aa45091400
Scale extruder motor current linearly with speed. 49% less heating when running at low speed and standstill, 4% more torque at maximum extrusion rate (15mm^3/s), 15% more torque in high speed movements (un/retractions). StealthChop mode is used for low speeds (below 900mm/min) spreadCycle is used above. Transition speed is well above maximum extrusion rate of 15mm^3/s (275mm/min) so mode transition is not expected to be visible on printed surface. StealthChop is expected to improve printed surface quality (less artifacts). Warning you can burn extruder motor if it is not the same impedance as original Prusa i3 Extruder stepper motor. There is no current feedback in low speed so lower impedance motor can be burned by over current. Even there is no direct current feedback, there is no risk for original motor thermal runaway, as motor resistance increases with temperature, current decreases. Standstill peak phase current is expected to be 500 mA and linearly increase with speed to 970 mA at 900mm/min where spreadCycle constant current regulation takes over and keeps peak current at 805 mA to maximum speed possible. As motor heating increases with current squared, lowering low speed current from 700mA to 500mA decreases heating 49% in thate mode, where motor spends most of the time. Enable E-motor cool mode in farm mode only (and experimental menu) - the experimental menu is visible AND the EEPROM_ECOOL variable has a value of the universal answer to all problems of the universe - i.e. two conditions must be met at the start of the FW to enable the E-cool mode. If the user enables the experimental menu, sets the E-cool mode and disables the menu afterwards, on the next start of the FW the E-cool mode will be DISABLED. This is still subject to discussion how much obscure (security through obscurity) we'd like this option to have . Additional stuff: * Add serial debug msg to verify if E-cool mode is on * Avoid access to E-cool mode switch on machines without TMC2130 * Do not allow only M907 E in case of E-cool mode+warn the user on the serial line that the command was skipped Co-authored-by: D.R.racer <drracer@drracer.eu>
143 lines
4.6 KiB
C
143 lines
4.6 KiB
C
#ifndef TMC2130_H
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#define TMC2130_H
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#include <stdint.h>
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//mode
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extern uint8_t tmc2130_mode;
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extern uint8_t tmc2130_current_h[4];
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extern uint8_t tmc2130_current_r[4];
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//microstep resolution (0 means 256usteps, 8 means 1ustep
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extern uint8_t tmc2130_mres[4];
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//flags for axis stall detection
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extern uint8_t tmc2130_sg_thr[4];
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extern bool tmc2130_sg_stop_on_crash;
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extern uint8_t tmc2130_sg_crash; //crash mask
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extern uint8_t tmc2130_sg_meassure;
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extern uint32_t tmc2130_sg_meassure_cnt;
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extern uint32_t tmc2130_sg_meassure_val;
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extern uint8_t tmc2130_sg_homing_axes_mask;
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extern const char eMotorCurrentScalingEnabled[];
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#define TMC2130_MODE_NORMAL 0
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#define TMC2130_MODE_SILENT 1
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#define TMC2130_WAVE_FAC1000_MIN 30
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#define TMC2130_WAVE_FAC1000_MAX 200
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#define TMC2130_WAVE_FAC1000_STP 1
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#define TMC2130_MINIMUM_PULSE 0 // minimum pulse width in uS
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#define TMC2130_SET_DIR_DELAY 20 // minimum delay after setting direction in uS
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#define TMC2130_SET_PWR_DELAY 0 // minimum delay after changing pwr mode in uS
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#ifdef TMC2130_DEDGE_STEPPING
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#define TMC2130_MINIMUM_DELAY //NOP
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#elif TMC2130_MINIMUM_PULSE == 0
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#define TMC2130_MINIMUM_DELAY asm("nop")
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#else
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#define TMC2130_MINIMUM_DELAY delayMicroseconds(TMC2130_MINIMUM_PULSE)
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#endif
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extern uint8_t tmc2130_home_enabled;
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extern uint8_t tmc2130_home_origin[2];
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extern uint8_t tmc2130_home_bsteps[2];
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extern uint8_t tmc2130_home_fsteps[2];
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extern uint8_t tmc2130_wave_fac[4];
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#pragma pack(push)
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#pragma pack(1)
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typedef struct
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{
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uint8_t toff:4;
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uint8_t hstr:3;
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uint8_t hend:4;
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uint8_t tbl:2;
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uint8_t res:3;
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} tmc2130_chopper_config_t;
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#pragma pack(pop)
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extern tmc2130_chopper_config_t tmc2130_chopper_config[4];
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//initialize tmc2130
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struct TMCInitParams {
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uint8_t bSuppressFlag : 1; // only relevant on MK3S with PSU_Delta
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uint8_t enableECool : 1; // experimental support for E-motor cooler operation
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inline TMCInitParams():bSuppressFlag(0), enableECool(0) { }
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inline explicit TMCInitParams(bool bSuppressFlag, bool enableECool):bSuppressFlag(bSuppressFlag), enableECool(enableECool) { }
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inline explicit TMCInitParams(bool enableECool)
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: bSuppressFlag(
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#ifdef PSU_delta
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1
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#else
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0
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#endif
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)
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, enableECool(enableECool) { }
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};
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extern void tmc2130_init(TMCInitParams params);
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//check diag pins (called from stepper isr)
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extern void tmc2130_st_isr();
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//update stall guard (called from st_synchronize inside the loop)
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extern bool tmc2130_update_sg();
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//temperature watching (called from )
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extern void tmc2130_check_overtemp();
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//enter homing (called from homeaxis before homing starts)
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extern void tmc2130_home_enter(uint8_t axes_mask);
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//exit homing (called from homeaxis after homing ends)
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extern void tmc2130_home_exit();
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//start stallguard meassuring for single axis
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extern void tmc2130_sg_meassure_start(uint8_t axis);
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//stop current stallguard meassuring and report result
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extern uint16_t tmc2130_sg_meassure_stop();
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extern void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
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//set holding current for any axis (M911)
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extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
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//set running current for any axis (M912)
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extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
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//print currents (M913)
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extern void tmc2130_print_currents();
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//set PWM_AMPL for any axis (M917)
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extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl);
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//set PWM_GRAD for any axis (M918)
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extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
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extern uint16_t tmc2130_rd_MSCNT(uint8_t axis);
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extern uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
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extern uint8_t tmc2130_usteps2mres(uint16_t usteps);
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#define tmc2130_mres2usteps(mres) ((uint16_t)256 >> mres)
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extern bool tmc2130_wait_standstill_xy(int timeout);
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extern uint16_t tmc2130_get_res(uint8_t axis);
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extern void tmc2130_set_res(uint8_t axis, uint16_t res);
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extern uint8_t tmc2130_get_pwr(uint8_t axis);
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extern void tmc2130_set_pwr(uint8_t axis, uint8_t pwr);
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extern uint8_t tmc2130_get_inv(uint8_t axis);
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extern uint8_t tmc2130_get_dir(uint8_t axis);
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extern void tmc2130_set_dir(uint8_t axis, uint8_t dir);
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extern void tmc2130_do_step(uint8_t axis);
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extern void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us);
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extern void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution);
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extern void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream);
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extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000);
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extern bool tmc2130_home_calibrate(uint8_t axis);
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extern uint8_t tmc2130_cur2val(float cur);
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extern float tmc2130_val2cur(uint8_t val);
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#endif //TMC2130_H
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