING_SW
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bool x_min_endstop = tmc2130_axis_stalled[X_AXIS];
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#endif //SG_HOMING_SW
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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@ -420,7 +425,11 @@ ISR(TIMER1_COMPA_vect)
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{
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{
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||||
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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#ifndef SG_HOMING_SW
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bool x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
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#else //SG_HOMING_SW
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bool x_max_endstop = tmc2130_axis_stalled[X_AXIS];
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#endif //SG_HOMING_SW
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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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@ -440,7 +449,11 @@ ISR(TIMER1_COMPA_vect)
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|||
CHECK_ENDSTOPS
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{
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||||
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
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||||
#ifndef SG_HOMING_SW
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bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
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#else //SG_HOMING_SW
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bool y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
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#endif //SG_HOMING_SW
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||||
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
|
||||
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
|
||||
endstop_y_hit=true;
|
||||
|
|
@ -454,7 +467,11 @@ ISR(TIMER1_COMPA_vect)
|
|||
CHECK_ENDSTOPS
|
||||
{
|
||||
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
|
||||
#ifndef SG_HOMING_SW
|
||||
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
|
||||
#else //SG_HOMING_SW
|
||||
bool y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
|
||||
#endif //SG_HOMING_SW
|
||||
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
|
||||
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
|
||||
endstop_y_hit=true;
|
||||
|
|
@ -865,13 +882,21 @@ void st_init()
|
|||
// Block until all buffered steps are executed
|
||||
void st_synchronize()
|
||||
{
|
||||
while( blocks_queued()) {
|
||||
while(blocks_queued())
|
||||
{
|
||||
#ifdef HAVE_TMC2130_DRIVERS
|
||||
manage_heater();
|
||||
// Vojtech: Don't disable motors inside the planner!
|
||||
if (!tmc2130_update_sg())
|
||||
{
|
||||
manage_inactivity(true);
|
||||
lcd_update();
|
||||
}
|
||||
#else //HAVE_TMC2130_DRIVERS
|
||||
manage_heater();
|
||||
// Vojtech: Don't disable motors inside the planner!
|
||||
manage_inactivity(true);
|
||||
lcd_update();
|
||||
#ifdef HAVE_TMC2130_DRIVERS
|
||||
tmc2130_st_synchronize();
|
||||
#endif //HAVE_TMC2130_DRIVERS
|
||||
}
|
||||
}
|
||||
|
|
@ -902,6 +927,13 @@ long st_get_position(uint8_t axis)
|
|||
return count_pos;
|
||||
}
|
||||
|
||||
void st_get_position_xy(long &x, long &y)
|
||||
{
|
||||
CRITICAL_SECTION_START;
|
||||
x = count_position[X_AXIS];
|
||||
y = count_position[Y_AXIS];
|
||||
CRITICAL_SECTION_END;
|
||||
}
|
||||
|
||||
float st_get_position_mm(uint8_t axis)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -54,6 +54,8 @@ void st_set_e_position(const long &e);
|
|||
// Get current position in steps
|
||||
long st_get_position(uint8_t axis);
|
||||
|
||||
// Get current x and y position in steps
|
||||
void st_get_position_xy(long &x, long &y);
|
||||
|
||||
// Get current position in mm
|
||||
float st_get_position_mm(uint8_t axis);
|
||||
|
|
|
|||
|
|
@ -5,7 +5,206 @@
|
|||
#include "tmc2130.h"
|
||||
#include <SPI.h>
|
||||
|
||||
uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
|
||||
//externals for debuging
|
||||
extern float current_position[4];
|
||||
extern void st_get_position_xy(long &x, long &y);
|
||||
|
||||
//chipselect pins
|
||||
uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
|
||||
//holding currents
|
||||
uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
|
||||
//running currents
|
||||
uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
|
||||
//axis stalled flags
|
||||
uint8_t tmc2130_axis_stalled[4] = {0, 0, 0, 0};
|
||||
//last homing stalled
|
||||
uint8_t tmc2130_LastHomingStalled = 0;
|
||||
|
||||
uint8_t sg_homing_axis = 0xff;
|
||||
uint8_t sg_homing_delay = 0;
|
||||
|
||||
|
||||
uint32_t tmc2130_read(uint8_t cs, uint8_t address);
|
||||
void tmc2130_write(uint8_t cs, uint8_t address, uint8_t wval1, uint8_t wval2, uint8_t wval3, uint8_t wval4);
|
||||
uint8_t tmc2130_read8(uint8_t cs, uint8_t address);
|
||||
uint32_t tmc2130_readRegister(uint8_t cs, uint8_t address);
|
||||
uint16_t tmc2130_readSG(uint8_t cs);
|
||||
uint16_t tmc2130_readTStep(uint8_t cs);
|
||||
void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16);
|
||||
void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale = PWM_AUTOSCALE, uint8_t PWMfreq = PWM_FREQ, uint8_t PWMgrad = PWM_GRAD, uint8_t PWMampl = PWM_AMPL);
|
||||
void tmc2130_PWMthreshold(uint8_t cs);
|
||||
void tmc2130_disable_motor(uint8_t driver);
|
||||
|
||||
|
||||
void tmc2130_init()
|
||||
{
|
||||
MYSERIAL.println("tmc2130_init");
|
||||
WRITE(X_TMC2130_CS, HIGH);
|
||||
WRITE(Y_TMC2130_CS, HIGH);
|
||||
WRITE(Z_TMC2130_CS, HIGH);
|
||||
WRITE(E0_TMC2130_CS, HIGH);
|
||||
SET_OUTPUT(X_TMC2130_CS);
|
||||
SET_OUTPUT(Y_TMC2130_CS);
|
||||
SET_OUTPUT(Z_TMC2130_CS);
|
||||
SET_OUTPUT(E0_TMC2130_CS);
|
||||
SPI.begin();
|
||||
for (int i = 0; i < 3; i++) //X Y Z axes
|
||||
{
|
||||
tmc2130_write(tmc2130_cs[i], 0x00, 0, 0, 0, 0x04); //address=0x0 GCONF - bit 2 activate stealthChop
|
||||
tmc2130_write(tmc2130_cs[i], 0x10, 0, 15, tmc2130_current_r[i], tmc2130_current_h[i]); //0x10 IHOLD_IRUN
|
||||
tmc2130_write(tmc2130_cs[i], 0x11, 0, 0, 0, 0);
|
||||
tmc2130_PWMconf(tmc2130_cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
|
||||
//tmc2130_PWMthreshold(tmc2130_cs[i]);
|
||||
tmc2130_chopconf(tmc2130_cs[i], 1, 16);
|
||||
}
|
||||
for (int i = 3; i < 4; i++) //E axis
|
||||
{
|
||||
tmc2130_write(tmc2130_cs[i], 0x00, 0, 0, 0, 0x00); //address=0x0 GCONF - bit 2 activate stealthChop
|
||||
tmc2130_write(tmc2130_cs[i], 0x10, 0, 15, tmc2130_current_r[i], tmc2130_current_h[i]); //0x10 IHOLD_IRUN
|
||||
tmc2130_write(tmc2130_cs[i], 0x11, 0, 0, 0, 0);
|
||||
tmc2130_chopconf(tmc2130_cs[i], 1, 16);
|
||||
}
|
||||
}
|
||||
|
||||
bool tmc2130_update_sg()
|
||||
{
|
||||
if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == Y_AXIS))
|
||||
{
|
||||
uint8_t cs = tmc2130_cs[sg_homing_axis];
|
||||
uint16_t tstep = tmc2130_readTStep(cs);
|
||||
if (tstep < TCOOLTHRS)
|
||||
{
|
||||
if(sg_homing_delay < 10) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
|
||||
sg_homing_delay++;
|
||||
else
|
||||
{
|
||||
uint16_t sg = tmc2130_readSG(cs);
|
||||
if (sg==0)
|
||||
{
|
||||
tmc2130_axis_stalled[sg_homing_axis] = true;
|
||||
tmc2130_LastHomingStalled = true;
|
||||
}
|
||||
else
|
||||
tmc2130_axis_stalled[sg_homing_axis] = false;
|
||||
}
|
||||
}
|
||||
else
|
||||
tmc2130_axis_stalled[sg_homing_axis] = false;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
tmc2130_axis_stalled[X_AXIS] = false;
|
||||
tmc2130_axis_stalled[Y_AXIS] = false;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void tmc2130_check_overtemp()
|
||||
{
|
||||
const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
|
||||
static uint32_t checktime = 0;
|
||||
//drivers_disabled[0] = 1; //TEST
|
||||
if( millis() - checktime > 1000 )
|
||||
{
|
||||
for(int i = 0; i < 4; i++)
|
||||
{
|
||||
uint32_t drv_status = tmc2130_read(tmc2130_cs[i], 0x6F); //0x6F DRV_STATUS
|
||||
if (drv_status & ((uint32_t)1<<26))
|
||||
{ // BIT 26 - over temp prewarning ~120C (+-20C)
|
||||
SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
|
||||
SERIAL_ECHOLN(i);
|
||||
for(int x = 0; x < 4; x++) tmc2130_disable_motor(x);
|
||||
kill(TMC_OVERTEMP_MSG);
|
||||
}
|
||||
}
|
||||
checktime = millis();
|
||||
}
|
||||
}
|
||||
|
||||
void tmc2130_home_enter(uint8_t axis)
|
||||
{
|
||||
MYSERIAL.print("tmc2130_home_enter ");
|
||||
MYSERIAL.println((int)axis);
|
||||
uint8_t cs = tmc2130_cs[axis];
|
||||
sg_homing_axis = axis;
|
||||
sg_homing_delay = 0;
|
||||
tmc2130_axis_stalled[X_AXIS] = false;
|
||||
tmc2130_axis_stalled[Y_AXIS] = false;
|
||||
//Configuration to spreadCycle
|
||||
//tmc2130_write(cs, 0x0, 0, 0, 0, 0x01);
|
||||
tmc2130_write(cs, 0x0, 0, 0, 0, 0x00);
|
||||
tmc2130_write(cs, 0x6D, 0, (axis == X_AXIS)?SG_THRESHOLD_X:SG_THRESHOLD_Y,0,0);
|
||||
tmc2130_write(cs, 0x14, 0, 0, 0, TCOOLTHRS);
|
||||
}
|
||||
|
||||
void tmc2130_home_exit()
|
||||
{
|
||||
MYSERIAL.println("tmc2130_home_exit");
|
||||
if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == Y_AXIS))
|
||||
{
|
||||
// Configuration back to stealthChop
|
||||
tmc2130_write(tmc2130_cs[sg_homing_axis], 0x0, 0, 0, 0, 0x04);
|
||||
sg_homing_axis = 0xff;
|
||||
}
|
||||
}
|
||||
|
||||
extern uint8_t tmc2130_didLastHomingStall()
|
||||
{
|
||||
uint8_t ret = tmc2130_LastHomingStalled;
|
||||
tmc2130_LastHomingStalled = false;
|
||||
return ret;
|
||||
}
|
||||
|
||||
void tmc2130_set_current_h(uint8_t axis, uint8_t current)
|
||||
{
|
||||
MYSERIAL.print("tmc2130_set_current_h ");
|
||||
MYSERIAL.print((int)axis);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.println((int)current);
|
||||
if (current > 15) current = 15; //current>15 is unsafe
|
||||
tmc2130_current_h[axis] = current;
|
||||
tmc2130_write(tmc2130_cs[axis], 0x10, 0, 15, tmc2130_current_r[axis], tmc2130_current_h[axis]); //0x10 IHOLD_IRUN
|
||||
}
|
||||
|
||||
void tmc2130_set_current_r(uint8_t axis, uint8_t current)
|
||||
{
|
||||
MYSERIAL.print("tmc2130_set_current_r ");
|
||||
MYSERIAL.print((int)axis);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.println((int)current);
|
||||
if (current > 15) current = 15; //current>15 is unsafe
|
||||
tmc2130_current_r[axis] = current;
|
||||
tmc2130_write(tmc2130_cs[axis], 0x10, 0, 15, tmc2130_current_r[axis], tmc2130_current_h[axis]); //0x10 IHOLD_IRUN
|
||||
}
|
||||
|
||||
void tmc2130_print_currents()
|
||||
{
|
||||
MYSERIAL.println("tmc2130_print_currents");
|
||||
MYSERIAL.println("\tH\rR");
|
||||
|
||||
MYSERIAL.print("X\t");
|
||||
MYSERIAL.print((int)tmc2130_current_h[0]);
|
||||
MYSERIAL.print("\t");
|
||||
MYSERIAL.println((int)tmc2130_current_r[0]);
|
||||
|
||||
MYSERIAL.print("Y\t");
|
||||
MYSERIAL.print((int)tmc2130_current_h[1]);
|
||||
MYSERIAL.print("\t");
|
||||
MYSERIAL.println((int)tmc2130_current_r[1]);
|
||||
|
||||
MYSERIAL.print("Z\t");
|
||||
MYSERIAL.print((int)tmc2130_current_h[2]);
|
||||
MYSERIAL.print("\t");
|
||||
MYSERIAL.println((int)tmc2130_current_r[2]);
|
||||
|
||||
MYSERIAL.print("E\t");
|
||||
MYSERIAL.print((int)tmc2130_current_h[3]);
|
||||
MYSERIAL.print("\t");
|
||||
MYSERIAL.println((int)tmc2130_current_r[3]);
|
||||
}
|
||||
|
||||
uint32_t tmc2130_read(uint8_t cs, uint8_t address)
|
||||
{
|
||||
uint32_t val32;
|
||||
uint8_t val0;
|
||||
|
|
@ -15,23 +214,23 @@ uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
|
|||
uint8_t val4;
|
||||
//datagram1 - read request (address + dummy write)
|
||||
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(chipselect,LOW);
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(address);
|
||||
SPI.transfer(0);
|
||||
SPI.transfer(0);
|
||||
SPI.transfer(0);
|
||||
SPI.transfer(0);
|
||||
digitalWrite(chipselect, HIGH);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(chipselect,LOW);
|
||||
digitalWrite(cs,LOW);
|
||||
val0 = SPI.transfer(0);
|
||||
val1 = SPI.transfer(0);
|
||||
val2 = SPI.transfer(0);
|
||||
val3 = SPI.transfer(0);
|
||||
val4 = SPI.transfer(0);
|
||||
digitalWrite(chipselect, HIGH);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
#ifdef TMC_DBG_READS
|
||||
MYSERIAL.print("SPIRead 0x");
|
||||
|
|
@ -55,7 +254,7 @@ uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
|
|||
return val32;
|
||||
}
|
||||
|
||||
void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
|
||||
void tmc2130_write(uint8_t cs, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
|
||||
{
|
||||
uint32_t val32;
|
||||
uint8_t val0;
|
||||
|
|
@ -65,23 +264,23 @@ void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wva
|
|||
uint8_t val4;
|
||||
//datagram1 - write
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(chipselect,LOW);
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(address+0x80);
|
||||
SPI.transfer(wval1);
|
||||
SPI.transfer(wval2);
|
||||
SPI.transfer(wval3);
|
||||
SPI.transfer(wval4);
|
||||
digitalWrite(chipselect, HIGH);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(chipselect,LOW);
|
||||
digitalWrite(cs,LOW);
|
||||
val0 = SPI.transfer(0);
|
||||
val1 = SPI.transfer(0);
|
||||
val2 = SPI.transfer(0);
|
||||
val3 = SPI.transfer(0);
|
||||
val4 = SPI.transfer(0);
|
||||
digitalWrite(chipselect, HIGH);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
#ifdef TMC_DBG_WRITE
|
||||
MYSERIAL.print("WriteRead 0x");
|
||||
|
|
@ -102,66 +301,66 @@ void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wva
|
|||
#endif //TMC_DBG_READS
|
||||
}
|
||||
|
||||
uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address)
|
||||
uint8_t tmc2130_read8(uint8_t cs, uint8_t address)
|
||||
{
|
||||
//datagram1 - write
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(chipselect,LOW);
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(address);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
digitalWrite(chipselect, HIGH);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
uint8_t val0;
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(chipselect,LOW);
|
||||
digitalWrite(cs,LOW);
|
||||
val0 = SPI.transfer(0);
|
||||
digitalWrite(chipselect, HIGH);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
return val0;
|
||||
}
|
||||
|
||||
uint32_t tmc2130_readRegister(uint8_t chipselect, uint8_t address)
|
||||
uint32_t tmc2130_readRegister(uint8_t cs, uint8_t address)
|
||||
{
|
||||
//datagram1 - write
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(chipselect,LOW);
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(address);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
digitalWrite(chipselect, HIGH);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
uint32_t val0;
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(chipselect,LOW);
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(0); // ignore status bits
|
||||
val0 = SPI.transfer(0); // MSB
|
||||
val0 = (val0 << 8) | SPI.transfer(0);
|
||||
val0 = (val0 << 8) | SPI.transfer(0);
|
||||
val0 = (val0 << 8) | SPI.transfer(0); //LSB
|
||||
digitalWrite(chipselect, HIGH);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
return val0;
|
||||
}
|
||||
|
||||
uint16_t tmc2130_readSG(uint8_t chipselect)
|
||||
uint16_t tmc2130_readSG(uint8_t cs)
|
||||
{
|
||||
uint8_t address = 0x6F;
|
||||
uint32_t registerValue = tmc2130_readRegister(chipselect, address);
|
||||
uint32_t registerValue = tmc2130_readRegister(cs, address);
|
||||
uint16_t val0 = registerValue & 0x3ff;
|
||||
return val0;
|
||||
}
|
||||
|
||||
uint16_t tmc2130_readTStep(uint8_t chipselect)
|
||||
uint16_t tmc2130_readTStep(uint8_t cs)
|
||||
{
|
||||
uint8_t address = 0x12;
|
||||
uint32_t registerValue = tmc2130_readRegister(chipselect, address);
|
||||
uint32_t registerValue = tmc2130_readRegister(cs, address);
|
||||
uint16_t val0 = 0;
|
||||
if(registerValue & 0x000f0000)
|
||||
val0 = 0xffff;
|
||||
|
|
@ -170,7 +369,7 @@ uint16_t tmc2130_readTStep(uint8_t chipselect)
|
|||
return val0;
|
||||
}
|
||||
|
||||
void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16)
|
||||
void tmc2130_chopconf(uint8_t cs, bool extrapolate256, uint16_t microstep_resolution)
|
||||
{
|
||||
uint8_t mres = 0b0100;
|
||||
if(microstep_resolution == 256) mres = 0b0000;
|
||||
|
|
@ -187,7 +386,7 @@ void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_re
|
|||
tmc2130_write(cs, 0x6C, mres, 0x01, 0x00, 0xC3);
|
||||
}
|
||||
|
||||
void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale = PWM_AUTOSCALE, uint8_t PWMfreq = PWM_FREQ, uint8_t PWMgrad = PWM_GRAD, uint8_t PWMampl = PWM_AMPL)
|
||||
void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
|
||||
{
|
||||
tmc2130_write(cs, 0x70, 0x00, (PWMautoScale+PWMfreq), PWMgrad, PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
|
||||
}
|
||||
|
|
@ -197,168 +396,9 @@ void tmc2130_PWMthreshold(uint8_t cs)
|
|||
tmc2130_write(cs, 0x13, 0x00, 0x00, 0x00, 0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
|
||||
}
|
||||
|
||||
|
||||
uint8_t st_didLastHomingStall()
|
||||
{
|
||||
uint8_t returnValue = sg_lastHomingStalled;
|
||||
sg_lastHomingStalled = false;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
void tmc2130_disable_motor(uint8_t driver)
|
||||
{
|
||||
uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
|
||||
tmc2130_write(cs[driver],0x6C,0,01,0,0);
|
||||
}
|
||||
|
||||
void tmc2130_check_overtemp()
|
||||
{
|
||||
const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
|
||||
uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
|
||||
static uint32_t checktime = 0;
|
||||
//drivers_disabled[0] = 1; //TEST
|
||||
if( millis() - checktime > 1000 )
|
||||
{
|
||||
for(int i=0;i<4;i++)
|
||||
{
|
||||
uint32_t drv_status = tmc2130_read(cs[i], 0x6F); //0x6F DRV_STATUS
|
||||
if (drv_status & ((uint32_t)1<<26))
|
||||
{ // BIT 26 - over temp prewarning ~120C (+-20C)
|
||||
SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
|
||||
SERIAL_ECHOLN(i);
|
||||
for(int x=0; x<4;x++) tmc2130_disable_motor(x);
|
||||
kill(TMC_OVERTEMP_MSG);
|
||||
}
|
||||
}
|
||||
checktime = millis();
|
||||
}
|
||||
}
|
||||
|
||||
void tmc2130_init()
|
||||
{
|
||||
uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
|
||||
// uint8_t current[4] = { 31, 31, 31, 31 };
|
||||
// uint8_t current_h[4] = { 12, 12, 12, 12 };
|
||||
// uint8_t current_r[4] = { 24, 24, 24, 24 };
|
||||
// uint8_t current_r[4] = { 32, 32, 32, 32 };
|
||||
// uint8_t current_h[4] = { 14, 14, 14, 14 };
|
||||
uint8_t current_h[4] = { 2, 2, 2, 4 };
|
||||
uint8_t current_r[4] = { 6, 6, 8, 8 };
|
||||
WRITE(X_TMC2130_CS, HIGH);
|
||||
WRITE(Y_TMC2130_CS, HIGH);
|
||||
WRITE(Z_TMC2130_CS, HIGH);
|
||||
WRITE(E0_TMC2130_CS, HIGH);
|
||||
SET_OUTPUT(X_TMC2130_CS);
|
||||
SET_OUTPUT(Y_TMC2130_CS);
|
||||
SET_OUTPUT(Z_TMC2130_CS);
|
||||
SET_OUTPUT(E0_TMC2130_CS);
|
||||
SPI.begin();
|
||||
/* for(int i=0;i<4;i++)
|
||||
{
|
||||
//tmc2130_write(cs[i],0x6C,0b10100,01,00,0xC5);
|
||||
tmc2130_chopconf(cs[i],1,16);
|
||||
tmc2130_write(cs[i],0x10,0,15,current_h[i],current_r[i]); //0x10 IHOLD_IRUN
|
||||
//tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF
|
||||
tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF - activate stealthChop
|
||||
//tmc2130_write(cs[i],0x11,0,0,0,0xA);
|
||||
|
||||
// Uncomment lines below to use a different configuration (pwm_autoscale = 0) for XY axes
|
||||
if(i==0 || i==1)
|
||||
tmc2130_PWMconf(cs[i],PWM_AUTOSCALE_XY,PWM_FREQ_XY,PWM_GRAD_XY,PWM_AMPL_XY); //address=0x70 PWM_CONF //reset default=0x00050480
|
||||
else
|
||||
tmc2130_PWMconf(cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
|
||||
tmc2130_PWMthreshold(cs[i]);
|
||||
}
|
||||
*/
|
||||
#ifdef MK3_TEST1
|
||||
for (int i=0;i<4;i++)
|
||||
{
|
||||
tmc2130_write(cs[i],0x0,0,0,0,0x00); //address=0x0 GCONF - bit 2 activate stealthChop
|
||||
tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
|
||||
tmc2130_chopconf(cs[i],0,16);
|
||||
}
|
||||
#else //MK3_TEST1
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
tmc2130_write(cs[i],0x0,0,0,0,0x04); //address=0x0 GCONF - bit 2 activate stealthChop
|
||||
tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
|
||||
tmc2130_write(cs[i],0x11,0,0,0,0);
|
||||
tmc2130_PWMconf(cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
|
||||
// tmc2130_PWMthreshold(cs[i]);
|
||||
tmc2130_chopconf(cs[i],1,16);
|
||||
}
|
||||
for (int i=3;i<4;i++)
|
||||
{
|
||||
tmc2130_write(cs[i],0x0,0,0,0,0x00); //address=0x0 GCONF - bit 2 activate stealthChop
|
||||
tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
|
||||
tmc2130_write(cs[i],0x11,0,0,0,0);
|
||||
tmc2130_chopconf(cs[i],1,16);
|
||||
}
|
||||
#endif //MK3_TEST1
|
||||
}
|
||||
|
||||
void tmc2130_st_synchronize()
|
||||
{
|
||||
uint8_t delay = 0;
|
||||
if(sg_homing_axis == X_AXIS || sg_homing_axis == Y_AXIS)
|
||||
{
|
||||
uint8_t axis;
|
||||
if(sg_homing_axis == X_AXIS)
|
||||
axis = X_TMC2130_CS;
|
||||
else
|
||||
axis = Y_TMC2130_CS;
|
||||
uint16_t tstep = tmc2130_readTStep(axis);
|
||||
// SERIAL_PROTOCOLLN(tstep);
|
||||
if(tstep < TCOOLTHRS)
|
||||
{
|
||||
if(delay < 255) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
|
||||
delay++;
|
||||
else
|
||||
{
|
||||
uint16_t sg = tmc2130_readSG(axis);
|
||||
if(sg==0)
|
||||
{
|
||||
sg_axis_stalled[sg_homing_axis] = true;
|
||||
sg_lastHomingStalled = true;
|
||||
}
|
||||
else
|
||||
sg_axis_stalled[sg_homing_axis] = false;
|
||||
// SERIAL_PROTOCOLLN(sg);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
sg_axis_stalled[sg_homing_axis] = false;
|
||||
delay = 0;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
sg_axis_stalled[X_AXIS] = false;
|
||||
sg_axis_stalled[Y_AXIS] = false;
|
||||
}
|
||||
}
|
||||
|
||||
void tmc2130_st_home_enter(uint8_t axis)
|
||||
{
|
||||
sg_homing_axis = axis;
|
||||
// Configuration to spreadCycle
|
||||
// tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x0,0,0,0,0x01);
|
||||
tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x0,0,0,0,0x00);
|
||||
tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x6D,0,(axis == X_AXIS)?SG_THRESHOLD_X:SG_THRESHOLD_Y,0,0);
|
||||
tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x14,0,0,0,TCOOLTHRS);
|
||||
}
|
||||
|
||||
void tmc2130_st_home_exit()
|
||||
{
|
||||
if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == X_AXIS))
|
||||
{
|
||||
// Configuration back to stealthChop
|
||||
tmc2130_write((sg_homing_axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS, 0x0, 0, 0, 0, 0x04);
|
||||
sg_homing_axis = 0xff;
|
||||
sg_axis_stalled[X_AXIS] = false;
|
||||
sg_axis_stalled[Y_AXIS] = false;
|
||||
}
|
||||
tmc2130_write(tmc2130_cs[driver], 0x6C, 0, 01, 0, 0);
|
||||
}
|
||||
|
||||
#endif //HAVE_TMC2130_DRIVERS
|
||||
|
|
|
|||
|
|
@ -1,26 +1,33 @@
|
|||
#ifndef TMC2130_H
|
||||
#define TMC2130_H
|
||||
|
||||
static uint8_t sg_homing_axis = 0xFF;
|
||||
static uint8_t sg_axis_stalled[2] = {0, 0};
|
||||
static uint8_t sg_lastHomingStalled = false;
|
||||
//holding and running currents
|
||||
extern uint8_t tmc2130_current_h[4];
|
||||
extern uint8_t tmc2130_current_r[4];
|
||||
//flags for axis stall detection
|
||||
extern uint8_t tmc2130_axis_stalled[4];
|
||||
|
||||
void tmc2130_check_overtemp();
|
||||
extern uint8_t sg_homing_delay;
|
||||
|
||||
void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4);
|
||||
uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address);
|
||||
uint16_t tmc2130_readSG(uint8_t chipselect);
|
||||
uint16_t tmc2130_readTStep(uint8_t chipselect);
|
||||
void tmc2130_PWMconf(uint8_t cs, uint8_t PWMgrad, uint8_t PWMampl);
|
||||
|
||||
uint8_t st_didLastHomingStall();
|
||||
//initialize tmc2130
|
||||
extern void tmc2130_init();
|
||||
//update stall guard (called from st_synchronize inside the loop)
|
||||
extern bool tmc2130_update_sg();
|
||||
//temperature watching (called from )
|
||||
extern void tmc2130_check_overtemp();
|
||||
//enter homing (called from homeaxis before homing starts)
|
||||
extern void tmc2130_home_enter(uint8_t axis);
|
||||
//exit homing (called from homeaxis after homing ends)
|
||||
extern void tmc2130_home_exit();
|
||||
//
|
||||
extern uint8_t tmc2130_didLastHomingStall();
|
||||
|
||||
void tmc2130_st_synchronize();
|
||||
//set holding current for any axis (G911)
|
||||
extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
|
||||
//set running current for any axis (G912)
|
||||
extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
|
||||
//print currents
|
||||
extern void tmc2130_print_currents();
|
||||
|
||||
void tmc2130_st_home_enter(uint8_t axis);
|
||||
|
||||
void tmc2130_st_home_exit();
|
||||
|
||||
void tmc2130_init();
|
||||
|
||||
#endif TMC2130_H
|
||||
#endif //TMC2130_H
|
||||
|
|
@ -6,14 +6,14 @@
|
|||
*------------------------------------*/
|
||||
|
||||
// Printer revision
|
||||
#define FILAMENT_SIZE "1_75mm_MK2"
|
||||
#define FILAMENT_SIZE "1_75mm_MK3"
|
||||
#define NOZZLE_TYPE "E3Dv6full"
|
||||
|
||||
// Developer flag
|
||||
#define DEVELOPER
|
||||
|
||||
// Printer name
|
||||
#define CUSTOM_MENDEL_NAME "Prusa i3 MK2"
|
||||
#define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
|
||||
|
||||
// Electronics
|
||||
#define MOTHERBOARD BOARD_EINY_0_1a
|
||||
|
|
@ -32,7 +32,7 @@
|
|||
*------------------------------------*/
|
||||
|
||||
// Steps per unit {X,Y,Z,E}
|
||||
#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,161.3}
|
||||
#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,140}
|
||||
|
||||
// Endstop inverting
|
||||
const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
|
||||
|
|
@ -64,10 +64,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
|
|||
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
|
||||
#define HOMING_FEEDRATE {3000, 3000, 800, 0} // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
|
||||
|
||||
#define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec)
|
||||
#define DEFAULT_MAX_ACCELERATION {300,300,300,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
|
||||
#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec)
|
||||
#define DEFAULT_MAX_ACCELERATION {2000,2000,500,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
|
||||
|
||||
#define DEFAULT_ACCELERATION 1500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
|
||||
#define DEFAULT_ACCELERATION 1200 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
|
||||
#define DEFAULT_RETRACT_ACCELERATION 1500 // X, Y, Z and E max acceleration in mm/s^2 for retracts
|
||||
|
||||
|
||||
|
|
@ -84,41 +84,17 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
|
|||
#define PWM_AMPL 0xC8 // 0xFF - Sets PWM amplitude to 200 (max is 255)
|
||||
#define PWM_AUTOSCALE 0x04 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
|
||||
#define PWM_FREQ 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK)
|
||||
|
||||
// Special configuration for XY axes for operation (during standstill, use same settings as for other axes) //todo
|
||||
#define PWM_GRAD_XY 156 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
|
||||
#define PWM_AMPL_XY 63 // 0xFF - Sets PWM amplitude to 200 (max is 255)
|
||||
#define PWM_AUTOSCALE_XY 0x00 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
|
||||
#define PWM_FREQ_XY 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK)
|
||||
|
||||
#define PWM_THRS 0x00 // TPWM_THRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
|
||||
|
||||
#define SG_HOMING 1
|
||||
#define SG_THRESHOLD 13
|
||||
#define TCOOLTHRS 239
|
||||
#define SG_HOMING_SW 1 // stallguard "software" homing
|
||||
//#define SG_HOMING_HW 1 // stallguard "hardware" homing
|
||||
#define SG_THRESHOLD_X 8 // stallguard sensitivity for X axis
|
||||
#define SG_THRESHOLD_Y 8 // stallguard sensitivity for Y axis
|
||||
#define TCOOLTHRS 239 // coolstep treshold
|
||||
|
||||
#define TMC_DEBUG
|
||||
|
||||
// PWM register configuration
|
||||
#define PWM_GRAD 0x08 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
|
||||
#define PWM_AMPL 0xC8 // 0xFF - Sets PWM amplitude to 200 (max is 255)
|
||||
#define PWM_AUTOSCALE 0x04 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
|
||||
#define PWM_FREQ 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK)
|
||||
|
||||
// Special configuration for XY axes for operation (during standstill, use same settings as for other axes) //todo
|
||||
#define PWM_GRAD_XY 156 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
|
||||
#define PWM_AMPL_XY 63 // 0xFF - Sets PWM amplitude to 200 (max is 255)
|
||||
#define PWM_AUTOSCALE_XY 0x00 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
|
||||
#define PWM_FREQ_XY 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK)
|
||||
|
||||
#define PWM_THRS 0x00 // TPWM_THRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
|
||||
|
||||
#define SG_HOMING 1
|
||||
#define SG_THRESHOLD_X 8
|
||||
#define SG_THRESHOLD_Y 8
|
||||
#define TCOOLTHRS 239
|
||||
|
||||
#define TMC_DEBUG
|
||||
#define TMC2130_CURRENTS_H {2, 2, 2, 4} // default holding currents for all axes
|
||||
#define TMC2130_CURRENTS_R {6, 6, 8, 8} // default running currents for all axes
|
||||
#define TMC2130_DEBUG
|
||||
//#define TMC_DBG_READS
|
||||
//#define TMC_DBG_WRITE
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue