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Modified homing procedures for the X & Y axes using the Trinamic stall guard

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to run against the end stop with a repeatable velocity.

Slightly reduced the collision detection sensitivity.
This commit is contained in:
bubnikv 2017-09-24 00:07:32 +02:00
parent b58dcf33d0
commit b0ca2477c8
2 changed files with 76 additions and 26 deletions
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4
Firmware/Configuration_prusa.h
View file

@ -142,8 +142,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_SG_HOMING 1 // stallguard homing
//#define TMC2130_SG_HOMING_SW_XY 1 // stallguard "software" homing for XY axes
#define TMC2130_SG_HOMING_SW_Z 1 // stallguard "software" homing for Z axis
#define TMC2130_SG_THRS_X 6 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 6 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_X 7 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 7 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_Z 3 // stallguard sensitivity for Z axis
#define TMC2130_SG_DELTA 128 // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)

92
Firmware/Marlin_main.cpp
View file

@ -1511,18 +1511,36 @@ void homeaxis(int axis)
if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
{
int axis_home_dir = home_dir(axis);
feedrate = homing_feedrate[axis];
#ifdef TMC2130
tmc2130_home_enter(X_AXIS_MASK << axis);
#endif
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 10.f;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
#ifdef TMC2130
tmc2130_home_restart(axis);
#endif
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -10.f * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
destination[axis] = 15.f * axis_home_dir;
feedrate = homing_feedrate[axis]/2 ;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
/*
tmc2130_home_pause(axis);
@ -1549,28 +1567,60 @@ void homeaxis(int axis)
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
*/
tmc2130_home_pause(axis);
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -0.32 * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
// tmc2130_home_pause(axis);
axis_is_at_home(axis);
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose();
axis_known_position[axis] = true;
#ifdef TMC2130
tmc2130_home_exit();
// destination[axis] += 2;
// plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], homing_feedrate[axis]/60, active_extruder);
// st_synchronize();
#endif
//FIXME this is to ensure that the axis does not remain in tension,
// leading to step losses when the Trinamic lowers the motor current on idle.
//current_position[axis] = -0.32 * axis_home_dir;
{
if (1) {
// try to run to zero phase before powering the Z motor.
// Move in negative direction
if (axis == X_AXIS) {
WRITE(X_DIR_PIN, !INVERT_X_DIR);
for (uint16_t phase = 64 - ((tmc2130_rd_MSCNT(X_TMC2130_CS) + 7) >> 4); phase > 0; -- phase) {
// Until the phase counter is reset to zero.
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
delay(2);
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
delay(2);
}
}
else {
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
for (uint16_t phase = 64 - ((tmc2130_rd_MSCNT(Y_TMC2130_CS) + 7) >> 4); phase > 0; -- phase) {
// Until the phase counter is reset to zero.
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
delay(2);
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
delay(2);
}
}
// Round the current micro-micro steps to micro steps.
}
float gap = 0.32f;
current_position[axis] -= gap;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position[axis] += gap;
}
axis_known_position[axis] = true;
endstops_hit_on_purpose();
enable_endstops(false);
destination[axis] = current_position[axis];
delay(200);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.3f*feedrate/60, active_extruder);
st_synchronize();
feedrate = 0.0;
}
else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
{