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Merge pull request #908 from XPila/MK3-new_lang

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TMC2130 gcodes for live motor tunning:
This commit is contained in:
PavelSindler 2018-07-09 16:58:09 +02:00 committed by GitHub
commit c7745dfb83
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 81 additions and 20 deletions
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53
Firmware/Marlin_main.cpp
View File

@ -3245,16 +3245,59 @@ void process_commands()
} }
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0) else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
{ {
if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_E"), 10) == 0) if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
{
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
axis = (axis == 'E')?3:(axis - 'X');
if (axis < 4)
{ {
uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10); uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
tmc2130_set_wave(E_AXIS, 247, fac); tmc2130_set_wave(axis, 247, fac);
} }
else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_E"), 10) == 0) }
else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
{
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
axis = (axis == 'E')?3:(axis - 'X');
if (axis < 4)
{ {
uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10); uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
uint16_t res = tmc2130_get_res(E_AXIS); uint16_t res = tmc2130_get_res(axis);
tmc2130_goto_step(E_AXIS, step & (4*res - 1), 2, 1000, res); tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
}
}
else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
{
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
axis = (axis == 'E')?3:(axis - 'X');
if (axis < 4)
{
uint8_t chop0 = tmc2130_chopper_config[axis].toff;
uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
uint8_t chop2 = tmc2130_chopper_config[axis].hend;
uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
char* str_end = 0;
if (CMDBUFFER_CURRENT_STRING[14])
{
chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
if (str_end && *str_end)
{
chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
if (str_end && *str_end)
{
chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
if (str_end && *str_end)
chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
}
}
}
tmc2130_chopper_config[axis].toff = chop0;
tmc2130_chopper_config[axis].hstr = chop1 & 7;
tmc2130_chopper_config[axis].hend = chop2 & 15;
tmc2130_chopper_config[axis].tbl = chop3 & 3;
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
//printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
}
} }
} }
#endif //TMC2130 #endif //TMC2130

29
Firmware/tmc2130.cpp
View File

@ -62,6 +62,13 @@ uint8_t tmc2130_home_fsteps[2] = {48, 48};
uint8_t tmc2130_wave_fac[4] = {0, 0, 0, 0}; uint8_t tmc2130_wave_fac[4] = {0, 0, 0, 0};
tmc2130_chopper_config_t tmc2130_chopper_config[4] = {
{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
{TMC2130_TOFF_E, 5, 1, 2, 0}
};
bool tmc2130_sg_stop_on_crash = true; bool tmc2130_sg_stop_on_crash = true;
uint8_t tmc2130_sg_diag_mask = 0x00; uint8_t tmc2130_sg_diag_mask = 0x00;
uint8_t tmc2130_sg_crash = 0; uint8_t tmc2130_sg_crash = 0;
@ -418,13 +425,13 @@ void tmc2130_check_overtemp()
void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r) void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
{ {
uint8_t intpol = 1; uint8_t intpol = 1;
uint8_t toff = TMC2130_TOFF_XYZ; // toff = 3 (fchop = 27.778kHz) uint8_t toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
uint8_t hstrt = 5; //initial 4, modified to 5 uint8_t hstrt = tmc2130_chopper_config[axis].hstr; //initial 4, modified to 5
uint8_t hend = 1; uint8_t hend = tmc2130_chopper_config[axis].hend; //original value = 1
uint8_t fd3 = 0; uint8_t fd3 = 0;
uint8_t rndtf = 0; //random off time uint8_t rndtf = 0; //random off time
uint8_t chm = 0; //spreadCycle uint8_t chm = 0; //spreadCycle
uint8_t tbl = 2; //blanking time uint8_t tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
if (axis == E_AXIS) if (axis == E_AXIS)
{ {
#ifdef TMC2130_CNSTOFF_E #ifdef TMC2130_CNSTOFF_E
@ -434,9 +441,11 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
hend = 0; //sine wave offset hend = 0; //sine wave offset
chm = 1; // constant off time mod chm = 1; // constant off time mod
#endif //TMC2130_CNSTOFF_E #endif //TMC2130_CNSTOFF_E
toff = TMC2130_TOFF_E; // toff = 3-5 // toff = TMC2130_TOFF_E; // toff = 3-5
// rndtf = 1; // rndtf = 1;
} }
DBG(_n("tmc2130_setup_chopper(axis=%hhd, mres=%hhd, curh=%hhd, curr=%hhd\n"), axis, mres, current_h, current_r);
DBG(_n(" toff=%hhd, hstr=%hhd, hend=%hhd, tbl=%hhd\n"), toff, hstrt, hend, tbl);
if (current_r <= 31) if (current_r <= 31)
{ {
tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0); tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0);
@ -475,10 +484,7 @@ void tmc2130_print_currents()
void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl) void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
{ {
MYSERIAL.print("tmc2130_set_pwm_ampl "); DBG(_n("tmc2130_set_pwm_ampl(axis=%hhd, pwm_ampl=%hhd\n"), axis, pwm_ampl);
MYSERIAL.print((int)axis);
MYSERIAL.print(" ");
MYSERIAL.println((int)pwm_ampl);
tmc2130_pwm_ampl[axis] = pwm_ampl; tmc2130_pwm_ampl[axis] = pwm_ampl;
if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT)) if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0); tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
@ -486,10 +492,7 @@ void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad) void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
{ {
MYSERIAL.print("tmc2130_set_pwm_grad "); DBG(_n("tmc2130_set_pwm_grad(axis=%hhd, pwm_grad=%hhd\n"), axis, pwm_grad);
MYSERIAL.print((int)axis);
MYSERIAL.print(" ");
MYSERIAL.println((int)pwm_grad);
tmc2130_pwm_grad[axis] = pwm_grad; tmc2130_pwm_grad[axis] = pwm_grad;
if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT)) if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0); tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);

15
Firmware/tmc2130.h
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@ -36,6 +36,19 @@ extern uint8_t tmc2130_home_fsteps[2];
extern uint8_t tmc2130_wave_fac[4]; extern uint8_t tmc2130_wave_fac[4];
#pragma pack(push)
#pragma pack(1)
typedef struct
{
uint8_t toff:4;
uint8_t hstr:3;
uint8_t hend:4;
uint8_t tbl:2;
uint8_t res:3;
} tmc2130_chopper_config_t;
#pragma pack(pop)
extern tmc2130_chopper_config_t tmc2130_chopper_config[4];
//initialize tmc2130 //initialize tmc2130
extern void tmc2130_init(); extern void tmc2130_init();
@ -55,6 +68,7 @@ extern void tmc2130_sg_meassure_start(uint8_t axis);
//stop current stallguard meassuring and report result //stop current stallguard meassuring and report result
extern uint16_t tmc2130_sg_meassure_stop(); extern uint16_t tmc2130_sg_meassure_stop();
extern void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
//set holding current for any axis (M911) //set holding current for any axis (M911)
extern void tmc2130_set_current_h(uint8_t axis, uint8_t current); extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
@ -80,6 +94,7 @@ extern bool tmc2130_wait_standstill_xy(int timeout);
extern void tmc2130_eeprom_load_config(); extern void tmc2130_eeprom_load_config();
extern void tmc2130_eeprom_save_config(); extern void tmc2130_eeprom_save_config();
#pragma pack(push) #pragma pack(push)
#pragma pack(1) #pragma pack(1)
struct struct