3DPrinting/Prusa-Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Removed SG software homming

Browse Source 
After Calibration Z enabled minstop (SG and PINDA)
TMC2130 code simplification
This commit is contained in:
Robert Pelnar 2017-12-15 14:10:20 +01:00
parent 1c7bbad66d
commit c6e10fb903
7 changed files with 145 additions and 268 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
Firmware/Configuration_prusa.h
View File

@ -175,13 +175,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_TCOOLTHRS_E 500 // TCOOLTHRS - coolstep treshold
#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 3 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 4 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_Z 3 // stallguard sensitivity for Z axis
#define TMC2130_SG_THRS_E 3 // stallguard sensitivity for E axis
#define TMC2130_SG_DELTA 128 // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
#define TMC2130_CURRENTS_H {13, 20, 20, 35} // default holding currents for all axes

163
Firmware/Marlin_main.cpp
View File

@ -1658,7 +1658,6 @@ bool calibrate_z_auto()
destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
feedrate = homing_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
tmc2130_home_restart(Z_AXIS);
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]);
@ -1948,13 +1947,15 @@ void force_high_power_mode(bool start_high_power_section) {
}
#endif //TMC2130
bool gcode_M45(bool onlyZ) {
bool gcode_M45(bool onlyZ)
{
bool final_result = false;
#ifdef TMC2130
FORCE_HIGH_POWER_START;
#endif // TMC2130
// Only Z calibration?
if (!onlyZ) {
if (!onlyZ)
{
setTargetBed(0);
setTargetHotend(0, 0);
setTargetHotend(0, 1);
@ -1983,15 +1984,19 @@ bool gcode_M45(bool onlyZ) {
// Let the user move the Z axes up to the end stoppers.
#ifdef TMC2130
if (calibrate_z_auto()) {
if (calibrate_z_auto())
{
#else //TMC2130
if (lcd_calibrate_z_end_stop_manual(onlyZ)) {
if (lcd_calibrate_z_end_stop_manual(onlyZ))
{
#endif //TMC2130
refresh_cmd_timeout();
//if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ)) {
//if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
//{
// lcd_wait_for_cool_down();
//}
if(!onlyZ){
if(!onlyZ)
{
KEEPALIVE_STATE(PAUSED_FOR_USER);
bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
if(result) lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
@ -2004,80 +2009,101 @@ bool gcode_M45(bool onlyZ) {
}
// Move the print head close to the bed.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
bool endstops_enabled = enable_endstops(true);
tmc2130_home_enter(Z_AXIS_MASK);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
st_synchronize();
tmc2130_home_exit();
enable_endstops(endstops_enabled);
if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
{
//#ifdef TMC2130
// tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
//#endif
//#ifdef TMC2130
// tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
//#endif
int8_t verbosity_level = 0;
if (code_seen('V')) {
// Just 'V' without a number counts as V1.
char c = strchr_pointer[1];
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
}
if (onlyZ) {
clean_up_after_endstop_move();
// Z only calibration.
// Load the machine correction matrix
world2machine_initialize();
// and correct the current_position to match the transformed coordinate system.
world2machine_update_current();
//FIXME
bool result = sample_mesh_and_store_reference();
if (result) {
if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
// Shipped, the nozzle height has been set already. The user can start printing now.
calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
final_result = true;
// babystep_apply();
int8_t verbosity_level = 0;
if (code_seen('V'))
{
// Just 'V' without a number counts as V1.
char c = strchr_pointer[1];
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
}
}
else {
// Reset the baby step value and the baby step applied flag.
calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
// Complete XYZ calibration.
uint8_t point_too_far_mask = 0;
BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
clean_up_after_endstop_move();
// Print head up.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
st_synchronize();
if (result >= 0) {
point_too_far_mask = 0;
// Second half: The fine adjustment.
// Let the planner use the uncorrected coordinates.
mbl.reset();
world2machine_reset();
// Home in the XY plane.
setup_for_endstop_move();
home_xy();
result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
if (onlyZ)
{
clean_up_after_endstop_move();
// Z only calibration.
// Load the machine correction matrix
world2machine_initialize();
// and correct the current_position to match the transformed coordinate system.
world2machine_update_current();
//FIXME
bool result = sample_mesh_and_store_reference();
if (result)
{
if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
// Shipped, the nozzle height has been set already. The user can start printing now.
calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
final_result = true;
// babystep_apply();
}
}
else
{
// Reset the baby step value and the baby step applied flag.
calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
// Complete XYZ calibration.
uint8_t point_too_far_mask = 0;
BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
clean_up_after_endstop_move();
// Print head up.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
st_synchronize();
// if (result >= 0) babystep_apply();
if (result >= 0)
{
point_too_far_mask = 0;
// Second half: The fine adjustment.
// Let the planner use the uncorrected coordinates.
mbl.reset();
world2machine_reset();
// Home in the XY plane.
setup_for_endstop_move();
home_xy();
result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
clean_up_after_endstop_move();
// Print head up.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
st_synchronize();
// if (result >= 0) babystep_apply();
}
lcd_bed_calibration_show_result(result, point_too_far_mask);
if (result >= 0)
{
// Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
final_result = true;
}
}
lcd_bed_calibration_show_result(result, point_too_far_mask);
if (result >= 0) {
// Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
final_result = true;
}
}
#ifdef TMC2130
tmc2130_home_exit();
tmc2130_home_exit();
#endif
}
else
{
lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
final_result = false;
}
}
else {
else
{
// Timeouted.
}
lcd_update_enable(true);
@ -2085,9 +2111,10 @@ bool gcode_M45(bool onlyZ) {
FORCE_HIGH_POWER_END;
#endif // TMC2130
return final_result;
}
}
void gcode_M701() {
void gcode_M701()
{
#ifdef SNMM
extr_adj(snmm_extruder);//loads current extruder
#else

58
Firmware/stepper.cpp
View File

@ -466,12 +466,8 @@ void isr() {
#if ( (defined(X_MIN_PIN) && (X_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMINLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on, now decide if software or hardware one
#ifndef TMC2130_SG_HOMING_SW_XY
x_min_endstop = (READ(X_TMC2130_DIAG) != X_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
x_min_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
// Stall guard homing turned on
x_min_endstop = (READ(X_TMC2130_DIAG) != 0);
#else
// Normal homing
x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
@ -493,12 +489,8 @@ void isr() {
#if ( (defined(X_MAX_PIN) && (X_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMAXLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on, now decide if software or hardware one
#ifndef TMC2130_SG_HOMING_SW_XY
x_max_endstop = (READ(X_TMC2130_DIAG) != X_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
x_max_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
// Stall guard homing turned on
x_max_endstop = (READ(X_TMC2130_DIAG) != 0);
#else
// Normal homing
x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
@ -525,12 +517,8 @@ void isr() {
#if ( (defined(Y_MIN_PIN) && (Y_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMINLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on, now decide if software or hardware one
#ifndef TMC2130_SG_HOMING_SW_XY
y_min_endstop = (READ(Y_TMC2130_DIAG) != Y_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
// Stall guard homing turned on
y_min_endstop = (READ(Y_TMC2130_DIAG) != 0);
#else
// Normal homing
y_min_endstop = (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
@ -550,12 +538,8 @@ void isr() {
#if ( (defined(Y_MAX_PIN) && (Y_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMAXLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on, now decide if software or hardware one
#ifndef TMC2130_SG_HOMING_SW_XY
y_max_endstop = (READ(Y_TMC2130_DIAG) != Y_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
// Stall guard homing turned on
y_max_endstop = (READ(Y_TMC2130_DIAG) != 0);
#else
// Normal homing
y_max_endstop = (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
@ -581,7 +565,12 @@ void isr() {
if(check_endstops && ! check_z_endstop)
{
#if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
#else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#endif //TMC2130_SG_HOMING
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
@ -602,11 +591,12 @@ void isr() {
CHECK_ENDSTOPS
{
#if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT)
#ifndef TMC2130_SG_HOMING_SW_Z
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
z_max_endstop = (READ(Z_TMC2130_DIAG) != 0);
#else
z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_Z
z_max_endstop = tmc2130_axis_stalled[Z_AXIS];
#endif //TMC2130_SG_HOMING_SW_Z
#endif //TMC2130_SG_HOMING
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
@ -622,7 +612,12 @@ void isr() {
if(check_z_endstop) {
// Check the Z min end-stop no matter what.
// Good for searching for the center of an induction target.
z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
#else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#endif //TMC2130_SG_HOMING
if(z_min_endstop && old_z_min_endstop) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
@ -1009,6 +1004,9 @@ void st_init()
SET_INPUT(Z_TMC2130_DIAG);
WRITE(Z_TMC2130_DIAG,HIGH);
SET_INPUT(E0_TMC2130_DIAG);
WRITE(E0_TMC2130_DIAG,HIGH);
#endif

182
Firmware/tmc2130.cpp
View File

@ -22,16 +22,12 @@ extern void crashdet_stop_and_save_print2();
//chipselect pins
uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
//diag pins
uint8_t tmc2130_diag[4] = { X_TMC2130_DIAG, Y_TMC2130_DIAG, Z_TMC2130_DIAG, E0_TMC2130_DIAG };
//mode
uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
//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};
//running currents for homing
uint8_t tmc2130_current_r_home[4] = {10, 10, 20, 10};
@ -52,7 +48,6 @@ uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
uint8_t tmc2130_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
uint32_t tmc2130_sg_pos[4] = {0, 0, 0, 0};
uint8_t sg_homing_axes_mask = 0x00;
@ -62,8 +57,8 @@ uint32_t tmc2130_sg_meassure_val = 0;
bool tmc2130_sg_stop_on_crash = true;
uint8_t tmc2130_sg_diag_mask = 0x00;
bool tmc2130_sg_crash = false;
uint8_t tmc2130_diag_mask = 0x00;
uint16_t tmc2130_sg_err[4] = {0, 0, 0, 0};
uint16_t tmc2130_sg_cnt[4] = {0, 0, 0, 0};
bool tmc2130_sg_change = false;
@ -71,6 +66,10 @@ bool tmc2130_sg_change = false;
bool skip_debug_msg = false;
#define DBG(args...) printf_P(args)
#define _n PSTR
#define _i PSTR
//TMC2130 registers
#define TMC2130_REG_GCONF 0x00 // 17 bits
#define TMC2130_REG_GSTAT 0x01 // 3 bits
@ -128,12 +127,11 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
void tmc2130_init()
{
DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("NORMAL"):_n("STEALTH"));
tmc2130_mres[0] = tmc2130_calc_mres(TMC2130_USTEPS_XY);
tmc2130_mres[1] = tmc2130_calc_mres(TMC2130_USTEPS_XY);
tmc2130_mres[2] = tmc2130_calc_mres(TMC2130_USTEPS_Z);
tmc2130_mres[3] = tmc2130_calc_mres(TMC2130_USTEPS_E);
MYSERIAL.print("tmc2130_init mode=");
MYSERIAL.println(tmc2130_mode, DEC);
WRITE(X_TMC2130_CS, HIGH);
WRITE(Y_TMC2130_CS, HIGH);
WRITE(Z_TMC2130_CS, HIGH);
@ -189,6 +187,7 @@ void tmc2130_init()
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
}
for (int axis = 3; axis < 4; axis++) // E axis
{
@ -228,7 +227,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
bool crash = false;
uint8_t diag_mask = tmc2130_sample_diag();
// for (uint8_t axis = X_AXIS; axis <= E_AXIS; axis++)
for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++)
for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++)
{
uint8_t mask = (X_AXIS_MASK << axis);
if (diag_mask & mask) tmc2130_sg_err[axis]++;
@ -244,10 +243,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
crash = true;
}
}
// if ((diag_mask & mask)/* && !(tmc2130_diag_mask & mask)*/)
// crash = true;
}
tmc2130_diag_mask = diag_mask;
if (sg_homing_axes_mask == 0)
{
/* if (crash)
@ -266,96 +262,24 @@ void tmc2130_st_isr(uint8_t last_step_mask)
}
}
void tmc2130_update_sg_axis(uint8_t axis)
{
if (!tmc2130_axis_stalled[axis])
{
uint8_t cs = tmc2130_cs[axis];
uint16_t tstep = tmc2130_rd_TSTEP(cs);
if (tstep < TMC2130_TCOOLTHRS_Z)
{
long pos = st_get_position(axis);
if (abs(pos - tmc2130_sg_pos[axis]) > TMC2130_SG_DELTA)
{
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
if (sg == 0)
tmc2130_axis_stalled[axis] = true;
}
}
}
}
bool tmc2130_update_sg()
{
// uint16_t tstep = tmc2130_rd_TSTEP(tmc2130_cs[0]);
// MYSERIAL.print("TSTEP_X=");
// MYSERIAL.println((int)tstep);
if (tmc2130_sg_meassure <= E_AXIS)
{
uint8_t cs = tmc2130_cs[tmc2130_sg_meassure];
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
tmc2130_sg_meassure_val += sg;
tmc2130_sg_meassure_cnt++;
// printf_P(PSTR("tmc2130_update_sg - meassure - sg=%d\n"), sg);
return true;
}
#ifdef TMC2130_SG_HOMING_SW_XY
if (sg_homing_axes_mask & X_AXIS_MASK) tmc2130_update_sg_axis(X_AXIS);
if (sg_homing_axes_mask & Y_AXIS_MASK) tmc2130_update_sg_axis(Y_AXIS);
#endif //TMC2130_SG_HOMING_SW_XY
#ifdef TMC2130_SG_HOMING_SW_Z
if (sg_homing_axes_mask & Z_AXIS_MASK) tmc2130_update_sg_axis(Z_AXIS);
#endif //TMC2130_SG_HOMING_SW_Z
#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW_XY))
if (sg_homing_axes_mask == 0) return false;
#ifdef TMC2130_DEBUG
MYSERIAL.print("tmc2130_update_sg mask=0x");
MYSERIAL.print((int)sg_homing_axes_mask, 16);
MYSERIAL.print(" stalledX=");
MYSERIAL.print((int)tmc2130_axis_stalled[0]);
MYSERIAL.print(" stalledY=");
MYSERIAL.println((int)tmc2130_axis_stalled[1]);
#endif //TMC2130_DEBUG
for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
{
uint8_t mask = (X_AXIS_MASK << axis);
if (sg_homing_axes_mask & mask)
{
if (!tmc2130_axis_stalled[axis])
{
uint8_t cs = tmc2130_cs[axis];
uint16_t tstep = tmc2130_rd_TSTEP(cs);
if (tstep < TMC2130_TCOOLTHRS)
{
long pos = st_get_position(axis);
if (abs(pos - tmc2130_sg_pos[axis]) > TMC2130_SG_DELTA)
{
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
if (sg == 0)
{
tmc2130_axis_stalled[axis] = true;
#ifdef TMC2130_DEBUG
MYSERIAL.print("tmc2130_update_sg AXIS STALLED ");
MYSERIAL.println((int)axis);
#endif //TMC2130_DEBUG
}
}
}
}
}
}
return true;
#endif
return false;
}
void tmc2130_home_enter(uint8_t axes_mask)
{
#ifdef TMC2130_DEBUG
MYSERIAL.print("tmc2130_home_enter mask=0x");
MYSERIAL.println((int)axes_mask, 16);
#endif //TMC2130_DEBUG
// printf_P(PSTR("tmc2130_home_enter(axes_mask=0x%02x)\n"), axes_mask);
#ifdef TMC2130_SG_HOMING
for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
{
@ -364,18 +288,14 @@ void tmc2130_home_enter(uint8_t axes_mask)
if (axes_mask & mask)
{
sg_homing_axes_mask |= mask;
tmc2130_sg_pos[axis] = st_get_position(axis);
tmc2130_axis_stalled[axis] = false;
//Configuration to spreadCycle
tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
// tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, (axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]);
#ifndef TMC2130_SG_HOMING_SW_XY
if (mask & (X_AXIS_MASK | Y_AXIS_MASK))
if (mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
#endif //TMC2130_SG_HOMING_SW_XY
}
}
#endif //TMC2130_SG_HOMING
@ -383,10 +303,7 @@ void tmc2130_home_enter(uint8_t axes_mask)
void tmc2130_home_exit()
{
#ifdef TMC2130_DEBUG
MYSERIAL.print("tmc2130_home_exit mask=0x");
MYSERIAL.println((int)sg_homing_axes_mask, 16);
#endif //TMC2130_DEBUG
// printf_P(PSTR("tmc2130_home_exit sg_homing_axes_mask=0x%02x\n"), sg_homing_axes_mask);
#ifdef TMC2130_SG_HOMING
if (sg_homing_axes_mask)
{
@ -403,47 +320,21 @@ void tmc2130_home_exit()
}
else
{
#ifdef TMC2130_SG_HOMING_SW_XY
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
#else //TMC2130_SG_HOMING_SW_XY
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#endif //TMC2130_SG_HOMING_SW_XY
}
}
tmc2130_axis_stalled[axis] = false;
}
sg_homing_axes_mask = 0x00;
}
tmc2130_sg_crash = false;
#endif
}
void tmc2130_home_pause(uint8_t axis)
{
if (tmc2130_mode == TMC2130_MODE_NORMAL)
{
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
}
}
void tmc2130_home_resume(uint8_t axis)
{
if (tmc2130_mode == TMC2130_MODE_NORMAL)
{
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
}
}
void tmc2130_home_restart(uint8_t axis)
{
tmc2130_sg_pos[axis] = st_get_position(axis);
tmc2130_axis_stalled[axis] = false;
}
void tmc2130_sg_meassure_start(uint8_t axis)
{
tmc2130_sg_meassure = axis;
@ -460,7 +351,7 @@ uint16_t tmc2130_sg_meassure_stop()
bool tmc2130_wait_standstill_xy(int timeout)
{
// MYSERIAL.println("tmc2130_wait_standstill_xy");
DBG(_n("tmc2130_wait_standstill_xy(timeout=%d)\n"), timeout);
bool standstill = false;
while (!standstill && (timeout > 0))
{
@ -468,12 +359,7 @@ bool tmc2130_wait_standstill_xy(int timeout)
uint32_t drv_status_y = 0;
tmc2130_rd(tmc2130_cs[X_AXIS], TMC2130_REG_DRV_STATUS, &drv_status_x);
tmc2130_rd(tmc2130_cs[Y_AXIS], TMC2130_REG_DRV_STATUS, &drv_status_y);
/* MYSERIAL.print(timeout, 10);
MYSERIAL.println(' ');
MYSERIAL.print(drv_status_x, 16);
MYSERIAL.println(' ');
MYSERIAL.print(drv_status_y, 16);
MYSERIAL.println('#');*/
DBG(_n("\tdrv_status_x=0x%08x drv_status_x=0x%08x\n"), drv_status_x, drv_status_y);
standstill = (drv_status_x & 0x80000000) && (drv_status_y & 0x80000000);
tmc2130_check_overtemp();
timeout--;
@ -488,16 +374,11 @@ void tmc2130_check_overtemp()
static uint32_t checktime = 0;
if (millis() - checktime > 1000 )
{
// MYSERIAL.print("DRV_STATUS ");
for (int i = 0; i < 4; i++)
{
uint32_t drv_status = 0;
skip_debug_msg = true;
tmc2130_rd(tmc2130_cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
/* MYSERIAL.print(i, DEC);
MYSERIAL.print(' ');
MYSERIAL.print(drv_status, 16);*/
if (drv_status & ((uint32_t)1 << 26))
{ // BIT 26 - over temp prewarning ~120C (+-20C)
SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
@ -508,7 +389,6 @@ void tmc2130_check_overtemp()
}
}
// MYSERIAL.println('#');
checktime = millis();
tmc2130_sg_change = true;
}
@ -544,44 +424,26 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
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);
DBG(_n("tmc2130_set_current_h(axis=%d, current=%d\n"), axis, current);
tmc2130_current_h[axis] = current;
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
}
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);
DBG(_n("tmc2130_set_current_r(axis=%d, current=%d\n"), axis, current);
tmc2130_current_r[axis] = current;
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
}
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]);
DBG(_n("tmc2130_print_currents()\n\tH\tR\nX\t%d\t%d\nY\t%d\t%d\nZ\t%d\t%d\nE\t%d\t%d\n"),
tmc2130_current_h[0], tmc2130_current_r[0],
tmc2130_current_h[1], tmc2130_current_r[1],
tmc2130_current_h[2], tmc2130_current_r[2],
tmc2130_current_h[3], tmc2130_current_r[3]
);
}
void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)

5
Firmware/tmc2130.h
View File

@ -9,7 +9,6 @@ extern uint8_t tmc2130_mode;
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];
extern uint8_t tmc2130_sg_thr[4];
@ -35,8 +34,6 @@ extern void tmc2130_check_overtemp();
extern void tmc2130_home_enter(uint8_t axes_mask);
//exit homing (called from homeaxis after homing ends)
extern void tmc2130_home_exit();
//restart homing (called from homeaxis befor move)
extern void tmc2130_home_restart(uint8_t axis);
//start stallguard meassuring for single axis
extern void tmc2130_sg_meassure_start(uint8_t axis);
@ -59,8 +56,6 @@ extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
extern uint16_t tmc2130_rd_MSCNT(uint8_t cs);
extern void tmc2130_home_pause(uint8_t axis);
extern void tmc2130_home_resume(uint8_t axis);
extern bool tmc2130_wait_standstill_xy(int timeout);
extern void tmc2130_eeprom_load_config();

1
Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
View File

@ -140,7 +140,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold
#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 0 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 0 // stallguard sensitivity for Y axis

1
Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
View File

@ -140,7 +140,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_TCOOLTHRS 500 // TCOOLTHRS - coolstep treshold
#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