Removed SG software homming
After Calibration Z enabled minstop (SG and PINDA) TMC2130 code simplification
This commit is contained in:
Robert Pelnar
parent
1c7bbad66d
commit
c6e10fb903
@ -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
|
||||
|
||||
@ -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);
|
||||
@ -2004,22 +2009,32 @@ bool gcode_M45(bool onlyZ) {
|
||||
}
|
||||
// Move the print head close to the bed.
|
||||
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();
|
||||
|
||||
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
|
||||
|
||||
int8_t verbosity_level = 0;
|
||||
if (code_seen('V')) {
|
||||
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) {
|
||||
if (onlyZ)
|
||||
{
|
||||
clean_up_after_endstop_move();
|
||||
// Z only calibration.
|
||||
// Load the machine correction matrix
|
||||
@ -2028,7 +2043,8 @@ bool gcode_M45(bool onlyZ) {
|
||||
world2machine_update_current();
|
||||
//FIXME
|
||||
bool result = sample_mesh_and_store_reference();
|
||||
if (result) {
|
||||
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);
|
||||
@ -2036,7 +2052,8 @@ bool gcode_M45(bool onlyZ) {
|
||||
// babystep_apply();
|
||||
}
|
||||
}
|
||||
else {
|
||||
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);
|
||||
@ -2048,7 +2065,8 @@ bool gcode_M45(bool onlyZ) {
|
||||
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) {
|
||||
if (result >= 0)
|
||||
{
|
||||
point_too_far_mask = 0;
|
||||
// Second half: The fine adjustment.
|
||||
// Let the planner use the uncorrected coordinates.
|
||||
@ -2066,7 +2084,8 @@ bool gcode_M45(bool onlyZ) {
|
||||
// if (result >= 0) babystep_apply();
|
||||
}
|
||||
lcd_bed_calibration_show_result(result, point_too_far_mask);
|
||||
if (result >= 0) {
|
||||
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);
|
||||
@ -2077,7 +2096,14 @@ bool gcode_M45(bool onlyZ) {
|
||||
tmc2130_home_exit();
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
else
|
||||
{
|
||||
lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
|
||||
final_result = false;
|
||||
}
|
||||
}
|
||||
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
|
||||
|
||||
@ -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;
|
||||
@ -1010,6 +1005,9 @@ void st_init()
|
||||
SET_INPUT(Z_TMC2130_DIAG);
|
||||
WRITE(Z_TMC2130_DIAG,HIGH);
|
||||
|
||||
SET_INPUT(E0_TMC2130_DIAG);
|
||||
WRITE(E0_TMC2130_DIAG,HIGH);
|
||||
|
||||
#endif
|
||||
|
||||
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -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();
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
Loading…
Reference in New Issue
Block a user