Merge remote-tracking branch 'upstream/MK3' into MK3
sync with upstream
This commit is contained in:
PavelSindler
commit
d05e62813a
8 changed files with 727 additions and 251 deletions
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@ -430,10 +430,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
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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 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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//#define DEFAULT_ZJERK 0.2 // (mm/sec)
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//#define DEFAULT_EJERK 2.5 // (mm/sec)
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#define DEFAULT_XJERK 0.5 // (mm/sec)
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#define DEFAULT_YJERK 0.5 // (mm/sec)
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#define DEFAULT_ZJERK 0.1 // (mm/sec)
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#define DEFAULT_EJERK 0.5 // (mm/sec)
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//===========================================================================
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//=============================Additional Features===========================
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@ -1059,6 +1059,12 @@ void setup()
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tp_init(); // Initialize temperature loop
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plan_init(); // Initialize planner;
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watchdog_init();
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#ifdef HAVE_TMC2130_DRIVERS
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uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
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tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
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#endif //HAVE_TMC2130_DRIVERS
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st_init(); // Initialize stepper, this enables interrupts!
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setup_photpin();
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servo_init();
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@ -1372,6 +1378,9 @@ void loop()
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isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
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checkHitEndstops();
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lcd_update();
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#ifdef HAVE_TMC2130_DRIVERS
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tmc2130_check_overtemp();
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#endif //HAVE_TMC2130_DRIVERS
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}
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void get_command()
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@ -5522,10 +5531,35 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
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}
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break;
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case 913: // M912 Print TMC2130 currents
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case 913: // M913 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 914: // M914 Set normal mode
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{
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tmc2130_mode = TMC2130_MODE_NORMAL;
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tmc2130_init();
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}
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break;
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case 915: // M915 Set silent mode
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{
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tmc2130_mode = TMC2130_MODE_SILENT;
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tmc2130_init();
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}
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break;
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case 916: // M916 Set sg_thrs
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{
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if (code_seen('X')) sg_thrs_x = code_value();
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if (code_seen('Y')) sg_thrs_y = code_value();
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MYSERIAL.print("sg_thrs_x=");
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MYSERIAL.print(sg_thrs_x, DEC);
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MYSERIAL.print(" sg_thrs_y=");
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MYSERIAL.println(sg_thrs_y, DEC);
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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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@ -5777,6 +5811,10 @@ void get_coordinates()
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}
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if(code_seen('F')) {
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next_feedrate = code_value();
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#ifdef MAX_SILENT_FEEDRATE
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if (tmc2130_mode == TMC2130_MODE_SILENT)
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if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
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#endif //MAX_SILENT_FEEDRATE
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if(next_feedrate > 0.0) feedrate = next_feedrate;
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}
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}
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@ -83,7 +83,7 @@ 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_SW
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#ifdef TMC2130_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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@ -286,6 +286,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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else {
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step_loops = 1;
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}
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// step_loops = 1;
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if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
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step_rate -= (F_CPU/500000); // Correct for minimal speed
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@ -405,11 +406,11 @@ 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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#ifndef TMC2130_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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#else //TMC2130_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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#endif //TMC2130_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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@ -425,11 +426,11 @@ 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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#ifndef TMC2130_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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#else //TMC2130_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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#endif //TMC2130_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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@ -449,11 +450,11 @@ 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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#ifndef TMC2130_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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#else //TMC2130_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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#endif //TMC2130_SG_HOMING_SW
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if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
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endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
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endstop_y_hit=true;
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@ -467,11 +468,11 @@ ISR(TIMER1_COMPA_vect)
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CHECK_ENDSTOPS
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{
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#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
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#ifndef SG_HOMING_SW
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#ifndef TMC2130_SG_HOMING_SW
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bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
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#else //SG_HOMING_SW
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#else //TMC2130_SG_HOMING_SW
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bool y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
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#endif //SG_HOMING_SW
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#endif //TMC2130_SG_HOMING_SW
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if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
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endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
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endstop_y_hit=true;
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@ -92,21 +92,6 @@ void microstep_readings();
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static void check_fans();
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#ifdef HAVE_TMC2130_DRIVERS
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void tmc2130_check_overtemp();
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void tmc2130_write(uint8_t chipselect, uint8_t address, uint8_t wval1, uint8_t wval2, uint8_t wval3, uint8_t wval4);
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uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address);
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uint16_t tmc2130_readSG(uint8_t chipselect);
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uint16_t tmc2130_readTStep(uint8_t chipselect);
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void tmc2130_PWMconf(uint8_t cs, uint8_t PWMgrad, uint8_t PWMampl);
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void st_setSGHoming(uint8_t axis);
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void st_resetSGflags();
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uint8_t st_didLastHomingStall();
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#endif
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#ifdef BABYSTEPPING
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void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
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@ -11,6 +11,8 @@ extern void st_get_position_xy(long &x, long &y);
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//chipselect pins
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uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
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//mode
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uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
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//holding currents
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uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
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//running currents
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@ -22,23 +24,62 @@ uint8_t tmc2130_LastHomingStalled = 0;
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uint8_t sg_homing_axis = 0xff;
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uint8_t sg_homing_delay = 0;
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uint8_t sg_thrs_x = TMC2130_SG_THRS_X;
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uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
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uint32_t tmc2130_read(uint8_t cs, uint8_t address);
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void tmc2130_write(uint8_t cs, uint8_t address, uint8_t wval1, uint8_t wval2, uint8_t wval3, uint8_t wval4);
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uint8_t tmc2130_read8(uint8_t cs, uint8_t address);
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uint32_t tmc2130_readRegister(uint8_t cs, uint8_t address);
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uint16_t tmc2130_readSG(uint8_t cs);
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uint16_t tmc2130_readTStep(uint8_t cs);
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void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16);
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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);
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void tmc2130_PWMthreshold(uint8_t cs);
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void tmc2130_disable_motor(uint8_t driver);
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//TMC2130 registers
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#define TMC2130_REG_GCONF 0x00 // 17 bits
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#define TMC2130_REG_GSTAT 0x01 // 3 bits
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#define TMC2130_REG_IOIN 0x04 // 8+8 bits
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#define TMC2130_REG_IHOLD_IRUN 0x10 // 5+5+4 bits
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#define TMC2130_REG_TPOWERDOWN 0x11 // 8 bits
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#define TMC2130_REG_TSTEP 0x12 // 20 bits
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#define TMC2130_REG_TPWMTHRS 0x13 // 20 bits
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#define TMC2130_REG_TCOOLTHRS 0x14 // 20 bits
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#define TMC2130_REG_THIGH 0x15 // 20 bits
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#define TMC2130_REG_XDIRECT 0x2d // 32 bits
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#define TMC2130_REG_VDCMIN 0x33 // 23 bits
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#define TMC2130_REG_MSLUT0 0x60 // 32 bits
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#define TMC2130_REG_MSLUT1 0x61 // 32 bits
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#define TMC2130_REG_MSLUT2 0x62 // 32 bits
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#define TMC2130_REG_MSLUT3 0x63 // 32 bits
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#define TMC2130_REG_MSLUT4 0x64 // 32 bits
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#define TMC2130_REG_MSLUT5 0x65 // 32 bits
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#define TMC2130_REG_MSLUT6 0x66 // 32 bits
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#define TMC2130_REG_MSLUT7 0x67 // 32 bits
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#define TMC2130_REG_MSLUTSEL 0x68 // 32 bits
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#define TMC2130_REG_MSLUTSTART 0x69 // 8+8 bits
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#define TMC2130_REG_MSCNT 0x6a // 10 bits
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#define TMC2130_REG_MSCURACT 0x6b // 9+9 bits
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#define TMC2130_REG_CHOPCONF 0x6c // 32 bits
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#define TMC2130_REG_COOLCONF 0x6d // 25 bits
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#define TMC2130_REG_DCCTRL 0x6e // 24 bits
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#define TMC2130_REG_DRV_STATUS 0x6f // 32 bits
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#define TMC2130_REG_PWMCONF 0x70 // 22 bits
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#define TMC2130_REG_PWM_SCALE 0x71 // 8 bits
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#define TMC2130_REG_ENCM_CTRL 0x72 // 2 bits
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#define TMC2130_REG_LOST_STEPS 0x73 // 20 bits
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uint16_t tmc2130_rd_TSTEP(uint8_t cs);
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uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect);
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void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16);
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void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale = TMC2130_PWM_AUTO, uint8_t PWMfreq = TMC2130_PWM_FREQ, uint8_t PWMgrad = TMC2130_PWM_GRAD, uint8_t PWMampl = TMC2130_PWM_AMPL);
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void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32);
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void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32);
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uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval);
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uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval);
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uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval);
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void tmc2130_init()
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{
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MYSERIAL.println("tmc2130_init");
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MYSERIAL.print("tmc2130_init mode=");
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MYSERIAL.println(tmc2130_mode, DEC);
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WRITE(X_TMC2130_CS, HIGH);
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WRITE(Y_TMC2130_CS, HIGH);
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WRITE(Z_TMC2130_CS, HIGH);
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@ -48,37 +89,49 @@ void tmc2130_init()
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SET_OUTPUT(Z_TMC2130_CS);
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SET_OUTPUT(E0_TMC2130_CS);
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SPI.begin();
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for (int i = 0; i < 3; i++) //X Y Z axes
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for (int i = 0; i < 2; i++) // X Y axes
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{
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tmc2130_write(tmc2130_cs[i], 0x00, 0, 0, 0, 0x04); //address=0x0 GCONF - bit 2 activate stealthChop
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tmc2130_write(tmc2130_cs[i], 0x10, 0, 15, tmc2130_current_r[i], tmc2130_current_h[i]); //0x10 IHOLD_IRUN
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tmc2130_write(tmc2130_cs[i], 0x11, 0, 0, 0, 0);
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tmc2130_PWMconf(tmc2130_cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
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//tmc2130_PWMthreshold(tmc2130_cs[i]);
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tmc2130_chopconf(tmc2130_cs[i], 1, 16);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
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tmc2130_wr_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480
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tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
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//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
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tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_XY, TMC2130_USTEPS_XY);
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}
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for (int i = 3; i < 4; i++) //E axis
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for (int i = 2; i < 3; i++) // Z axis
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{
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tmc2130_write(tmc2130_cs[i], 0x00, 0, 0, 0, 0x00); //address=0x0 GCONF - bit 2 activate stealthChop
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tmc2130_write(tmc2130_cs[i], 0x10, 0, 15, tmc2130_current_r[i], tmc2130_current_h[i]); //0x10 IHOLD_IRUN
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tmc2130_write(tmc2130_cs[i], 0x11, 0, 0, 0, 0);
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tmc2130_chopconf(tmc2130_cs[i], 1, 16);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
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tmc2130_wr_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480
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tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
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//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
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tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_Z, TMC2130_USTEPS_Z);
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}
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for (int i = 3; i < 4; i++) // E axis
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{
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000004); //GCONF - bit 2 activate stealthChop
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
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tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_E, TMC2130_USTEPS_E);
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}
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}
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bool tmc2130_update_sg()
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{
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#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW))
|
||||
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)
|
||||
uint16_t tstep = tmc2130_rd_TSTEP(cs);
|
||||
if (tstep < TMC2130_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);
|
||||
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
|
||||
if (sg==0)
|
||||
{
|
||||
tmc2130_axis_stalled[sg_homing_axis] = true;
|
||||
|
|
@ -97,25 +150,29 @@ bool tmc2130_update_sg()
|
|||
tmc2130_axis_stalled[X_AXIS] = false;
|
||||
tmc2130_axis_stalled[Y_AXIS] = false;
|
||||
}
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
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++)
|
||||
for(int i=0;i<4;i++)
|
||||
{
|
||||
uint32_t drv_status = tmc2130_read(tmc2130_cs[i], 0x6F); //0x6F DRV_STATUS
|
||||
uint32_t drv_status = 0;
|
||||
tmc2130_rd(cs[i], TMC2130_REG_DRV_STATUS, &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);
|
||||
for(int i=0; i < 4; i++)
|
||||
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_CHOPCONF, 0x00010000);
|
||||
kill(TMC_OVERTEMP_MSG);
|
||||
}
|
||||
}
|
||||
checktime = millis();
|
||||
|
|
@ -126,27 +183,36 @@ void tmc2130_home_enter(uint8_t axis)
|
|||
{
|
||||
MYSERIAL.print("tmc2130_home_enter ");
|
||||
MYSERIAL.println((int)axis);
|
||||
#ifdef TMC2130_SG_HOMING
|
||||
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);
|
||||
tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000000);
|
||||
tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((axis == X_AXIS)?sg_thrs_x:sg_thrs_y) << 16);
|
||||
tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
|
||||
#ifndef TMC2130_SG_HOMING_SW
|
||||
tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000080); //stallguard output to DIAG0
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
void tmc2130_home_exit()
|
||||
{
|
||||
MYSERIAL.println("tmc2130_home_exit");
|
||||
MYSERIAL.println("tmc2130_home_exit ");
|
||||
MYSERIAL.println((int)sg_homing_axis);
|
||||
#ifdef TMC2130_SG_HOMING
|
||||
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);
|
||||
if (tmc2130_mode == TMC2130_MODE_SILENT)
|
||||
tmc2130_wr(tmc2130_cs[sg_homing_axis], TMC2130_REG_GCONF, 0x00000004); // Configuration back to stealthChop
|
||||
else
|
||||
tmc2130_wr(tmc2130_cs[sg_homing_axis], TMC2130_REG_GCONF, 0x00000000);
|
||||
sg_homing_axis = 0xff;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
extern uint8_t tmc2130_didLastHomingStall()
|
||||
|
|
@ -164,7 +230,7 @@ void tmc2130_set_current_h(uint8_t axis, uint8_t current)
|
|||
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
|
||||
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
|
||||
}
|
||||
|
||||
void tmc2130_set_current_r(uint8_t axis, uint8_t current)
|
||||
|
|
@ -175,203 +241,49 @@ void tmc2130_set_current_r(uint8_t axis, uint8_t current)
|
|||
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
|
||||
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
|
||||
}
|
||||
|
||||
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)
|
||||
uint16_t tmc2130_rd_TSTEP(uint8_t cs)
|
||||
{
|
||||
uint32_t val32;
|
||||
uint8_t val0;
|
||||
uint8_t val1;
|
||||
uint8_t val2;
|
||||
uint8_t val3;
|
||||
uint8_t val4;
|
||||
//datagram1 - read request (address + dummy write)
|
||||
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(address);
|
||||
SPI.transfer(0);
|
||||
SPI.transfer(0);
|
||||
SPI.transfer(0);
|
||||
SPI.transfer(0);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs,LOW);
|
||||
val0 = SPI.transfer(0);
|
||||
val1 = SPI.transfer(0);
|
||||
val2 = SPI.transfer(0);
|
||||
val3 = SPI.transfer(0);
|
||||
val4 = SPI.transfer(0);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
#ifdef TMC_DBG_READS
|
||||
MYSERIAL.print("SPIRead 0x");
|
||||
MYSERIAL.print(address,HEX);
|
||||
MYSERIAL.print(" Status:");
|
||||
MYSERIAL.print(val0 & 0b00000111,BIN);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.print(val1,BIN);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.print(val2,BIN);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.print(val3,BIN);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.print(val4,BIN);
|
||||
#endif
|
||||
val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
|
||||
#ifdef TMC_DBG_READS
|
||||
MYSERIAL.print(" 0x");
|
||||
MYSERIAL.println(val32,HEX);
|
||||
#endif
|
||||
uint32_t val32 = 0;
|
||||
tmc2130_rd(cs, TMC2130_REG_TSTEP, &val32);
|
||||
if (val32 & 0x000f0000) return 0xffff;
|
||||
return val32 & 0xffff;
|
||||
}
|
||||
|
||||
uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs)
|
||||
{
|
||||
uint32_t val32 = 0;
|
||||
tmc2130_rd(cs, TMC2130_REG_DRV_STATUS, &val32);
|
||||
return val32;
|
||||
}
|
||||
|
||||
void tmc2130_write(uint8_t cs, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
|
||||
void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256, uint16_t microstep_resolution)
|
||||
{
|
||||
uint32_t val32;
|
||||
uint8_t val0;
|
||||
uint8_t val1;
|
||||
uint8_t val2;
|
||||
uint8_t val3;
|
||||
uint8_t val4;
|
||||
//datagram1 - write
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(address+0x80);
|
||||
SPI.transfer(wval1);
|
||||
SPI.transfer(wval2);
|
||||
SPI.transfer(wval3);
|
||||
SPI.transfer(wval4);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs,LOW);
|
||||
val0 = SPI.transfer(0);
|
||||
val1 = SPI.transfer(0);
|
||||
val2 = SPI.transfer(0);
|
||||
val3 = SPI.transfer(0);
|
||||
val4 = SPI.transfer(0);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
#ifdef TMC_DBG_WRITE
|
||||
MYSERIAL.print("WriteRead 0x");
|
||||
MYSERIAL.print(address,HEX);
|
||||
MYSERIAL.print(" Status:");
|
||||
MYSERIAL.print(val0 & 0b00000111,BIN);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.print(val1,BIN);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.print(val2,BIN);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.print(val3,BIN);
|
||||
MYSERIAL.print(" ");
|
||||
MYSERIAL.print(val4,BIN);
|
||||
val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
|
||||
MYSERIAL.print(" 0x");
|
||||
MYSERIAL.println(val32,HEX);
|
||||
#endif //TMC_DBG_READS
|
||||
}
|
||||
|
||||
uint8_t tmc2130_read8(uint8_t cs, uint8_t address)
|
||||
{
|
||||
//datagram1 - write
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(address);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
uint8_t val0;
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs,LOW);
|
||||
val0 = SPI.transfer(0);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
return val0;
|
||||
}
|
||||
|
||||
uint32_t tmc2130_readRegister(uint8_t cs, uint8_t address)
|
||||
{
|
||||
//datagram1 - write
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs,LOW);
|
||||
SPI.transfer(address);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
SPI.transfer(0x00);
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
uint32_t val0;
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
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(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
return val0;
|
||||
}
|
||||
|
||||
uint16_t tmc2130_readSG(uint8_t cs)
|
||||
{
|
||||
uint8_t address = 0x6F;
|
||||
uint32_t registerValue = tmc2130_readRegister(cs, address);
|
||||
uint16_t val0 = registerValue & 0x3ff;
|
||||
return val0;
|
||||
}
|
||||
|
||||
uint16_t tmc2130_readTStep(uint8_t cs)
|
||||
{
|
||||
uint8_t address = 0x12;
|
||||
uint32_t registerValue = tmc2130_readRegister(cs, address);
|
||||
uint16_t val0 = 0;
|
||||
if(registerValue & 0x000f0000)
|
||||
val0 = 0xffff;
|
||||
else
|
||||
val0 = registerValue & 0xffff;
|
||||
return val0;
|
||||
}
|
||||
|
||||
void tmc2130_chopconf(uint8_t cs, bool extrapolate256, uint16_t microstep_resolution)
|
||||
{
|
||||
uint8_t mres = 0b0100;
|
||||
uint8_t mres=0b0100;
|
||||
if(microstep_resolution == 256) mres = 0b0000;
|
||||
if(microstep_resolution == 128) mres = 0b0001;
|
||||
if(microstep_resolution == 64) mres = 0b0010;
|
||||
|
|
@ -382,23 +294,98 @@ void tmc2130_chopconf(uint8_t cs, bool extrapolate256, uint16_t microstep_resolu
|
|||
if(microstep_resolution == 2) mres = 0b0111;
|
||||
if(microstep_resolution == 1) mres = 0b1000;
|
||||
mres |= extrapolate256 << 4; //bit28 intpol
|
||||
//tmc2130_write(cs, 0x6C, mres, 0x01, 0x00, 0xD3);
|
||||
tmc2130_write(cs, 0x6C, mres, 0x01, 0x00, 0xC3);
|
||||
//tmc2130_write(cs,0x6C,mres,0x01,0x00,0xD3);
|
||||
// tmc2130_write(cs,0x6C,mres,0x01,0x00,0xC3);
|
||||
tmc2130_wr(cs,TMC2130_REG_CHOPCONF,((uint32_t)mres << 24) | 0x0100C3);
|
||||
}
|
||||
|
||||
void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
|
||||
void tmc2130_wr_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
|
||||
tmc2130_wr(cs, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
|
||||
}
|
||||
|
||||
void tmc2130_PWMthreshold(uint8_t cs)
|
||||
void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32)
|
||||
{
|
||||
tmc2130_write(cs, 0x13, 0x00, 0x00, 0x00, 0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
|
||||
tmc2130_wr(cs, TMC2130_REG_TPWMTHRS, val32);
|
||||
}
|
||||
|
||||
void tmc2130_disable_motor(uint8_t driver)
|
||||
void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32)
|
||||
{
|
||||
tmc2130_write(tmc2130_cs[driver], 0x6C, 0, 01, 0, 0);
|
||||
tmc2130_wr(cs, TMC2130_REG_THIGH, val32);
|
||||
}
|
||||
|
||||
|
||||
uint8_t tmc2130_axis_by_cs(uint8_t cs)
|
||||
{
|
||||
switch (cs)
|
||||
{
|
||||
case X_TMC2130_CS: return 0;
|
||||
case Y_TMC2130_CS: return 1;
|
||||
case Z_TMC2130_CS: return 2;
|
||||
case E0_TMC2130_CS: return 3;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval)
|
||||
{
|
||||
uint8_t stat = tmc2130_txrx(cs, addr | 0x80, wval, 0);
|
||||
#ifdef TMC2130_DEBUG_WR
|
||||
MYSERIAL.print("tmc2130_wr(");
|
||||
MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC);
|
||||
MYSERIAL.print(", 0x");
|
||||
MYSERIAL.print((unsigned char)addr, HEX);
|
||||
MYSERIAL.print(", 0x");
|
||||
MYSERIAL.print((unsigned long)wval, HEX);
|
||||
MYSERIAL.print(")=0x");
|
||||
MYSERIAL.println((unsigned char)stat, HEX);
|
||||
#endif //TMC2130_DEBUG_WR
|
||||
return stat;
|
||||
}
|
||||
|
||||
uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval)
|
||||
{
|
||||
uint32_t val32 = 0;
|
||||
uint8_t stat = tmc2130_txrx(cs, addr, 0x00000000, &val32);
|
||||
if (rval != 0) *rval = val32;
|
||||
#ifdef TMC2130_DEBUG_RD
|
||||
MYSERIAL.print("tmc2130_rd(");
|
||||
MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC);
|
||||
MYSERIAL.print(", 0x");
|
||||
MYSERIAL.print((unsigned char)addr, HEX);
|
||||
MYSERIAL.print(", 0x");
|
||||
MYSERIAL.print((unsigned long)val32, HEX);
|
||||
MYSERIAL.print(")=0x");
|
||||
MYSERIAL.println((unsigned char)stat, HEX);
|
||||
#endif //TMC2130_DEBUG_RD
|
||||
return stat;
|
||||
}
|
||||
|
||||
uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval)
|
||||
{
|
||||
//datagram1 - request
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs, LOW);
|
||||
SPI.transfer(addr); // address
|
||||
SPI.transfer((wval >> 24) & 0xff); // MSB
|
||||
SPI.transfer((wval >> 16) & 0xff);
|
||||
SPI.transfer((wval >> 8) & 0xff);
|
||||
SPI.transfer(wval & 0xff); // LSB
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
//datagram2 - response
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
digitalWrite(cs, LOW);
|
||||
uint8_t stat = SPI.transfer(0); // status
|
||||
uint32_t val32 = 0;
|
||||
val32 = SPI.transfer(0); // MSB
|
||||
val32 = (val32 << 8) | SPI.transfer(0);
|
||||
val32 = (val32 << 8) | SPI.transfer(0);
|
||||
val32 = (val32 << 8) | SPI.transfer(0); // LSB
|
||||
digitalWrite(cs, HIGH);
|
||||
SPI.endTransaction();
|
||||
if (rval != 0) *rval = val32;
|
||||
return stat;
|
||||
}
|
||||
|
||||
#endif //HAVE_TMC2130_DRIVERS
|
||||
|
|
|
|||
|
|
@ -1,14 +1,19 @@
|
|||
#ifndef TMC2130_H
|
||||
#define TMC2130_H
|
||||
|
||||
//mode
|
||||
extern uint8_t tmc2130_mode;
|
||||
//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];
|
||||
|
||||
extern uint8_t sg_homing_delay;
|
||||
extern uint8_t sg_thrs_x;
|
||||
extern uint8_t sg_thrs_y;
|
||||
|
||||
#define TMC2130_MODE_NORMAL 0
|
||||
#define TMC2130_MODE_SILENT 1
|
||||
|
||||
//initialize tmc2130
|
||||
extern void tmc2130_init();
|
||||
|
|
@ -23,11 +28,12 @@ extern void tmc2130_home_exit();
|
|||
//
|
||||
extern uint8_t tmc2130_didLastHomingStall();
|
||||
|
||||
//set holding current for any axis (G911)
|
||||
//set holding current for any axis (M911)
|
||||
extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
|
||||
//set running current for any axis (G912)
|
||||
//set running current for any axis (M912)
|
||||
extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
|
||||
//print currents
|
||||
//print currents (M913)
|
||||
extern void tmc2130_print_currents();
|
||||
|
||||
|
||||
#endif //TMC2130_H
|
||||
|
|
@ -16,6 +16,10 @@
|
|||
#include "SdFatUtil.h"
|
||||
#include "pat9125.h"
|
||||
|
||||
#ifdef HAVE_TMC2130_DRIVERS
|
||||
#include "tmc2130.h"
|
||||
#endif //HAVE_TMC2130_DRIVERS
|
||||
|
||||
#define _STRINGIFY(s) #s
|
||||
|
||||
|
||||
|
|
@ -2401,6 +2405,10 @@ void EEPROM_read(int pos, uint8_t* value, uint8_t size)
|
|||
static void lcd_silent_mode_set() {
|
||||
SilentModeMenu = !SilentModeMenu;
|
||||
eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
|
||||
#ifdef HAVE_TMC2130_DRIVERS
|
||||
tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
|
||||
tmc2130_init();
|
||||
#endif //HAVE_TMC2130_DRIVERS
|
||||
digipot_init();
|
||||
lcd_goto_menu(lcd_settings_menu, 7);
|
||||
}
|
||||
|
|
@ -3846,6 +3854,10 @@ static void lcd_autostart_sd()
|
|||
static void lcd_silent_mode_set_tune() {
|
||||
SilentModeMenu = !SilentModeMenu;
|
||||
eeprom_update_byte((unsigned char*)EEPROM_SILENT, SilentModeMenu);
|
||||
#ifdef HAVE_TMC2130_DRIVERS
|
||||
tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
|
||||
tmc2130_init();
|
||||
#endif //HAVE_TMC2130_DRIVERS
|
||||
digipot_init();
|
||||
lcd_goto_menu(lcd_tune_menu, 9);
|
||||
}
|
||||
|
|
|
|||
445
Firmware/variants/1_75mm_MK2-EINY03-E3Dv6full.h
Normal file
445
Firmware/variants/1_75mm_MK2-EINY03-E3Dv6full.h
Normal file
|
|
@ -0,0 +1,445 @@
|
|||
#ifndef CONFIGURATION_PRUSA_H
|
||||
#define CONFIGURATION_PRUSA_H
|
||||
|
||||
/*------------------------------------
|
||||
GENERAL SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
// Printer revision
|
||||
#define FILAMENT_SIZE "1_75mm_MK3"
|
||||
#define NOZZLE_TYPE "E3Dv6full"
|
||||
|
||||
// Developer flag
|
||||
#define DEVELOPER
|
||||
|
||||
// Printer name
|
||||
#define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
|
||||
|
||||
// Electronics
|
||||
//#define MOTHERBOARD BOARD_EINY_0_4a
|
||||
#define MOTHERBOARD BOARD_EINY_0_3a
|
||||
|
||||
|
||||
// Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
|
||||
//#define E3D_PT100_EXTRUDER_WITH_AMP
|
||||
//#define E3D_PT100_EXTRUDER_NO_AMP
|
||||
//#define E3D_PT100_BED_WITH_AMP
|
||||
//#define E3D_PT100_BED_NO_AMP
|
||||
|
||||
|
||||
/*------------------------------------
|
||||
AXIS SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
// Steps per unit {X,Y,Z,E}
|
||||
//#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,140}
|
||||
#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,280}
|
||||
//#define DEFAULT_AXIS_STEPS_PER_UNIT {200,200,3200/4,560}
|
||||
|
||||
// Endstop inverting
|
||||
const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
|
||||
const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
|
||||
const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
|
||||
|
||||
// Home position
|
||||
#define MANUAL_X_HOME_POS 0
|
||||
#define MANUAL_Y_HOME_POS -2.2
|
||||
#define MANUAL_Z_HOME_POS 0.2
|
||||
|
||||
// Travel limits after homing
|
||||
#define X_MAX_POS 255
|
||||
#define X_MIN_POS 0
|
||||
#define Y_MAX_POS 210
|
||||
#define Y_MIN_POS -4
|
||||
#define Z_MAX_POS 210
|
||||
#define Z_MIN_POS 0.15
|
||||
|
||||
// Canceled home position
|
||||
#define X_CANCEL_POS 50
|
||||
#define Y_CANCEL_POS 190
|
||||
|
||||
//Pause print position
|
||||
#define X_PAUSE_POS 50
|
||||
#define Y_PAUSE_POS 190
|
||||
#define Z_PAUSE_LIFT 20
|
||||
|
||||
#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 {400, 400, 12, 120} // (mm/sec)
|
||||
#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec)
|
||||
#define DEFAULT_MAX_ACCELERATION {1000, 1000, 100, 5000} // 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 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
|
||||
#define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts
|
||||
|
||||
|
||||
#define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min)
|
||||
#define MAX_SILENT_FEEDRATE 2700 //
|
||||
|
||||
#define Z_AXIS_ALWAYS_ON 1
|
||||
|
||||
/*------------------------------------
|
||||
TMC2130 default settings
|
||||
*------------------------------------*/
|
||||
|
||||
// PWM register configuration
|
||||
//#define TMC2130_PWM_GRAD 0x08 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
|
||||
//#define TMC2130_PWM_AMPL 0xC8 // 0xFF - Sets PWM amplitude to 200 (max is 255)
|
||||
#define TMC2130_PWM_GRAD 0x01 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
|
||||
#define TMC2130_PWM_AMPL 0xc8 // 0xFF - Sets PWM amplitude to 200 (max is 255)
|
||||
#define TMC2130_PWM_AUTO 0x04 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
|
||||
//#define TMC2130_PWM_FREQ 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 35.1kHz
|
||||
#define TMC2130_PWM_FREQ 0x02 // 0x02 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 46.9kHz
|
||||
|
||||
#define TMC2130_USTEPS_XY 16
|
||||
#define TMC2130_USTEPS_Z 16
|
||||
#define TMC2130_USTEPS_E 16
|
||||
#define TMC2130_EXP256_XY 1
|
||||
#define TMC2130_EXP256_Z 1
|
||||
#define TMC2130_EXP256_E 1
|
||||
|
||||
// Special configuration for XY axes for operation (during standstill, use same settings as for other axes) //todo
|
||||
// RP: this settings does not work (overtemp)
|
||||
//#define TMC2130_PWM_GRAD_XY 156 // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
|
||||
//#define TMC2130_PWM_AMPL_XY 63 // 0xFF - Sets PWM amplitude to 200 (max is 255)
|
||||
//#define TMC2130_PWM_AUTO_XY 0x00 // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
|
||||
//#define TMC2130_PWM_FREQ_XY 0x01 // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK)
|
||||
|
||||
#define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
|
||||
#define TMC2130_THIGH 0 // THIGH - unused
|
||||
|
||||
#define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold
|
||||
|
||||
#define TMC2130_SG_HOMING 1 // stallguard homing
|
||||
#define TMC2130_SG_HOMING_SW 1 // stallguard "software" homing
|
||||
#define TMC2130_SG_THRS_X 12 // stallguard sensitivity for X axis
|
||||
#define TMC2130_SG_THRS_Y 12 // stallguard sensitivity for Y axis
|
||||
|
||||
#define TMC2130_CURRENTS_H {2, 2, 2, 4} // default holding currents for all axes
|
||||
#define TMC2130_CURRENTS_R {6, 6, 10, 8} // default running currents for all axes
|
||||
#define TMC2130_DEBUG
|
||||
//#define TMC2130_DEBUG_WR
|
||||
//#define TMC2130_DEBUG_RD
|
||||
|
||||
|
||||
/*------------------------------------
|
||||
EXTRUDER SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
// Mintemps
|
||||
#define HEATER_0_MINTEMP 15
|
||||
#define HEATER_1_MINTEMP 5
|
||||
#define HEATER_2_MINTEMP 5
|
||||
#define BED_MINTEMP 15
|
||||
|
||||
// Maxtemps
|
||||
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
|
||||
#define HEATER_0_MAXTEMP 410
|
||||
#else
|
||||
#define HEATER_0_MAXTEMP 305
|
||||
#endif
|
||||
#define HEATER_1_MAXTEMP 305
|
||||
#define HEATER_2_MAXTEMP 305
|
||||
#define BED_MAXTEMP 150
|
||||
|
||||
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
|
||||
// Define PID constants for extruder with PT100
|
||||
#define DEFAULT_Kp 21.70
|
||||
#define DEFAULT_Ki 1.60
|
||||
#define DEFAULT_Kd 73.76
|
||||
#else
|
||||
// Define PID constants for extruder
|
||||
#define DEFAULT_Kp 40.925
|
||||
#define DEFAULT_Ki 4.875
|
||||
#define DEFAULT_Kd 86.085
|
||||
#endif
|
||||
|
||||
// Extrude mintemp
|
||||
#define EXTRUDE_MINTEMP 130
|
||||
|
||||
// Extruder cooling fans
|
||||
#define EXTRUDER_0_AUTO_FAN_PIN 8
|
||||
#define EXTRUDER_1_AUTO_FAN_PIN -1
|
||||
#define EXTRUDER_2_AUTO_FAN_PIN -1
|
||||
#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
|
||||
#define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed
|
||||
|
||||
|
||||
|
||||
/*------------------------------------
|
||||
LOAD/UNLOAD FILAMENT SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
// Load filament commands
|
||||
#define LOAD_FILAMENT_0 "M83"
|
||||
#define LOAD_FILAMENT_1 "G1 E70 F400"
|
||||
#define LOAD_FILAMENT_2 "G1 E40 F100"
|
||||
|
||||
// Unload filament commands
|
||||
#define UNLOAD_FILAMENT_0 "M83"
|
||||
#define UNLOAD_FILAMENT_1 "G1 E-80 F7000"
|
||||
|
||||
/*------------------------------------
|
||||
CHANGE FILAMENT SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
// Filament change configuration
|
||||
#define FILAMENTCHANGEENABLE
|
||||
#ifdef FILAMENTCHANGEENABLE
|
||||
#define FILAMENTCHANGE_XPOS 211
|
||||
#define FILAMENTCHANGE_YPOS 0
|
||||
#define FILAMENTCHANGE_ZADD 2
|
||||
#define FILAMENTCHANGE_FIRSTRETRACT -2
|
||||
#define FILAMENTCHANGE_FINALRETRACT -80
|
||||
|
||||
#define FILAMENTCHANGE_FIRSTFEED 70
|
||||
#define FILAMENTCHANGE_FINALFEED 50
|
||||
#define FILAMENTCHANGE_RECFEED 5
|
||||
|
||||
#define FILAMENTCHANGE_XYFEED 50
|
||||
#define FILAMENTCHANGE_EFEED 20
|
||||
#define FILAMENTCHANGE_RFEED 400
|
||||
#define FILAMENTCHANGE_EXFEED 2
|
||||
#define FILAMENTCHANGE_ZFEED 15
|
||||
|
||||
#endif
|
||||
|
||||
/*------------------------------------
|
||||
ADDITIONAL FEATURES SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
// Define Prusa filament runout sensor
|
||||
//#define FILAMENT_RUNOUT_SUPPORT
|
||||
|
||||
#ifdef FILAMENT_RUNOUT_SUPPORT
|
||||
#define FILAMENT_RUNOUT_SENSOR 1
|
||||
#endif
|
||||
|
||||
// temperature runaway
|
||||
//#define TEMP_RUNAWAY_BED_HYSTERESIS 5
|
||||
//#define TEMP_RUNAWAY_BED_TIMEOUT 360
|
||||
|
||||
#define TEMP_RUNAWAY_EXTRUDER_HYSTERESIS 15
|
||||
#define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
|
||||
|
||||
/*------------------------------------
|
||||
MOTOR CURRENT SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
// Motor Current setting for BIG RAMBo
|
||||
#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
|
||||
#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
|
||||
|
||||
// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
|
||||
#if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300 || MOTHERBOARD == 299
|
||||
#define MOTOR_CURRENT_PWM_RANGE 2000
|
||||
#define DEFAULT_PWM_MOTOR_CURRENT {400, 750, 750} // {XY,Z,E}
|
||||
#define DEFAULT_PWM_MOTOR_CURRENT_LOUD {400, 750, 750} // {XY,Z,E}
|
||||
#endif
|
||||
|
||||
/*------------------------------------
|
||||
BED SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
// Define Mesh Bed Leveling system to enable it
|
||||
#define MESH_BED_LEVELING
|
||||
#ifdef MESH_BED_LEVELING
|
||||
|
||||
#define MBL_Z_STEP 0.01
|
||||
|
||||
// Mesh definitions
|
||||
#define MESH_MIN_X 35
|
||||
#define MESH_MAX_X 238
|
||||
#define MESH_MIN_Y 6
|
||||
#define MESH_MAX_Y 202
|
||||
|
||||
// Mesh upsample definition
|
||||
#define MESH_NUM_X_POINTS 7
|
||||
#define MESH_NUM_Y_POINTS 7
|
||||
// Mesh measure definition
|
||||
#define MESH_MEAS_NUM_X_POINTS 3
|
||||
#define MESH_MEAS_NUM_Y_POINTS 3
|
||||
|
||||
#define MESH_HOME_Z_CALIB 0.2
|
||||
#define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
|
||||
|
||||
#define X_PROBE_OFFSET_FROM_EXTRUDER 23 // Z probe to nozzle X offset: -left +right
|
||||
#define Y_PROBE_OFFSET_FROM_EXTRUDER 9 // Z probe to nozzle Y offset: -front +behind
|
||||
#define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4 // Z probe to nozzle Z offset: -below (always!)
|
||||
#endif
|
||||
|
||||
// Bed Temperature Control
|
||||
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
|
||||
//
|
||||
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
|
||||
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
|
||||
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
|
||||
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
|
||||
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
|
||||
// shouldn't use bed PID until someone else verifies your hardware works.
|
||||
// If this is enabled, find your own PID constants below.
|
||||
#define PIDTEMPBED
|
||||
//
|
||||
//#define BED_LIMIT_SWITCHING
|
||||
|
||||
// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
|
||||
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
|
||||
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
|
||||
// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
|
||||
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
|
||||
|
||||
// Bed temperature compensation settings
|
||||
#define BED_OFFSET 10
|
||||
#define BED_OFFSET_START 40
|
||||
#define BED_OFFSET_CENTER 50
|
||||
|
||||
|
||||
#ifdef PIDTEMPBED
|
||||
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
|
||||
//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
|
||||
#if defined(E3D_PT100_BED_WITH_AMP) || defined(E3D_PT100_BED_NO_AMP)
|
||||
// Define PID constants for extruder with PT100
|
||||
#define DEFAULT_bedKp 21.70
|
||||
#define DEFAULT_bedKi 1.60
|
||||
#define DEFAULT_bedKd 73.76
|
||||
#else
|
||||
#define DEFAULT_bedKp 126.13
|
||||
#define DEFAULT_bedKi 4.30
|
||||
#define DEFAULT_bedKd 924.76
|
||||
#endif
|
||||
|
||||
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
|
||||
//from pidautotune
|
||||
// #define DEFAULT_bedKp 97.1
|
||||
// #define DEFAULT_bedKi 1.41
|
||||
// #define DEFAULT_bedKd 1675.16
|
||||
|
||||
// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
|
||||
#endif // PIDTEMPBED
|
||||
|
||||
|
||||
/*-----------------------------------
|
||||
PREHEAT SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
#define PLA_PREHEAT_HOTEND_TEMP 215
|
||||
#define PLA_PREHEAT_HPB_TEMP 55
|
||||
#define PLA_PREHEAT_FAN_SPEED 0
|
||||
|
||||
#define ABS_PREHEAT_HOTEND_TEMP 255
|
||||
#define ABS_PREHEAT_HPB_TEMP 100
|
||||
#define ABS_PREHEAT_FAN_SPEED 0
|
||||
|
||||
#define HIPS_PREHEAT_HOTEND_TEMP 220
|
||||
#define HIPS_PREHEAT_HPB_TEMP 100
|
||||
#define HIPS_PREHEAT_FAN_SPEED 0
|
||||
|
||||
#define PP_PREHEAT_HOTEND_TEMP 254
|
||||
#define PP_PREHEAT_HPB_TEMP 100
|
||||
#define PP_PREHEAT_FAN_SPEED 0
|
||||
|
||||
#define PET_PREHEAT_HOTEND_TEMP 240
|
||||
#define PET_PREHEAT_HPB_TEMP 90
|
||||
#define PET_PREHEAT_FAN_SPEED 0
|
||||
|
||||
#define FLEX_PREHEAT_HOTEND_TEMP 230
|
||||
#define FLEX_PREHEAT_HPB_TEMP 50
|
||||
#define FLEX_PREHEAT_FAN_SPEED 0
|
||||
|
||||
/*------------------------------------
|
||||
THERMISTORS SETTINGS
|
||||
*------------------------------------*/
|
||||
|
||||
//
|
||||
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
|
||||
//
|
||||
//// Temperature sensor settings:
|
||||
// -2 is thermocouple with MAX6675 (only for sensor 0)
|
||||
// -1 is thermocouple with AD595
|
||||
// 0 is not used
|
||||
// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
|
||||
// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
|
||||
// 3 is Mendel-parts thermistor (4.7k pullup)
|
||||
// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
|
||||
// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
|
||||
// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
|
||||
// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
|
||||
// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
|
||||
// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
|
||||
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
|
||||
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
|
||||
// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
|
||||
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
|
||||
// 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
|
||||
// 20 is the PT100 circuit found in the Ultimainboard V2.x
|
||||
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
|
||||
//
|
||||
// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
|
||||
// (but gives greater accuracy and more stable PID)
|
||||
// 51 is 100k thermistor - EPCOS (1k pullup)
|
||||
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
|
||||
// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
|
||||
//
|
||||
// 1047 is Pt1000 with 4k7 pullup
|
||||
// 1010 is Pt1000 with 1k pullup (non standard)
|
||||
// 147 is Pt100 with 4k7 pullup
|
||||
// 148 is E3D Pt100 with 4k7 pullup and no PT100 Amplifier on a MiniRambo 1.3a
|
||||
// 247 is Pt100 with 4k7 pullup and PT100 Amplifier
|
||||
// 110 is Pt100 with 1k pullup (non standard)
|
||||
|
||||
#if defined(E3D_PT100_EXTRUDER_WITH_AMP)
|
||||
#define TEMP_SENSOR_0 247
|
||||
#elif defined(E3D_PT100_EXTRUDER_NO_AMP)
|
||||
#define TEMP_SENSOR_0 148
|
||||
#else
|
||||
#define TEMP_SENSOR_0 5
|
||||
#endif
|
||||
#define TEMP_SENSOR_1 0
|
||||
#define TEMP_SENSOR_2 0
|
||||
#if defined(E3D_PT100_BED_WITH_AMP)
|
||||
#define TEMP_SENSOR_BED 247
|
||||
#elif defined(E3D_PT100_BED_NO_AMP)
|
||||
#define TEMP_SENSOR_BED 148
|
||||
#else
|
||||
#define TEMP_SENSOR_BED 1
|
||||
#endif
|
||||
|
||||
#define STACK_GUARD_TEST_VALUE 0xA2A2
|
||||
|
||||
#define MAX_BED_TEMP_CALIBRATION 50
|
||||
#define MAX_HOTEND_TEMP_CALIBRATION 50
|
||||
|
||||
#define MAX_E_STEPS_PER_UNIT 250
|
||||
#define MIN_E_STEPS_PER_UNIT 100
|
||||
|
||||
#define Z_BABYSTEP_MIN -3999
|
||||
#define Z_BABYSTEP_MAX 0
|
||||
|
||||
#define PINDA_PREHEAT_X 70
|
||||
#define PINDA_PREHEAT_Y -3
|
||||
#define PINDA_PREHEAT_Z 1
|
||||
#define PINDA_HEAT_T 120 //time in s
|
||||
|
||||
#define PINDA_MIN_T 50
|
||||
#define PINDA_STEP_T 10
|
||||
#define PINDA_MAX_T 100
|
||||
|
||||
#define PING_TIME 60 //time in s
|
||||
#define PING_TIME_LONG 600 //10 min; used when length of commands buffer > 0 to avoid false triggering when dealing with long gcodes
|
||||
#define PING_ALLERT_PERIOD 60 //time in s
|
||||
|
||||
#define LONG_PRESS_TIME 1000 //time in ms for button long press
|
||||
#define BUTTON_BLANKING_TIME 200 //time in ms for blanking after button release
|
||||
|
||||
#define DEFAULT_PID_TEMP 210
|
||||
|
||||
#define MIN_PRINT_FAN_SPEED 50
|
||||
|
||||
#ifdef SNMM
|
||||
#define DEFAULT_RETRACTION 4 //used for PINDA temp calibration and pause print
|
||||
#else
|
||||
#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
|
||||
#endif
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
Loading…
Reference in a new issue