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

Merge pull request #596 from XPila/MK3-V3_2

Browse source 
Z-axis stealth mode
This commit is contained in:
PavelSindler 2018-04-03 20:55:10 +02:00 committed by GitHub
commit dc8625d7e4
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
6 changed files with 62 additions and 18 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

4
Firmware/mesh_bed_calibration.cpp
View file

@ -2034,7 +2034,11 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
// SERIAL_ECHO(int(verbosity_level)); // SERIAL_ECHO(int(verbosity_level));
// SERIAL_ECHOPGM(""); // SERIAL_ECHOPGM("");
#ifdef NEW_XYZCAL
{
#else //NEW_XYZCAL
while (iteration < 3) { while (iteration < 3) {
#endif //NEW_XYZCAL
SERIAL_ECHOPGM("Iteration: "); SERIAL_ECHOPGM("Iteration: ");
MYSERIAL.println(int(iteration + 1)); MYSERIAL.println(int(iteration + 1));

19
Firmware/stepper.cpp
View file

@ -585,7 +585,12 @@ FORCE_INLINE void stepper_check_endstops()
if (! check_z_endstop) { if (! check_z_endstop) {
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
// Stall guard homing turned on // Stall guard homing turned on
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0); #ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
else
#endif //TMC2130_STEALTH_Z
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
#else #else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#endif //TMC2130_SG_HOMING #endif //TMC2130_SG_HOMING
@ -601,6 +606,11 @@ FORCE_INLINE void stepper_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)
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
// Stall guard homing turned on // Stall guard homing turned on
#ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
z_max_endstop = false;
else
#endif //TMC2130_STEALTH_Z
z_max_endstop = (READ(Z_TMC2130_DIAG) != 0); z_max_endstop = (READ(Z_TMC2130_DIAG) != 0);
#else #else
z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING); z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
@ -622,7 +632,12 @@ FORCE_INLINE void stepper_check_endstops()
// Good for searching for the center of an induction target. // Good for searching for the center of an induction target.
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
// Stall guard homing turned on // Stall guard homing turned on
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0); #ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
else
#endif //TMC2130_STEALTH_Z
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
#else #else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#endif //TMC2130_SG_HOMING #endif //TMC2130_SG_HOMING

47
Firmware/tmc2130.cpp
View file

@ -52,7 +52,7 @@ uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_TH
uint8_t tmc2130_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E}; uint8_t tmc2130_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
uint8_t sg_homing_axes_mask = 0x00; uint8_t tmc2130_sg_homing_axes_mask = 0x00;
uint8_t tmc2130_sg_meassure = 0xff; uint8_t tmc2130_sg_meassure = 0xff;
uint32_t tmc2130_sg_meassure_cnt = 0; uint32_t tmc2130_sg_meassure_cnt = 0;
@ -131,7 +131,16 @@ uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval);
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);
uint16_t __tcoolthrs(uint8_t axis)
{
switch (axis)
{
case X_AXIS: return TMC2130_TCOOLTHRS_X;
case Y_AXIS: return TMC2130_TCOOLTHRS_Y;
case Z_AXIS: return TMC2130_TCOOLTHRS_Z;
}
return 0;
}
void tmc2130_init() void tmc2130_init()
{ {
@ -156,7 +165,7 @@ void tmc2130_init()
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]); tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000); tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16)); tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y)); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS); tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
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);
tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS); tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
@ -166,7 +175,15 @@ void tmc2130_init()
{ {
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]); tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000); tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
#ifndef TMC2130_STEALTH_Z
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#else //TMC2130_STEALTH_Z
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
#endif //TMC2130_STEALTH_Z
} }
for (int axis = 3; axis < 4; axis++) // E axis for (int axis = 3; axis < 4; axis++) // E axis
{ {
@ -238,7 +255,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
} }
} }
} }
if (sg_homing_axes_mask == 0) if (tmc2130_sg_homing_axes_mask == 0)
{ {
if (tmc2130_sg_stop_on_crash && crash) if (tmc2130_sg_stop_on_crash && crash)
{ {
@ -265,7 +282,7 @@ bool tmc2130_update_sg()
void tmc2130_home_enter(uint8_t axes_mask) void tmc2130_home_enter(uint8_t axes_mask)
{ {
// printf_P(PSTR("tmc2130_home_enter(axes_mask=0x%02x)\n"), axes_mask); printf_P(PSTR("tmc2130_home_enter(axes_mask=0x%02x)\n"), axes_mask);
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
if (axes_mask & 0x03) //X or Y if (axes_mask & 0x03) //X or Y
tmc2130_wait_standstill_xy(1000); tmc2130_wait_standstill_xy(1000);
@ -274,12 +291,12 @@ void tmc2130_home_enter(uint8_t axes_mask)
uint8_t mask = (X_AXIS_MASK << axis); uint8_t mask = (X_AXIS_MASK << axis);
if (axes_mask & mask) if (axes_mask & mask)
{ {
sg_homing_axes_mask |= mask; tmc2130_sg_homing_axes_mask |= mask;
//Configuration to spreadCycle //Configuration to spreadCycle
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16)); tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
// tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24)); // tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]); tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]);
if (mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK)) if (mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
@ -290,18 +307,22 @@ void tmc2130_home_enter(uint8_t axes_mask)
void tmc2130_home_exit() void tmc2130_home_exit()
{ {
// printf_P(PSTR("tmc2130_home_exit sg_homing_axes_mask=0x%02x\n"), sg_homing_axes_mask); printf_P(PSTR("tmc2130_home_exit tmc2130_sg_homing_axes_mask=0x%02x\n"), tmc2130_sg_homing_axes_mask);
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
if (sg_homing_axes_mask & 0x03) //X or Y if (tmc2130_sg_homing_axes_mask & 0x03) //X or Y
tmc2130_wait_standstill_xy(1000); tmc2130_wait_standstill_xy(1000);
if (sg_homing_axes_mask) if (tmc2130_sg_homing_axes_mask)
{ {
for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z 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 & (X_AXIS_MASK | Y_AXIS_MASK)) if (tmc2130_sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
{ {
#ifndef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS))
#else //TMC2130_STEALTH_Z
if (tmc2130_mode == TMC2130_MODE_SILENT) if (tmc2130_mode == TMC2130_MODE_SILENT)
#endif //TMC2130_STEALTH_Z
{ {
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
@ -313,12 +334,12 @@ void tmc2130_home_exit()
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]); tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
// tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24)); // tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16)); tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y)); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
} }
} }
} }
sg_homing_axes_mask = 0x00; tmc2130_sg_homing_axes_mask = 0x00;
} }
tmc2130_sg_crash = false; tmc2130_sg_crash = false;
#endif #endif

2
Firmware/tmc2130.h
View file

@ -20,6 +20,8 @@ extern uint8_t tmc2130_sg_meassure;
extern uint32_t tmc2130_sg_meassure_cnt; extern uint32_t tmc2130_sg_meassure_cnt;
extern uint32_t tmc2130_sg_meassure_val; extern uint32_t tmc2130_sg_meassure_val;
extern uint8_t tmc2130_sg_homing_axes_mask;
#define TMC2130_MODE_NORMAL 0 #define TMC2130_MODE_NORMAL 0
#define TMC2130_MODE_SILENT 1 #define TMC2130_MODE_SILENT 1

2
Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
View file

@ -245,6 +245,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_CURRENTS_R {16, 20, 28, 36} // default running currents for all axes #define TMC2130_CURRENTS_R {16, 20, 28, 36} // default running currents for all axes
#define TMC2130_UNLOAD_CURRENT_R 12 // lowe current for M600 to protect filament sensor #define TMC2130_UNLOAD_CURRENT_R 12 // lowe current for M600 to protect filament sensor
#define TMC2130_STEALTH_Z
//#define TMC2130_DEBUG //#define TMC2130_DEBUG
//#define TMC2130_DEBUG_WR //#define TMC2130_DEBUG_WR
//#define TMC2130_DEBUG_RD //#define TMC2130_DEBUG_RD

6
Firmware/xyzcal.cpp
View file

@ -370,7 +370,7 @@ void xyzcal_adjust_pixels(uint8_t* pixels, uint16_t* histo)
{ {
uint8_t l; uint8_t l;
uint16_t max_c = histo[0]; uint16_t max_c = histo[0];
uint8_t max_l = 0; uint8_t max_l = 1;
for (l = 1; l < 16; l++) for (l = 1; l < 16; l++)
{ {
uint16_t c = histo[l]; uint16_t c = histo[l];
@ -384,7 +384,7 @@ void xyzcal_adjust_pixels(uint8_t* pixels, uint16_t* histo)
for (l = 15; l > 8; l--) for (l = 15; l > 8; l--)
if (histo[l] >= 10) if (histo[l] >= 10)
break; break;
uint8_t pix_min = (max_l + 2) << 4; uint8_t pix_min = (max_l + 1) << 4;
uint8_t pix_max = l << 4; uint8_t pix_max = l << 4;
uint8_t pix_dif = pix_max - pix_min; uint8_t pix_dif = pix_max - pix_min;
DBG(_n(" min=%d max=%d dif=%d\n"), pix_min, pix_max, pix_dif); DBG(_n(" min=%d max=%d dif=%d\n"), pix_min, pix_max, pix_dif);
@ -425,7 +425,7 @@ void xyzcal_draw_pattern_12x12_in_32x32(uint8_t* pattern, uint32_t* pixels, int
int16_t xyzcal_match_pattern_12x12_in_32x32(uint16_t* pattern, uint8_t* pixels, uint8_t c, uint8_t r) int16_t xyzcal_match_pattern_12x12_in_32x32(uint16_t* pattern, uint8_t* pixels, uint8_t c, uint8_t r)
{ {
uint8_t thr = 32; uint8_t thr = 16;
int16_t match = 0; int16_t match = 0;
for (uint8_t i = 0; i < 12; i++) for (uint8_t i = 0; i < 12; i++)
for (uint8_t j = 0; j < 12; j++) for (uint8_t j = 0; j < 12; j++)