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

TMC2130 stallguard improovment - axis load monitoring, autocalibrate Z.

Browse source
This commit is contained in:
Robert Pelnar 2017-08-21 13:06:17 +02:00
parent 683784c4c7
commit d63045fdb3
8 changed files with 189 additions and 97 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

62
Firmware/Marlin_main.cpp
View file

@ -1992,6 +1992,39 @@ inline void gcode_M900() {
} }
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
#ifdef TMC2130
bool calibrate_z_auto()
{
lcd_display_message_fullscreen_P(MSG_CALIBRATE_Z_AUTO);
bool endstops_enabled = enable_endstops(true);
int axis_up_dir = -home_dir(Z_AXIS);
tmc2130_home_enter(Z_AXIS_MASK);
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
set_destination_to_current();
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]);
tmc2130_home_exit();
enable_endstops(false);
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
set_destination_to_current();
destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
feedrate = homing_feedrate[Z_AXIS] / 2;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
enable_endstops(endstops_enabled);
current_position[Z_AXIS] = Z_MAX_POS-3.f;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
return true;
}
#endif //TMC2130
void homeaxis(int axis) void homeaxis(int axis)
{ {
bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homming bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homming
@ -3858,10 +3891,15 @@ void process_commands()
// Home in the XY plane. // Home in the XY plane.
//set_destination_to_current(); //set_destination_to_current();
setup_for_endstop_move(); setup_for_endstop_move();
lcd_display_message_fullscreen_P(MSG_AUTO_HOME);
home_xy(); home_xy();
// Let the user move the Z axes up to the end stoppers. // Let the user move the Z axes up to the end stoppers.
#ifdef TMC2130
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(); 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(); lcd_wait_for_cool_down();
@ -5696,12 +5734,15 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
case 916: // M916 Set sg_thrs case 916: // M916 Set sg_thrs
{ {
if (code_seen('X')) sg_thrs_x = code_value(); if (code_seen('X')) tmc2131_axis_sg_thr[X_AXIS] = code_value();
if (code_seen('Y')) sg_thrs_y = code_value(); if (code_seen('Y')) tmc2131_axis_sg_thr[Y_AXIS] = code_value();
MYSERIAL.print("sg_thrs_x="); if (code_seen('Z')) tmc2131_axis_sg_thr[Z_AXIS] = code_value();
MYSERIAL.print(sg_thrs_x, DEC); MYSERIAL.print("tmc2131_axis_sg_thr[X]=");
MYSERIAL.print(" sg_thrs_y="); MYSERIAL.print(tmc2131_axis_sg_thr[X_AXIS], DEC);
MYSERIAL.println(sg_thrs_y, DEC); MYSERIAL.print("tmc2131_axis_sg_thr[Y]=");
MYSERIAL.print(tmc2131_axis_sg_thr[Y_AXIS], DEC);
MYSERIAL.print("tmc2131_axis_sg_thr[Z]=");
MYSERIAL.print(tmc2131_axis_sg_thr[Z_AXIS], DEC);
} }
break; break;
@ -5993,17 +6034,18 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
} }
break; break;
case 3: case 3:
MYSERIAL.print("fsensor_enable()"); calibrate_z_auto();
/* MYSERIAL.print("fsensor_enable()");
#ifdef PAT9125 #ifdef PAT9125
fsensor_enable(); fsensor_enable();
#endif #endif*/
break; break;
case 4: case 4:
MYSERIAL.print("fsensor_disable()"); /* MYSERIAL.print("fsensor_disable()");
#ifdef PAT9125 #ifdef PAT9125
fsensor_disable(); fsensor_disable();
#endif #endif
break; break;*/
case 5: case 5:
{ {
/* MYSERIAL.print("tmc2130_rd_MSCNT(0)="); /* MYSERIAL.print("tmc2130_rd_MSCNT(0)=");

15
Firmware/language_all.cpp
View file

@ -1096,6 +1096,21 @@ const char * const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM] P
MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN
}; };
const char MSG_CALIBRATE_Z_AUTO_EN[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_CZ[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_IT[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_ES[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_PL[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_DE[] PROGMEM = "Calibrating Z...";
const char * const MSG_CALIBRATE_Z_AUTO_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_CALIBRATE_Z_AUTO_EN,
MSG_CALIBRATE_Z_AUTO_CZ,
MSG_CALIBRATE_Z_AUTO_IT,
MSG_CALIBRATE_Z_AUTO_ES,
MSG_CALIBRATE_Z_AUTO_PL,
MSG_CALIBRATE_Z_AUTO_DE
};
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_EN[] PROGMEM = "Searching bed calibration point"; const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_EN[] PROGMEM = "Searching bed calibration point";
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_CZ[] PROGMEM = "Hledam kalibracni bod podlozky"; const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_CZ[] PROGMEM = "Hledam kalibracni bod podlozky";
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_IT[] PROGMEM = "Ricerca del letto punto di calibraz."; const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_IT[] PROGMEM = "Ricerca del letto punto di calibraz.";

2
Firmware/language_all.h
View file

@ -220,6 +220,8 @@ extern const char* const MSG_FIL_ADJUSTING_LANG_TABLE[LANG_NUM];
#define MSG_FIL_ADJUSTING LANG_TABLE_SELECT(MSG_FIL_ADJUSTING_LANG_TABLE) #define MSG_FIL_ADJUSTING LANG_TABLE_SELECT(MSG_FIL_ADJUSTING_LANG_TABLE)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM]; extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM];
#define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE) #define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE)
extern const char* const MSG_CALIBRATE_Z_AUTO_LANG_TABLE[LANG_NUM];
#define MSG_CALIBRATE_Z_AUTO LANG_TABLE_SELECT(MSG_CALIBRATE_Z_AUTO_LANG_TABLE)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE[LANG_NUM]; extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE[LANG_NUM];
#define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1 LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE) #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1 LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE2_LANG_TABLE[LANG_NUM]; extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE2_LANG_TABLE[LANG_NUM];

40
Firmware/stepper.cpp
View file

@ -45,6 +45,8 @@ bool x_min_endstop = false;
bool x_max_endstop = false; bool x_max_endstop = false;
bool y_min_endstop = false; bool y_min_endstop = false;
bool y_max_endstop = false; bool y_max_endstop = false;
bool z_min_endstop = false;
bool z_max_endstop = false;
//=========================================================================== //===========================================================================
//=============================private variables ============================ //=============================private variables ============================
//=========================================================================== //===========================================================================
@ -85,11 +87,7 @@ static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false; static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false; static bool old_z_max_endstop=false;
#ifdef TMC2130_SG_HOMING_SW
static bool check_endstops = false;
#else
static bool check_endstops = true; static bool check_endstops = true;
#endif
static bool check_z_endstop = false; static bool check_z_endstop = false;
@ -432,11 +430,11 @@ void isr() {
{ {
{ {
#if defined(X_MIN_PIN) && (X_MIN_PIN > -1) && !defined(DEBUG_DISABLE_XMINLIMIT) #if defined(X_MIN_PIN) && (X_MIN_PIN > -1) && !defined(DEBUG_DISABLE_XMINLIMIT)
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING); x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
x_min_endstop = tmc2130_axis_stalled[X_AXIS]; x_min_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true; endstop_x_hit=true;
@ -452,11 +450,11 @@ void isr() {
{ {
{ {
#if defined(X_MAX_PIN) && (X_MAX_PIN > -1) && !defined(DEBUG_DISABLE_XMAXLIMIT) #if defined(X_MAX_PIN) && (X_MAX_PIN > -1) && !defined(DEBUG_DISABLE_XMAXLIMIT)
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING); x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
x_max_endstop = tmc2130_axis_stalled[X_AXIS]; x_max_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true; endstop_x_hit=true;
@ -476,11 +474,11 @@ void isr() {
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#if defined(Y_MIN_PIN) && (Y_MIN_PIN > -1) && !defined(DEBUG_DISABLE_YMINLIMIT) #if defined(Y_MIN_PIN) && (Y_MIN_PIN > -1) && !defined(DEBUG_DISABLE_YMINLIMIT)
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING); y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
y_min_endstop = tmc2130_axis_stalled[Y_AXIS]; y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true; endstop_y_hit=true;
@ -494,11 +492,11 @@ void isr() {
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#if defined(Y_MAX_PIN) && (Y_MAX_PIN > -1) && !defined(DEBUG_DISABLE_YMAXLIMIT) #if defined(Y_MAX_PIN) && (Y_MAX_PIN > -1) && !defined(DEBUG_DISABLE_YMAXLIMIT)
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING); y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
y_max_endstop = tmc2130_axis_stalled[Y_AXIS]; y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true; endstop_y_hit=true;
@ -520,7 +518,7 @@ void isr() {
if(check_endstops && ! check_z_endstop) if(check_endstops && ! check_z_endstop)
{ {
#if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT) #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) { if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit=true;
@ -541,7 +539,11 @@ void isr() {
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT) #if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT)
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING); #ifndef TMC2130_SG_HOMING_SW_Z
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
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) { if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit=true;
@ -557,7 +559,7 @@ void isr() {
if(check_z_endstop) { if(check_z_endstop) {
// Check the Z min end-stop no matter what. // Check the Z min end-stop no matter what.
// Good for searching for the center of an induction target. // Good for searching for the center of an induction target.
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if(z_min_endstop && old_z_min_endstop) { if(z_min_endstop && old_z_min_endstop) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit=true;

64
Firmware/tmc2130.cpp
View file

@ -25,7 +25,7 @@ uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
//running currents //running currents
uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R; uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
//axis stalled flags //axis stalled flags
uint8_t tmc2130_axis_stalled[2] = {0, 0}; uint8_t tmc2130_axis_stalled[3] = {0, 0, 0};
//pwm_ampl //pwm_ampl
uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_XY, TMC2130_PWM_AMPL_XY}; uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_XY, TMC2130_PWM_AMPL_XY};
@ -37,11 +37,11 @@ uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_XY, TMC2130_PWM_AUTO_XY};
uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_XY, TMC2130_PWM_FREQ_XY}; uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_XY, TMC2130_PWM_FREQ_XY};
uint32_t tmc2131_axis_sg_pos[2] = {0, 0}; uint8_t tmc2131_axis_sg_thr[3] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z};
uint32_t tmc2131_axis_sg_pos[3] = {0, 0, 0};
uint8_t sg_homing_axes_mask = 0x00; uint8_t sg_homing_axes_mask = 0x00;
uint8_t sg_thrs_x = TMC2130_SG_THRS_X;
uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
bool skip_debug_msg = false; bool skip_debug_msg = false;
@ -81,7 +81,7 @@ bool skip_debug_msg = false;
uint16_t tmc2130_rd_TSTEP(uint8_t cs); uint16_t tmc2130_rd_TSTEP(uint8_t cs);
uint16_t tmc2130_rd_MSCNT(uint8_t cs); uint16_t tmc2130_rd_MSCNT(uint8_t cs);
uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect); uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs);
void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0); void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0);
void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel); void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
@ -139,7 +139,7 @@ void tmc2130_init()
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f)); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
} }
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
} }
for (int i = 3; i < 4; i++) // E axis for (int i = 3; i < 4; i++) // E axis
{ {
@ -151,9 +151,35 @@ void tmc2130_init()
} }
} }
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)
{
long pos = st_get_position(axis);
if (abs(pos - tmc2131_axis_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() bool tmc2130_update_sg()
{ {
#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW)) #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; if (sg_homing_axes_mask == 0) return false;
#ifdef TMC2130_DEBUG #ifdef TMC2130_DEBUG
MYSERIAL.print("tmc2130_update_sg mask=0x"); MYSERIAL.print("tmc2130_update_sg mask=0x");
@ -193,6 +219,7 @@ bool tmc2130_update_sg()
} }
return true; return true;
#endif #endif
return false;
} }
void tmc2130_home_enter(uint8_t axes_mask) void tmc2130_home_enter(uint8_t axes_mask)
@ -202,22 +229,23 @@ void tmc2130_home_enter(uint8_t axes_mask)
MYSERIAL.println((int)axes_mask, 16); MYSERIAL.println((int)axes_mask, 16);
#endif //TMC2130_DEBUG #endif //TMC2130_DEBUG
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
{ {
uint8_t mask = (X_AXIS_MASK << axis); uint8_t mask = (X_AXIS_MASK << axis);
uint8_t cs = tmc2130_cs[axis];
if (axes_mask & mask) if (axes_mask & mask)
{ {
uint8_t cs = tmc2130_cs[axis];
sg_homing_axes_mask |= mask; sg_homing_axes_mask |= mask;
tmc2131_axis_sg_pos[axis] = st_get_position(axis); tmc2131_axis_sg_pos[axis] = st_get_position(axis);
tmc2130_axis_stalled[axis] = false; tmc2130_axis_stalled[axis] = false;
//Configuration to spreadCycle //Configuration to spreadCycle
tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL); tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((axis == X_AXIS)?sg_thrs_x:sg_thrs_y) << 16); tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((unsigned long)tmc2131_axis_sg_thr[axis]) << 16);
tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS); tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
if (mask & (X_AXIS_MASK | Y_AXIS_MASK))
tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
} }
} }
#endif //TMC2130_SG_HOMING #endif //TMC2130_SG_HOMING
@ -232,19 +260,19 @@ void tmc2130_home_exit()
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
if (sg_homing_axes_mask) if (sg_homing_axes_mask)
{ {
for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
{ {
uint8_t mask = (X_AXIS_MASK << axis); uint8_t mask = (X_AXIS_MASK << axis);
if (sg_homing_axes_mask & mask) if (sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK))
{ {
if (tmc2130_mode == TMC2130_MODE_SILENT) if (tmc2130_mode == TMC2130_MODE_SILENT)
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
else else
#ifdef TMC2130_SG_HOMING_SW #ifdef TMC2130_SG_HOMING_SW_XY
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL); tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
} }
tmc2130_axis_stalled[axis] = false; tmc2130_axis_stalled[axis] = false;
} }
@ -415,7 +443,7 @@ void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32)
tmc2130_wr(cs, TMC2130_REG_THIGH, val32); tmc2130_wr(cs, TMC2130_REG_THIGH, val32);
} }
#ifdef TMC2130_DEBUG #if defined(TMC2130_DEBUG_RD) || defined(TMC2130_DEBUG_WR)
uint8_t tmc2130_axis_by_cs(uint8_t cs) uint8_t tmc2130_axis_by_cs(uint8_t cs)
{ {
switch (cs) switch (cs)

5
Firmware/tmc2130.h
View file

@ -9,10 +9,9 @@ extern uint8_t tmc2130_mode;
extern uint8_t tmc2130_current_h[4]; extern uint8_t tmc2130_current_h[4];
extern uint8_t tmc2130_current_r[4]; extern uint8_t tmc2130_current_r[4];
//flags for axis stall detection //flags for axis stall detection
extern uint8_t tmc2130_axis_stalled[2]; extern uint8_t tmc2130_axis_stalled[3];
extern uint8_t sg_thrs_x; extern uint8_t tmc2131_axis_sg_thr[3];
extern uint8_t sg_thrs_y;
#define TMC2130_MODE_NORMAL 0 #define TMC2130_MODE_NORMAL 0
#define TMC2130_MODE_SILENT 1 #define TMC2130_MODE_SILENT 1

8
Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
View file

@ -135,9 +135,11 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold #define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold
#define TMC2130_SG_HOMING 1 // stallguard homing #define TMC2130_SG_HOMING 1 // stallguard homing
//#define TMC2130_SG_HOMING_SW 1 // stallguard "software" homing //#define TMC2130_SG_HOMING_SW_XY 1 // stallguard "software" homing for XY axes
#define TMC2130_SG_THRS_X 30 // stallguard sensitivity for X axis #define TMC2130_SG_HOMING_SW_Z 1 // stallguard "software" homing for Z axis
#define TMC2130_SG_THRS_Y 30 // stallguard sensitivity for Y axis #define TMC2130_SG_THRS_X 0 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 0 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_Z 2 // stallguard sensitivity for Z axis
#define TMC2130_SG_DELTA 128 // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing) #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) //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)

8
Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
View file

@ -135,9 +135,11 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold #define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold
#define TMC2130_SG_HOMING 1 // stallguard homing #define TMC2130_SG_HOMING 1 // stallguard homing
//#define TMC2130_SG_HOMING_SW 1 // stallguard "software" homing //#define TMC2130_SG_HOMING_SW_XY 1 // stallguard "software" homing for XY axes
#define TMC2130_SG_THRS_X 30 // stallguard sensitivity for X axis #define TMC2130_SG_HOMING_SW_Z 1 // stallguard "software" homing for Z axis
#define TMC2130_SG_THRS_Y 30 // stallguard sensitivity for Y axis #define TMC2130_SG_THRS_X 0 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 0 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_Z 2 // stallguard sensitivity for Z axis
#define TMC2130_SG_DELTA 128 // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing) #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) //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)