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Merge branch 'MK3' into MK3-private_build

This commit is contained in:
3d-gussner 2018-03-02 17:58:47 +01:00
parent 619d4f0cc9 ded0dcb254
commit 57adeabb96
27 changed files with 1288 additions and 578 deletions
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72
Firmware/Configuration.h
View File

@ -7,8 +7,8 @@
#define STR(x) STR_HELPER(x) #define STR(x) STR_HELPER(x)
// Firmware version // Firmware version
#define FW_VERSION "3.1.1" #define FW_VERSION "3.1.2"
#define FW_COMMIT_NR 201 #define FW_COMMIT_NR 231
// FW_VERSION_UNKNOWN means this is an unofficial build. // FW_VERSION_UNKNOWN means this is an unofficial build.
// The firmware should only be checked into github with this symbol. // The firmware should only be checked into github with this symbol.
#define FW_DEV_VERSION FW_VERSION_UNKNOWN #define FW_DEV_VERSION FW_VERSION_UNKNOWN
@ -139,6 +139,45 @@
#define EEPROM_POWER_COUNT_TOT (EEPROM_FERROR_COUNT_TOT - 2) // uint16 #define EEPROM_POWER_COUNT_TOT (EEPROM_FERROR_COUNT_TOT - 2) // uint16
////////////////////////////////////////
// TMC2130 Accurate sensorless homing
// X-axis home origin (stepper phase in microsteps, 0..63 for 16ustep resolution)
#define EEPROM_TMC2130_HOME_X_ORIGIN (EEPROM_POWER_COUNT_TOT - 1) // uint8
// X-axis home bsteps (number of microsteps backward)
#define EEPROM_TMC2130_HOME_X_BSTEPS (EEPROM_TMC2130_HOME_X_ORIGIN - 1) // uint8
// X-axis home fsteps (number of microsteps forward)
#define EEPROM_TMC2130_HOME_X_FSTEPS (EEPROM_TMC2130_HOME_X_BSTEPS - 1) // uint8
// Y-axis home origin (stepper phase in microsteps, 0..63 for 16ustep resolution)
#define EEPROM_TMC2130_HOME_Y_ORIGIN (EEPROM_TMC2130_HOME_X_FSTEPS - 1) // uint8
// X-axis home bsteps (number of microsteps backward)
#define EEPROM_TMC2130_HOME_Y_BSTEPS (EEPROM_TMC2130_HOME_Y_ORIGIN - 1) // uint8
// X-axis home fsteps (number of microsteps forward)
#define EEPROM_TMC2130_HOME_Y_FSTEPS (EEPROM_TMC2130_HOME_Y_BSTEPS - 1) // uint8
// Accurate homing enabled
#define EEPROM_TMC2130_HOME_ENABLED (EEPROM_TMC2130_HOME_Y_FSTEPS - 1) // uint8
////////////////////////////////////////
// TMC2130 uStep linearity correction
// Linearity correction factor (XYZE) encoded as uint8 (0=>1, 1=>1.001, 254=>1.254, 255=>clear eeprom/disabled)
#define EEPROM_TMC2130_WAVE_X_FAC (EEPROM_TMC2130_HOME_ENABLED - 1) // uint8
#define EEPROM_TMC2130_WAVE_Y_FAC (EEPROM_TMC2130_WAVE_X_FAC - 1) // uint8
#define EEPROM_TMC2130_WAVE_Z_FAC (EEPROM_TMC2130_WAVE_Y_FAC - 1) // uint8
#define EEPROM_TMC2130_WAVE_E_FAC (EEPROM_TMC2130_WAVE_Z_FAC - 1) // uint8
////////////////////////////////////////
// TMC2130 uStep resolution
// microstep resolution (XYZE): usteps = (256 >> mres)
#define EEPROM_TMC2130_X_MRES (EEPROM_TMC2130_WAVE_E_FAC - 1) // uint8
#define EEPROM_TMC2130_Y_MRES (EEPROM_TMC2130_X_MRES - 1) // uint8
#define EEPROM_TMC2130_Z_MRES (EEPROM_TMC2130_Y_MRES - 1) // uint8
#define EEPROM_TMC2130_E_MRES (EEPROM_TMC2130_Z_MRES - 1) // uint8
//TMC2130 configuration //TMC2130 configuration
#define EEPROM_TMC_AXIS_SIZE //axis configuration block size #define EEPROM_TMC_AXIS_SIZE //axis configuration block size
#define EEPROM_TMC_X (EEPROM_TMC + 0 * EEPROM_TMC_AXIS_SIZE) //X axis configuration blok #define EEPROM_TMC_X (EEPROM_TMC + 0 * EEPROM_TMC_AXIS_SIZE) //X axis configuration blok
@ -799,34 +838,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// //
//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command //#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
/**********************************************************************\ #define DEFAULT_NOMINAL_FILAMENT_DIA 1.75 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm). Used by the volumetric extrusion.
* Support for a filament diameter sensor
* Also allows adjustment of diameter at print time (vs at slicing)
* Single extruder only at this point (extruder 0)
*
* Motherboards
* 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector
* 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E)
* 301 - Rambo - uses Analog input 3
* Note may require analog pins to be defined for different motherboards
**********************************************************************/
// Uncomment below to enable
//#define FILAMENT_SENSOR
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation
#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm
#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
//defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially
//When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status. Status will appear for 5 sec.
//#define FILAMENT_LCD_DISPLAY
// Calibration status of the machine, to be stored into the EEPROM, // Calibration status of the machine, to be stored into the EEPROM,
// (unsigned char*)EEPROM_CALIBRATION_STATUS // (unsigned char*)EEPROM_CALIBRATION_STATUS

2
Firmware/ConfigurationStore.cpp
View File

@ -472,7 +472,7 @@ void Config_ResetDefault()
filament_size[2] = DEFAULT_NOMINAL_FILAMENT_DIA; filament_size[2] = DEFAULT_NOMINAL_FILAMENT_DIA;
#endif #endif
#endif #endif
calculate_volumetric_multipliers(); calculate_extruder_multipliers();
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Hardcoded Default Settings Loaded"); SERIAL_ECHOLNPGM("Hardcoded Default Settings Loaded");

9
Firmware/Configuration_prusa.h
View File

@ -135,6 +135,11 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display. #define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
#endif /* DEBUG_BUILD */ #endif /* DEBUG_BUILD */
//#define EXPERIMENTAL_FEATURES
//#define TMC2130_LINEARITY_CORRECTION
//#define TMC2130_VARIABLE_RESOLUTION
/*------------------------------------ /*------------------------------------
TMC2130 default settings TMC2130 default settings
@ -203,8 +208,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_SG_THRS_E 3 // stallguard sensitivity for E axis #define TMC2130_SG_THRS_E 3 // stallguard sensitivity for E axis
//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)
#define TMC2130_CURRENTS_H {13, 20, 25, 35} // default holding currents for all axes #define TMC2130_CURRENTS_H {16, 20, 28, 36} // default holding currents for all axes
#define TMC2130_CURRENTS_R {13, 20, 25, 35} // 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_DEBUG //#define TMC2130_DEBUG

116
Firmware/Dcodes.cpp
View File

@ -447,11 +447,8 @@ void dcode_10()
} }
void dcode_12() void dcode_12()
{//Reset Filament error, Power loss and crash counter ( Do it before every print and you can get stats for the print ) {//Time
LOG("D12 - Reset failstat counters\n"); LOG("D12 - Time\n");
eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0x00);
eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, 0x00);
eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, 0x00);
} }
#include "tmc2130.h" #include "tmc2130.h"
@ -461,28 +458,101 @@ extern void st_synchronize();
void dcode_2130() void dcode_2130()
{ {
// printf("test");
printf_P(PSTR("D2130 - TMC2130\n")); printf_P(PSTR("D2130 - TMC2130\n"));
uint8_t axis = 0xff; uint8_t axis = 0xff;
if (code_seen('X')) switch (strchr_pointer[1+4])
axis = X_AXIS; {
else if (code_seen('Y')) case 'X': axis = X_AXIS; break;
axis = Y_AXIS; case 'Y': axis = Y_AXIS; break;
case 'Z': axis = Z_AXIS; break;
case 'E': axis = E_AXIS; break;
}
if (axis != 0xff) if (axis != 0xff)
{ {
homeaxis(axis); char ch_axis = strchr_pointer[1+4];
tmc2130_sg_meassure_start(axis); if (strchr_pointer[1+5] == '0') { tmc2130_set_pwr(axis, 0); }
memcpy(destination, current_position, sizeof(destination)); else if (strchr_pointer[1+5] == '1') { tmc2130_set_pwr(axis, 1); }
destination[axis] = 200; else if (strchr_pointer[1+5] == '+')
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder); {
st_synchronize(); if (strchr_pointer[1+6] == 0)
memcpy(destination, current_position, sizeof(destination)); {
destination[axis] = 0; tmc2130_set_dir(axis, 0);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder); tmc2130_do_step(axis);
st_synchronize(); }
uint16_t sg = tmc2130_sg_meassure_stop(); else
tmc2130_sg_meassure = 0xff; {
printf_P(PSTR("Meassure avg = %d\n"), sg); uint8_t steps = atoi(strchr_pointer + 1 + 6);
tmc2130_do_steps(axis, steps, 0, 1000);
}
}
else if (strchr_pointer[1+5] == '-')
{
if (strchr_pointer[1+6] == 0)
{
tmc2130_set_dir(axis, 1);
tmc2130_do_step(axis);
}
else
{
uint8_t steps = atoi(strchr_pointer + 1 + 6);
tmc2130_do_steps(axis, steps, 1, 1000);
}
}
else if (strchr_pointer[1+5] == '?')
{
if (strcmp(strchr_pointer + 7, "mres") == 0) printf_P(PSTR("%c mres=%d\n"), ch_axis, tmc2130_mres[axis]);
else if (strcmp(strchr_pointer + 7, "step") == 0) printf_P(PSTR("%c step=%d\n"), ch_axis, tmc2130_rd_MSCNT(axis) >> tmc2130_mres[axis]);
else if (strcmp(strchr_pointer + 7, "mscnt") == 0) printf_P(PSTR("%c MSCNT=%d\n"), ch_axis, tmc2130_rd_MSCNT(axis));
else if (strcmp(strchr_pointer + 7, "mscuract") == 0)
{
uint32_t val = tmc2130_rd_MSCURACT(axis);
int curA = (val & 0xff);
int curB = ((val >> 16) & 0xff);
if ((val << 7) & 0x8000) curA -= 256;
if ((val >> 9) & 0x8000) curB -= 256;
printf_P(PSTR("%c MSCURACT=0x%08lx A=%d B=%d\n"), ch_axis, val, curA, curB);
}
else if (strcmp(strchr_pointer + 7, "wave") == 0)
{
tmc2130_get_wave(axis, 0, stdout);
}
}
else if (strchr_pointer[1+5] == '!')
{
if (strncmp(strchr_pointer + 7, "step", 4) == 0)
{
uint8_t step = atoi(strchr_pointer + 11);
uint16_t res = tmc2130_get_res(axis);
tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
}
else if (strncmp(strchr_pointer + 7, "mres", 4) == 0)
{
uint8_t mres = strchr_pointer[11] - '0';
if ((mres >= 0) && (mres <= 8))
{
st_synchronize();
uint16_t res = tmc2130_get_res(axis);
uint16_t res_new = tmc2130_mres2usteps(mres);
tmc2130_set_res(axis, res_new);
if (res_new > res)
axis_steps_per_unit[axis] *= (res_new / res);
else
axis_steps_per_unit[axis] /= (res / res_new);
}
}
else if (strncmp(strchr_pointer + 7, "wave", 4) == 0)
{
uint8_t fac200 = atoi(strchr_pointer + 11) & 0xff;
if (fac200 < TMC2130_WAVE_FAC200_MIN) fac200 = 0;
if (fac200 > TMC2130_WAVE_FAC200_MAX) fac200 = TMC2130_WAVE_FAC200_MAX;
tmc2130_set_wave(axis, 247, fac200);
tmc2130_wave_fac[axis] = fac200;
}
}
else if (strchr_pointer[1+5] == '@')
{
tmc2130_home_calibrate(axis);
}
} }
} }

1
Firmware/Dcodes.h
View File

@ -15,7 +15,6 @@ extern void dcode_8(); //D8 - Read/Write PINDA
extern void dcode_9(); //D9 - Read/Write ADC (Write=enable simulated, Read=disable simulated) extern void dcode_9(); //D9 - Read/Write ADC (Write=enable simulated, Read=disable simulated)
extern void dcode_10(); //D10 - XYZ calibration = OK extern void dcode_10(); //D10 - XYZ calibration = OK
extern void dcode_12(); //D12 - Reset failstat counters
extern void dcode_2130(); //D2130 - TMC2130 extern void dcode_2130(); //D2130 - TMC2130
extern void dcode_9125(); //D9125 - PAT9125 extern void dcode_9125(); //D9125 - PAT9125

15
Firmware/Marlin.h
View File

@ -276,24 +276,13 @@ extern float max_pos[3];
extern bool axis_known_position[3]; extern bool axis_known_position[3];
extern float zprobe_zoffset; extern float zprobe_zoffset;
extern int fanSpeed; extern int fanSpeed;
extern void homeaxis(int axis); extern void homeaxis(int axis, uint8_t cnt = 1, uint8_t* pstep = 0);
#ifdef FAN_SOFT_PWM #ifdef FAN_SOFT_PWM
extern unsigned char fanSpeedSoftPwm; extern unsigned char fanSpeedSoftPwm;
#endif #endif
#ifdef FILAMENT_SENSOR
extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
extern float filament_width_meas; //holds the filament diameter as accurately measured
extern signed char measurement_delay[]; //ring buffer to delay measurement
extern int delay_index1, delay_index2; //index into ring buffer
extern float delay_dist; //delay distance counter
extern int meas_delay_cm; //delay distance
#endif
#ifdef FWRETRACT #ifdef FWRETRACT
extern bool autoretract_enabled; extern bool autoretract_enabled;
extern bool retracted[EXTRUDERS]; extern bool retracted[EXTRUDERS];
@ -358,7 +347,7 @@ extern bool sortAlpha;
extern char dir_names[3][9]; extern char dir_names[3][9];
extern void calculate_volumetric_multipliers(); extern void calculate_extruder_multipliers();
// Similar to the default Arduino delay function, // Similar to the default Arduino delay function,
// but it keeps the background tasks running. // but it keeps the background tasks running.

7
Firmware/MarlinSerial.cpp
View File

@ -99,13 +99,6 @@ ISR(USART1_RX_vect)
#endif #endif
#endif #endif
// Constructors ////////////////////////////////////////////////////////////////
MarlinSerial::MarlinSerial()
{
}
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void MarlinSerial::begin(long baud) void MarlinSerial::begin(long baud)

65
Firmware/MarlinSerial.h
View File

@ -90,14 +90,13 @@ class MarlinSerial //: public Stream
{ {
public: public:
MarlinSerial(); static void begin(long);
void begin(long); static void end();
void end(); static int peek(void);
int peek(void); static int read(void);
int read(void); static void flush(void);
void flush(void);
FORCE_INLINE int available(void) static FORCE_INLINE int available(void)
{ {
return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE; return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE;
} }
@ -110,7 +109,7 @@ class MarlinSerial //: public Stream
M_UDRx = c; M_UDRx = c;
} }
*/ */
void write(uint8_t c) static void write(uint8_t c)
{ {
if (selectedSerialPort == 0) if (selectedSerialPort == 0)
{ {
@ -124,7 +123,7 @@ class MarlinSerial //: public Stream
} }
} }
void checkRx(void) static void checkRx(void)
{ {
if (selectedSerialPort == 0) { if (selectedSerialPort == 0) {
if((M_UCSRxA & (1<<M_RXCx)) != 0) { if((M_UCSRxA & (1<<M_RXCx)) != 0) {
@ -150,7 +149,7 @@ class MarlinSerial //: public Stream
#endif //DEBUG_DUMP_TO_2ND_SERIAL #endif //DEBUG_DUMP_TO_2ND_SERIAL
} }
} }
} else if(selectedSerialPort == 1) { } else { // if(selectedSerialPort == 1) {
if((UCSR1A & (1<<RXC1)) != 0) { if((UCSR1A & (1<<RXC1)) != 0) {
// Test for a framing error. // Test for a framing error.
if (UCSR1A & (1<<FE1)) { if (UCSR1A & (1<<FE1)) {
@ -179,54 +178,54 @@ class MarlinSerial //: public Stream
private: private:
void printNumber(unsigned long, uint8_t); static void printNumber(unsigned long, uint8_t);
void printFloat(double, uint8_t); static void printFloat(double, uint8_t);
public: public:
FORCE_INLINE void write(const char *str) static FORCE_INLINE void write(const char *str)
{ {
while (*str) while (*str)
write(*str++); write(*str++);
} }
FORCE_INLINE void write(const uint8_t *buffer, size_t size) static FORCE_INLINE void write(const uint8_t *buffer, size_t size)
{ {
while (size--) while (size--)
write(*buffer++); write(*buffer++);
} }
FORCE_INLINE void print(const String &s) static FORCE_INLINE void print(const String &s)
{ {
for (int i = 0; i < (int)s.length(); i++) { for (int i = 0; i < (int)s.length(); i++) {
write(s[i]); write(s[i]);
} }
} }
FORCE_INLINE void print(const char *str) static FORCE_INLINE void print(const char *str)
{ {
write(str); write(str);
} }
void print(char, int = BYTE); static void print(char, int = BYTE);
void print(unsigned char, int = BYTE); static void print(unsigned char, int = BYTE);
void print(int, int = DEC); static void print(int, int = DEC);
void print(unsigned int, int = DEC); static void print(unsigned int, int = DEC);
void print(long, int = DEC); static void print(long, int = DEC);
void print(unsigned long, int = DEC); static void print(unsigned long, int = DEC);
void print(double, int = 2); static void print(double, int = 2);
void println(const String &s); static void println(const String &s);
void println(const char[]); static void println(const char[]);
void println(char, int = BYTE); static void println(char, int = BYTE);
void println(unsigned char, int = BYTE); static void println(unsigned char, int = BYTE);
void println(int, int = DEC); static void println(int, int = DEC);
void println(unsigned int, int = DEC); static void println(unsigned int, int = DEC);
void println(long, int = DEC); static void println(long, int = DEC);
void println(unsigned long, int = DEC); static void println(unsigned long, int = DEC);
void println(double, int = 2); static void println(double, int = 2);
void println(void); static void println(void);
}; };
extern MarlinSerial MSerial; extern MarlinSerial MSerial;

389
Firmware/Marlin_main.cpp
View File

@ -333,7 +333,7 @@ float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
#endif #endif
#endif #endif
}; };
float volumetric_multiplier[EXTRUDERS] = {1.0 float extruder_multiplier[EXTRUDERS] = {1.0
#if EXTRUDERS > 1 #if EXTRUDERS > 1
, 1.0 , 1.0
#if EXTRUDERS > 2 #if EXTRUDERS > 2
@ -410,18 +410,6 @@ bool cancel_heatup = false ;
#define KEEPALIVE_STATE(n); #define KEEPALIVE_STATE(n);
#endif #endif
#ifdef FILAMENT_SENSOR
//Variables for Filament Sensor input
float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
int delay_index1=0; //index into ring buffer
int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
float delay_dist=0; //delay distance counter
int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
#endif
const char errormagic[] PROGMEM = "Error:"; const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:"; const char echomagic[] PROGMEM = "echo:";
@ -1031,6 +1019,7 @@ void setup()
#ifdef TMC2130 #ifdef TMC2130
uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT); uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
if (silentMode == 0xff) silentMode = 0;
tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL; tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET); uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
if (crashdet) if (crashdet)
@ -1044,6 +1033,37 @@ void setup()
MYSERIAL.println("CrashDetect DISABLED"); MYSERIAL.println("CrashDetect DISABLED");
} }
#ifdef TMC2130_LINEARITY_CORRECTION
tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
#endif //TMC2130_LINEARITY_CORRECTION
#ifdef TMC2130_VARIABLE_RESOLUTION
tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
#else //TMC2130_VARIABLE_RESOLUTION
tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
#endif //TMC2130_VARIABLE_RESOLUTION
#endif //TMC2130 #endif //TMC2130
st_init(); // Initialize stepper, this enables interrupts! st_init(); // Initialize stepper, this enables interrupts!
@ -1071,19 +1091,19 @@ void setup()
setup_homepin(); setup_homepin();
if (1) { if (1) {
/// SERIAL_ECHOPGM("initial zsteps on power up: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS)); /// SERIAL_ECHOPGM("initial zsteps on power up: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
// try to run to zero phase before powering the Z motor. // try to run to zero phase before powering the Z motor.
// Move in negative direction // Move in negative direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR); WRITE(Z_DIR_PIN,INVERT_Z_DIR);
// Round the current micro-micro steps to micro steps. // Round the current micro-micro steps to micro steps.
for (uint16_t phase = (tmc2130_rd_MSCNT(Z_TMC2130_CS) + 8) >> 4; phase > 0; -- phase) { for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
// Until the phase counter is reset to zero. // Until the phase counter is reset to zero.
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
delay(2); delay(2);
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
delay(2); delay(2);
} }
// SERIAL_ECHOPGM("initial zsteps after reset: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS)); // SERIAL_ECHOPGM("initial zsteps after reset: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
} }
#if defined(Z_AXIS_ALWAYS_ON) #if defined(Z_AXIS_ALWAYS_ON)
@ -1117,6 +1137,51 @@ void setup()
// Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false), // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
// but this times out if a blocking dialog is shown in setup(). // but this times out if a blocking dialog is shown in setup().
card.initsd(); card.initsd();
#ifdef DEBUG_SD_SPEED_TEST
if (card.cardOK)
{
uint8_t* buff = (uint8_t*)block_buffer;
uint32_t block = 0;
uint32_t sumr = 0;
uint32_t sumw = 0;
for (int i = 0; i < 1024; i++)
{
uint32_t u = micros();
bool res = card.card.readBlock(i, buff);
u = micros() - u;
if (res)
{
printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
sumr += u;
u = micros();
res = card.card.writeBlock(i, buff);
u = micros() - u;
if (res)
{
printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
sumw += u;
}
else
{
printf_P(PSTR("writeBlock %4d error\n"), i);
break;
}
}
else
{
printf_P(PSTR("readBlock %4d error\n"), i);
break;
}
}
uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
}
else
printf_P(PSTR("Card NG!\n"));
#endif DEBUG_SD_SPEED_TEST
if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0); if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0); if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0); if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
@ -1208,6 +1273,12 @@ void setup()
lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW); lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
} }
} }
if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED ) {
lcd_show_fullscreen_message_and_wait_P(MSG_FORCE_SELFTEST);
update_current_firmware_version_to_eeprom();
lcd_selftest();
}
KEEPALIVE_STATE(IN_PROCESS); KEEPALIVE_STATE(IN_PROCESS);
#endif //DEBUG_DISABLE_STARTMSGS #endif //DEBUG_DISABLE_STARTMSGS
lcd_update_enable(true); lcd_update_enable(true);
@ -1216,7 +1287,24 @@ void setup()
// Store the currently running firmware into an eeprom, // Store the currently running firmware into an eeprom,
// so the next time the firmware gets updated, it will know from which version it has been updated. // so the next time the firmware gets updated, it will know from which version it has been updated.
update_current_firmware_version_to_eeprom(); update_current_firmware_version_to_eeprom();
tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
/* /*
if (lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false)) recover_print(); if (lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false)) recover_print();
@ -1785,9 +1873,9 @@ bool calibrate_z_auto()
} }
#endif //TMC2130 #endif //TMC2130
void homeaxis(int axis) void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
{ {
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 homing
#define HOMEAXIS_DO(LETTER) \ #define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1)) ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0) if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
@ -1797,13 +1885,15 @@ void homeaxis(int axis)
#ifdef TMC2130 #ifdef TMC2130
tmc2130_home_enter(X_AXIS_MASK << axis); tmc2130_home_enter(X_AXIS_MASK << axis);
#endif #endif //TMC2130
// Move right a bit, so that the print head does not touch the left end position, // Move right a bit, so that the print head does not touch the left end position,
// and the following left movement has a chance to achieve the required velocity // and the following left movement has a chance to achieve the required velocity
// for the stall guard to work. // for the stall guard to work.
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
set_destination_to_current();
// destination[axis] = 11.f; // destination[axis] = 11.f;
destination[axis] = 3.f; destination[axis] = 3.f;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@ -1821,44 +1911,66 @@ void homeaxis(int axis)
destination[axis] = - 1.1 * max_length(axis); destination[axis] = - 1.1 * max_length(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize(); st_synchronize();
// Move right from the collision to a known distance from the left end stop with the collision detection disabled. for (uint8_t i = 0; i < cnt; i++)
endstops_hit_on_purpose(); {
enable_endstops(false); // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
current_position[axis] = 0; endstops_hit_on_purpose();
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); enable_endstops(false);
destination[axis] = 10.f; current_position[axis] = 0;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
st_synchronize(); destination[axis] = 10.f;
endstops_hit_on_purpose(); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
// Now move left up to the collision, this time with a repeatable velocity. st_synchronize();
enable_endstops(true); endstops_hit_on_purpose();
destination[axis] = - 15.f; // Now move left up to the collision, this time with a repeatable velocity.
feedrate = homing_feedrate[axis]/2; enable_endstops(true);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); destination[axis] = - 11.f;
st_synchronize(); #ifdef TMC2130
feedrate = homing_feedrate[axis];
#else //TMC2130
feedrate = homing_feedrate[axis] / 2;
#endif //TMC2130
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
#ifdef TMC2130
uint16_t mscnt = tmc2130_rd_MSCNT(axis);
if (pstep) pstep[i] = mscnt >> 4;
printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
#endif //TMC2130
}
endstops_hit_on_purpose();
enable_endstops(false);
#ifdef TMC2130
uint8_t orig = tmc2130_home_origin[axis];
uint8_t back = tmc2130_home_bsteps[axis];
if (tmc2130_home_enabled && (orig <= 63))
{
tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
if (back > 0)
tmc2130_do_steps(axis, back, 1, 1000);
}
else
tmc2130_do_steps(axis, 8, 2, 1000);
tmc2130_home_exit();
#endif //TMC2130
axis_is_at_home(axis); axis_is_at_home(axis);
axis_known_position[axis] = true; axis_known_position[axis] = true;
// Move from minimum
#ifdef TMC2130 #ifdef TMC2130
tmc2130_home_exit(); float dist = 0.01f * tmc2130_home_fsteps[axis];
#endif #else //TMC2130
// Move the X carriage away from the collision. float dist = 0.01f * 64;
// If this is not done, the X cariage will jump from the collision at the instant the Trinamic driver reduces power on idle. #endif //TMC2130
endstops_hit_on_purpose(); current_position[axis] -= dist;
enable_endstops(false); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
{ current_position[axis] += dist;
// Two full periods (4 full steps).
float gap = 0.32f * 2.f;
current_position[axis] -= gap;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position[axis] += gap;
}
destination[axis] = current_position[axis]; destination[axis] = current_position[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.3f*feedrate/60, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
st_synchronize(); st_synchronize();
feedrate = 0.0; feedrate = 0.0;
} }
else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0) else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
{ {
@ -1909,11 +2021,7 @@ void refresh_cmd_timeout(void)
destination[Y_AXIS]=current_position[Y_AXIS]; destination[Y_AXIS]=current_position[Y_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS]; destination[Z_AXIS]=current_position[Z_AXIS];
destination[E_AXIS]=current_position[E_AXIS]; destination[E_AXIS]=current_position[E_AXIS];
if (swapretract) { current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
} else {
current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
}
plan_set_e_position(current_position[E_AXIS]); plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate; float oldFeedrate = feedrate;
feedrate=retract_feedrate*60; feedrate=retract_feedrate*60;
@ -1930,12 +2038,7 @@ void refresh_cmd_timeout(void)
destination[E_AXIS]=current_position[E_AXIS]; destination[E_AXIS]=current_position[E_AXIS];
current_position[Z_AXIS]+=retract_zlift; current_position[Z_AXIS]+=retract_zlift;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
//prepare_move(); current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
if (swapretract) {
current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
} else {
current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
}
plan_set_e_position(current_position[E_AXIS]); plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate; float oldFeedrate = feedrate;
feedrate=retract_recover_feedrate*60; feedrate=retract_recover_feedrate*60;
@ -2698,6 +2801,8 @@ void process_commands()
bool home_x = code_seen(axis_codes[X_AXIS]); bool home_x = code_seen(axis_codes[X_AXIS]);
bool home_y = code_seen(axis_codes[Y_AXIS]); bool home_y = code_seen(axis_codes[Y_AXIS]);
bool home_z = code_seen(axis_codes[Z_AXIS]); bool home_z = code_seen(axis_codes[Z_AXIS]);
// calibrate?
bool calib = code_seen('C');
// Either all X,Y,Z codes are present, or none of them. // Either all X,Y,Z codes are present, or none of them.
bool home_all_axes = home_x == home_y && home_x == home_z; bool home_all_axes = home_x == home_y && home_x == home_z;
if (home_all_axes) if (home_all_axes)
@ -2782,10 +2887,20 @@ void process_commands()
if(home_x) if(home_x)
homeaxis(X_AXIS); {
if (!calib)
homeaxis(X_AXIS);
else
tmc2130_home_calibrate(X_AXIS);
}
if(home_y) if(home_y)
homeaxis(Y_AXIS); {
if (!calib)
homeaxis(Y_AXIS);
else
tmc2130_home_calibrate(Y_AXIS);
}
if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0) if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
current_position[X_AXIS]=code_value()+add_homing[X_AXIS]; current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
@ -5079,7 +5194,7 @@ Sigma_Exit:
//reserved for setting filament diameter via UFID or filament measuring device //reserved for setting filament diameter via UFID or filament measuring device
break; break;
} }
calculate_volumetric_multipliers(); calculate_extruder_multipliers();
} }
break; break;
case 201: // M201 case 201: // M201
@ -5247,6 +5362,7 @@ Sigma_Exit:
extrudemultiply = tmp_code ; extrudemultiply = tmp_code ;
} }
} }
calculate_extruder_multipliers();
} }
break; break;
@ -5485,69 +5601,6 @@ Sigma_Exit:
} }
break; break;
#ifdef FILAMENT_SENSOR
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
{
#if (FILWIDTH_PIN > -1)
if(code_seen('N')) filament_width_nominal=code_value();
else{
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
#endif
}
break;
case 405: //M405 Turn on filament sensor for control
{
if(code_seen('D')) meas_delay_cm=code_value();
if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
meas_delay_cm = MAX_MEASUREMENT_DELAY;
if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
{
int temp_ratio = widthFil_to_size_ratio();
for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
}
delay_index1=0;
delay_index2=0;
}
filament_sensor = true ;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extrudemultiply);
}
break;
case 406: //M406 Turn off filament sensor for control
{
filament_sensor = false ;
}
break;
case 407: //M407 Display measured filament diameter
{
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
}
break;
#endif
case 500: // M500 Store settings in EEPROM case 500: // M500 Store settings in EEPROM
{ {
Config_StoreSettings(EEPROM_OFFSET); Config_StoreSettings(EEPROM_OFFSET);
@ -6213,12 +6266,38 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{ {
#ifdef TMC2130
if(code_seen('E'))
{
uint16_t res_new = code_value();
if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
{
st_synchronize();
uint8_t axis = E_AXIS;
uint16_t res = tmc2130_get_res(axis);
tmc2130_set_res(axis, res_new);
if (res_new > res)
{
uint16_t fac = (res_new / res);
axis_steps_per_unit[axis] *= fac;
position[E_AXIS] *= fac;
}
else
{
uint16_t fac = (res / res_new);
axis_steps_per_unit[axis] /= fac;
position[E_AXIS] /= fac;
}
}
}
#else //TMC2130
#if defined(X_MS1_PIN) && X_MS1_PIN > -1 #if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value()); for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
if(code_seen('B')) microstep_mode(4,code_value()); if(code_seen('B')) microstep_mode(4,code_value());
microstep_readings(); microstep_readings();
#endif #endif
#endif //TMC2130
} }
break; break;
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
@ -6463,9 +6542,6 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
case 10: // D10 - XYZ calibration = OK case 10: // D10 - XYZ calibration = OK
dcode_10(); break; dcode_10(); break;
case 12: //D12 - Reset failstat counters
dcode_12(); break;
case 2130: // D9125 - TMC2130 case 2130: // D9125 - TMC2130
dcode_2130(); break; dcode_2130(); break;
case 9125: // D9125 - PAT9125 case 9125: // D9125 - PAT9125
@ -6510,7 +6586,20 @@ void get_coordinates()
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) if(code_seen(axis_codes[i]))
{ {
destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i]; bool relative = axis_relative_modes[i] || relative_mode;
destination[i] = (float)code_value();
if (i == E_AXIS) {
float emult = extruder_multiplier[active_extruder];
if (emult != 1.) {
if (! relative) {
destination[i] -= current_position[i];
relative = true;
}
destination[i] *= emult;
}
}
if (relative)
destination[i] += current_position[i];
seen[i]=true; seen[i]=true;
} }
else destination[i] = current_position[i]; //Are these else lines really needed? else destination[i] = current_position[i]; //Are these else lines really needed?
@ -6522,6 +6611,11 @@ void get_coordinates()
if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE; if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
#endif //MAX_SILENT_FEEDRATE #endif //MAX_SILENT_FEEDRATE
if(next_feedrate > 0.0) feedrate = next_feedrate; if(next_feedrate > 0.0) feedrate = next_feedrate;
if (!seen[0] && !seen[1] && !seen[2] && seen[3])
{
// float e_max_speed =
// printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
}
} }
} }
@ -7024,27 +7118,20 @@ void save_statistics(unsigned long _total_filament_used, unsigned long _total_pr
} }
float calculate_volumetric_multiplier(float diameter) { float calculate_extruder_multiplier(float diameter) {
float area = .0; bool enabled = volumetric_enabled && diameter > 0;
float radius = .0; float area = enabled ? (M_PI * pow(diameter * .5, 2)) : 0;
return (extrudemultiply == 100) ?
radius = diameter * .5; (enabled ? (1.f / area) : 1.f) :
if (! volumetric_enabled || radius == 0) { (enabled ? ((float(extrudemultiply) * 0.01f) / area) : 1.f);
area = 1;
}
else {
area = M_PI * pow(radius, 2);
}
return 1.0 / area;
} }
void calculate_volumetric_multipliers() { void calculate_extruder_multipliers() {
volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]); extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
#if EXTRUDERS > 1 #if EXTRUDERS > 1
volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]); extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
#if EXTRUDERS > 2 #if EXTRUDERS > 2
volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]); extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
#endif #endif
#endif #endif
} }
@ -7578,7 +7665,7 @@ void uvlo_()
// Read out the current Z motor microstep counter. This will be later used // Read out the current Z motor microstep counter. This will be later used
// for reaching the zero full step before powering off. // for reaching the zero full step before powering off.
uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS); uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
// Calculate the file position, from which to resume this print. // Calculate the file position, from which to resume this print.
long sd_position = sdpos_atomic; //atomic sd position of last command added in queue long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
@ -7670,7 +7757,7 @@ void uvlo_()
st_synchronize(); st_synchronize();
SERIAL_ECHOPGM("stps"); SERIAL_ECHOPGM("stps");
MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS)); MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
disable_z(); disable_z();

5
Firmware/cardreader.h
View File

@ -131,7 +131,12 @@ private:
#endif // SDCARD_SORT_ALPHA #endif // SDCARD_SORT_ALPHA
#ifdef DEBUG_SD_SPEED_TEST
public:
#endif DEBUG_SD_SPEED_TEST
Sd2Card card; Sd2Card card;
private:
SdVolume volume; SdVolume volume;
SdFile file; SdFile file;
#define SD_PROCEDURE_DEPTH 1 #define SD_PROCEDURE_DEPTH 1

9
Firmware/dogm_lcd_implementation.h
View File

@ -360,6 +360,15 @@ static void _drawmenu_setting_edit_generic(uint8_t row, const char* pstr, char p
#define lcd_implementation_drawmenu_setting_edit_generic(row, pstr, pre_char, data) _drawmenu_setting_edit_generic(row, pstr, pre_char, data, false) #define lcd_implementation_drawmenu_setting_edit_generic(row, pstr, pre_char, data) _drawmenu_setting_edit_generic(row, pstr, pre_char, data, false)
#define lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, pre_char, data) _drawmenu_setting_edit_generic(row, pstr, pre_char, data, true) #define lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, pre_char, data) _drawmenu_setting_edit_generic(row, pstr, pre_char, data, true)
extern char *wfac_to_str5(const uint8_t &x);
extern char *mres_to_str3(const uint8_t &x);
#define lcd_implementation_drawmenu_setting_edit_wfac_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', wfac_to_str5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_wfac(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', wfac_to_str5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_mres_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', mres_to_str3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_mres(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', mres_to_str3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_byte3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3((uint8_t)*(data)))
#define lcd_implementation_drawmenu_setting_edit_byte3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3((uint8_t)*(data)))
#define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data))) #define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data))) #define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data))) #define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data)))

7
Firmware/language_all.cpp
View File

@ -819,6 +819,13 @@ const char * const MSG_FOLLOW_CALIBRATION_FLOW_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_FOLLOW_CALIBRATION_FLOW_CZ MSG_FOLLOW_CALIBRATION_FLOW_CZ
}; };
const char MSG_FORCE_SELFTEST_EN[] PROGMEM = "Selftest will be run to calibrate accurate sensorless rehoming.";
const char MSG_FORCE_SELFTEST_CZ[] PROGMEM = "Pro kalibraci presneho rehomovani bude nyni spusten selftest.";
const char * const MSG_FORCE_SELFTEST_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_FORCE_SELFTEST_EN,
MSG_FORCE_SELFTEST_CZ
};
const char MSG_FREE_MEMORY_EN[] PROGMEM = " Free Memory: "; const char MSG_FREE_MEMORY_EN[] PROGMEM = " Free Memory: ";
const char * const MSG_FREE_MEMORY_LANG_TABLE[1] PROGMEM = { const char * const MSG_FREE_MEMORY_LANG_TABLE[1] PROGMEM = {
MSG_FREE_MEMORY_EN MSG_FREE_MEMORY_EN

2
Firmware/language_all.h
View File

@ -286,6 +286,8 @@ extern const char* const MSG_FLOW2_LANG_TABLE[1];
#define MSG_FLOW2 LANG_TABLE_SELECT_EXPLICIT(MSG_FLOW2_LANG_TABLE, 0) #define MSG_FLOW2 LANG_TABLE_SELECT_EXPLICIT(MSG_FLOW2_LANG_TABLE, 0)
extern const char* const MSG_FOLLOW_CALIBRATION_FLOW_LANG_TABLE[LANG_NUM]; extern const char* const MSG_FOLLOW_CALIBRATION_FLOW_LANG_TABLE[LANG_NUM];
#define MSG_FOLLOW_CALIBRATION_FLOW LANG_TABLE_SELECT(MSG_FOLLOW_CALIBRATION_FLOW_LANG_TABLE) #define MSG_FOLLOW_CALIBRATION_FLOW LANG_TABLE_SELECT(MSG_FOLLOW_CALIBRATION_FLOW_LANG_TABLE)
extern const char* const MSG_FORCE_SELFTEST_LANG_TABLE[LANG_NUM];
#define MSG_FORCE_SELFTEST LANG_TABLE_SELECT(MSG_FORCE_SELFTEST_LANG_TABLE)
extern const char* const MSG_FREE_MEMORY_LANG_TABLE[1]; extern const char* const MSG_FREE_MEMORY_LANG_TABLE[1];
#define MSG_FREE_MEMORY LANG_TABLE_SELECT_EXPLICIT(MSG_FREE_MEMORY_LANG_TABLE, 0) #define MSG_FREE_MEMORY LANG_TABLE_SELECT_EXPLICIT(MSG_FREE_MEMORY_LANG_TABLE, 0)
extern const char* const MSG_FSENSOR_NA_LANG_TABLE[LANG_NUM]; extern const char* const MSG_FSENSOR_NA_LANG_TABLE[LANG_NUM];

1
Firmware/language_cz.h
View File

@ -406,3 +406,4 @@
#define MSG_FW_VERSION_ALPHA "Pouzivate alpha verzi firmwaru. Jedna se o vyvojovou verzi. Pouzivani teto verze firmware neni doporuceno a muze zpusobit poskozeni tiskarny." #define MSG_FW_VERSION_ALPHA "Pouzivate alpha verzi firmwaru. Jedna se o vyvojovou verzi. Pouzivani teto verze firmware neni doporuceno a muze zpusobit poskozeni tiskarny."
#define MSG_FW_VERSION_BETA "Pouzivate beta verzi firmwaru. Jedna se o vyvojovou verzi. Pouzivani teto verze firmware neni doporuceno a muze zpusobit poskozeni tiskarny." #define MSG_FW_VERSION_BETA "Pouzivate beta verzi firmwaru. Jedna se o vyvojovou verzi. Pouzivani teto verze firmware neni doporuceno a muze zpusobit poskozeni tiskarny."
#define MSG_FW_VERSION_RC "Tato verze firmware je release candidate. Nektere z funkci nemusi pracovat spolehlive." #define MSG_FW_VERSION_RC "Tato verze firmware je release candidate. Nektere z funkci nemusi pracovat spolehlive."
#define MSG_FORCE_SELFTEST "Pro kalibraci presneho rehomovani bude nyni spusten selftest."

1
Firmware/language_en.h
View File

@ -425,3 +425,4 @@
#define(length=20, lines=8) MSG_FW_VERSION_ALPHA "You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage." #define(length=20, lines=8) MSG_FW_VERSION_ALPHA "You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage."
#define(length=20, lines=8) MSG_FW_VERSION_BETA "You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage." #define(length=20, lines=8) MSG_FW_VERSION_BETA "You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage."
#define(length=20, lines=8) MSG_FW_VERSION_RC "This firmware version is release candidate. Some of the features may not work properly." #define(length=20, lines=8) MSG_FW_VERSION_RC "This firmware version is release candidate. Some of the features may not work properly."
#define(length=20, lines=8) MSG_FORCE_SELFTEST "Selftest will be run to calibrate accurate sensorless rehoming."

55
Firmware/planner.cpp
View File

@ -126,10 +126,6 @@ static uint8_t g_cntr_planner_queue_min = 0;
float extrude_min_temp=EXTRUDE_MINTEMP; float extrude_min_temp=EXTRUDE_MINTEMP;
#endif #endif
#ifdef FILAMENT_SENSOR
static char meas_sample; //temporary variable to hold filament measurement sample
#endif
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
float extruder_advance_k = LIN_ADVANCE_K, float extruder_advance_k = LIN_ADVANCE_K,
advance_ed_ratio = LIN_ADVANCE_E_D_RATIO, advance_ed_ratio = LIN_ADVANCE_E_D_RATIO,
@ -782,12 +778,6 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
#endif #endif
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]); block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
if (volumetric_multiplier[active_extruder] != 1.f)
block->steps_e *= volumetric_multiplier[active_extruder];
if (extrudemultiply != 100) {
block->steps_e *= extrudemultiply;
block->steps_e /= 100;
}
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
// Bail if this is a zero-length block // Bail if this is a zero-length block
@ -919,7 +909,7 @@ Having the real displacement of the head, we can calculate the total movement le
delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS]; delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
#endif #endif
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*volumetric_multiplier[active_extruder]*extrudemultiply/100.0; delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
{ {
block->millimeters = fabs(delta_mm[E_AXIS]); block->millimeters = fabs(delta_mm[E_AXIS]);
@ -955,49 +945,6 @@ Having the real displacement of the head, we can calculate the total movement le
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0 block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0 block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
#ifdef FILAMENT_SENSOR
//FMM update ring buffer used for delay with filament measurements
if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1)) //only for extruder with filament sensor and if ring buffer is initialized
{
delay_dist = delay_dist + delta_mm[E_AXIS]; //increment counter with next move in e axis
while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1))) //check if counter is over max buffer size in mm
delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
while (delay_dist<0)
delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
delay_index1=delay_dist/10.0; //calculate index
//ensure the number is within range of the array after converting from floating point
if(delay_index1<0)
delay_index1=0;
else if (delay_index1>MAX_MEASUREMENT_DELAY)
delay_index1=MAX_MEASUREMENT_DELAY;
if(delay_index1 != delay_index2) //moved index
{
meas_sample=widthFil_to_size_ratio()-100; //subtract off 100 to reduce magnitude - to store in a signed char
}
while( delay_index1 != delay_index2)
{
delay_index2 = delay_index2 + 1;
if(delay_index2>MAX_MEASUREMENT_DELAY)
delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1); //loop around buffer when incrementing
if(delay_index2<0)
delay_index2=0;
else if (delay_index2>MAX_MEASUREMENT_DELAY)
delay_index2=MAX_MEASUREMENT_DELAY;
measurement_delay[delay_index2]=meas_sample;
}
}
#endif
// Calculate and limit speed in mm/sec for each axis // Calculate and limit speed in mm/sec for each axis
float current_speed[4]; float current_speed[4];
float speed_factor = 1.0; //factor <=1 do decrease speed float speed_factor = 1.0; //factor <=1 do decrease speed

2
Firmware/planner.h
View File

@ -148,6 +148,8 @@ extern float max_jerk[NUM_AXIS];
extern float mintravelfeedrate; extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
extern long position[NUM_AXIS];
#ifdef AUTOTEMP #ifdef AUTOTEMP
extern bool autotemp_enabled; extern bool autotemp_enabled;
extern float autotemp_max; extern float autotemp_max;

4
Firmware/stepper.cpp
View File

@ -1433,6 +1433,9 @@ void microstep_init()
#endif #endif
} }
#ifndef TMC2130
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2)
{ {
if(ms1 > -1) switch(driver) if(ms1 > -1) switch(driver)
@ -1490,3 +1493,4 @@ void microstep_readings()
SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN)); SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
#endif #endif
} }
#endif //TMC2130

74
Firmware/temperature.cpp
View File

@ -104,9 +104,6 @@ unsigned char soft_pwm_bed;
volatile int babystepsTodo[3]={0,0,0}; volatile int babystepsTodo[3]={0,0,0};
#endif #endif
#ifdef FILAMENT_SENSOR
int current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
#endif
//=========================================================================== //===========================================================================
//=============================private variables============================ //=============================private variables============================
//=========================================================================== //===========================================================================
@ -204,9 +201,6 @@ unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0);
#define SOFT_PWM_SCALE 0 #define SOFT_PWM_SCALE 0
#endif #endif
#ifdef FILAMENT_SENSOR
static int meas_shift_index; //used to point to a delayed sample in buffer for filament width sensor
#endif
//=========================================================================== //===========================================================================
//============================= functions ============================ //============================= functions ============================
//=========================================================================== //===========================================================================
@ -474,14 +468,20 @@ void checkFanSpeed()
fans_check_enabled = (eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED) > 0); fans_check_enabled = (eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED) > 0);
static unsigned char fan_speed_errors[2] = { 0,0 }; static unsigned char fan_speed_errors[2] = { 0,0 };
if (fan_speed[0] == 0 && (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)) fan_speed_errors[0]++; if ((fan_speed[0] == 0) && (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)) fan_speed_errors[0]++;
else fan_speed_errors[0] = 0; else fan_speed_errors[0] = 0;
if ((fan_speed[1] == 0)&& (fanSpeed > MIN_PRINT_FAN_SPEED)) fan_speed_errors[1]++; if ((fan_speed[1] == 0) && ((blocks_queued()?block_buffer[block_buffer_tail].fan_speed:fanSpeed) > MIN_PRINT_FAN_SPEED)) fan_speed_errors[1]++;
else fan_speed_errors[1] = 0; else fan_speed_errors[1] = 0;
if ((fan_speed_errors[0] > 5) && fans_check_enabled) fanSpeedError(0); //extruder fan if ((fan_speed_errors[0] > 5) && fans_check_enabled) {
if ((fan_speed_errors[1] > 15) && fans_check_enabled) fanSpeedError(1); //print fan fan_speed_errors[0] = 0;
fanSpeedError(0); //extruder fan
}
if ((fan_speed_errors[1] > 15) && fans_check_enabled) {
fan_speed_errors[1] = 0;
fanSpeedError(1); //print fan
}
} }
extern void stop_and_save_print_to_ram(float z_move, float e_move); extern void stop_and_save_print_to_ram(float z_move, float e_move);
@ -794,27 +794,6 @@ void manage_heater()
#endif #endif
#endif #endif
//code for controlling the extruder rate based on the width sensor
#ifdef FILAMENT_SENSOR
if(filament_sensor)
{
meas_shift_index=delay_index1-meas_delay_cm;
if(meas_shift_index<0)
meas_shift_index = meas_shift_index + (MAX_MEASUREMENT_DELAY+1); //loop around buffer if needed
//get the delayed info and add 100 to reconstitute to a percent of the nominal filament diameter
//then square it to get an area
if(meas_shift_index<0)
meas_shift_index=0;
else if (meas_shift_index>MAX_MEASUREMENT_DELAY)
meas_shift_index=MAX_MEASUREMENT_DELAY;
volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = pow((float)(100+measurement_delay[meas_shift_index])/100.0,2);
if (volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] <0.01)
volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]=0.01;
}
#endif
#ifdef HOST_KEEPALIVE_FEATURE #ifdef HOST_KEEPALIVE_FEATURE
host_keepalive(); host_keepalive();
#endif #endif
@ -967,9 +946,7 @@ static void updateTemperaturesFromRawValues()
#ifdef TEMP_SENSOR_1_AS_REDUNDANT #ifdef TEMP_SENSOR_1_AS_REDUNDANT
redundant_temperature = analog2temp(redundant_temperature_raw, 1); redundant_temperature = analog2temp(redundant_temperature_raw, 1);
#endif #endif
#if defined (FILAMENT_SENSOR) && (FILWIDTH_PIN > -1) //check if a sensor is supported
filament_width_meas = analog2widthFil();
#endif
//Reset the watchdog after we know we have a temperature measurement. //Reset the watchdog after we know we have a temperature measurement.
watchdog_reset(); watchdog_reset();
@ -979,35 +956,6 @@ static void updateTemperaturesFromRawValues()
} }
// For converting raw Filament Width to milimeters
#ifdef FILAMENT_SENSOR
float analog2widthFil() {
return current_raw_filwidth/16383.0*5.0;
//return current_raw_filwidth;
}
// For converting raw Filament Width to a ratio
int widthFil_to_size_ratio() {
float temp;
temp=filament_width_meas;
if(filament_width_meas<MEASURED_LOWER_LIMIT)
temp=filament_width_nominal; //assume sensor cut out
else if (filament_width_meas>MEASURED_UPPER_LIMIT)
temp= MEASURED_UPPER_LIMIT;
return(filament_width_nominal/temp*100);
}
#endif
void tp_init() void tp_init()
{ {
#if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1)) #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))

8
Firmware/temperature.h
View File

@ -31,14 +31,6 @@
void tp_init(); //initialize the heating void tp_init(); //initialize the heating
void manage_heater(); //it is critical that this is called periodically. void manage_heater(); //it is critical that this is called periodically.
#ifdef FILAMENT_SENSOR
// For converting raw Filament Width to milimeters
float analog2widthFil();
// For converting raw Filament Width to an extrusion ratio
int widthFil_to_size_ratio();
#endif
// low level conversion routines // low level conversion routines
// do not use these routines and variables outside of temperature.cpp // do not use these routines and variables outside of temperature.cpp
extern int target_temperature[EXTRUDERS]; extern int target_temperature[EXTRUDERS];

667
Firmware/tmc2130.cpp
View File

@ -20,8 +20,6 @@ extern long st_get_position(uint8_t axis);
extern void crashdet_stop_and_save_print(); extern void crashdet_stop_and_save_print();
extern void crashdet_stop_and_save_print2(); extern void crashdet_stop_and_save_print2();
//chipselect pins
uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
//mode //mode
uint8_t tmc2130_mode = TMC2130_MODE_NORMAL; uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
//holding currents //holding currents
@ -30,7 +28,7 @@ uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R; uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
//running currents for homing //running currents for homing
uint8_t tmc2130_current_r_home[4] = {10, 10, 20, 10}; uint8_t tmc2130_current_r_home[4] = {8, 10, 20, 18};
//pwm_ampl //pwm_ampl
@ -52,9 +50,15 @@ 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 sg_homing_axes_mask = 0x00;
uint8_t tmc2130_sg_meassure = 0xff; uint8_t tmc2130_sg_meassure = 0xff;
uint16_t tmc2130_sg_meassure_cnt = 0; uint32_t tmc2130_sg_meassure_cnt = 0;
uint32_t tmc2130_sg_meassure_val = 0; uint32_t tmc2130_sg_meassure_val = 0;
uint8_t tmc2130_home_enabled = 0;
uint8_t tmc2130_home_origin[2] = {0, 0};
uint8_t tmc2130_home_bsteps[2] = {48, 48};
uint8_t tmc2130_home_fsteps[2] = {48, 48};
uint8_t tmc2130_wave_fac[4] = {0, 0, 0, 0};
bool tmc2130_sg_stop_on_crash = true; bool tmc2130_sg_stop_on_crash = true;
uint8_t tmc2130_sg_diag_mask = 0x00; uint8_t tmc2130_sg_diag_mask = 0x00;
@ -104,21 +108,20 @@ bool skip_debug_msg = false;
#define TMC2130_REG_LOST_STEPS 0x73 // 20 bits #define TMC2130_REG_LOST_STEPS 0x73 // 20 bits
uint16_t tmc2130_rd_TSTEP(uint8_t cs); uint16_t tmc2130_rd_TSTEP(uint8_t axis);
uint16_t tmc2130_rd_MSCNT(uint8_t cs); uint16_t tmc2130_rd_MSCNT(uint8_t axis);
uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs); uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
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 axis, 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 axis, 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_TPWMTHRS(uint8_t cs, uint32_t val32); void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32);
void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32); void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32);
uint8_t tmc2130_axis_by_cs(uint8_t cs); #define tmc2130_rd(axis, addr, rval) tmc2130_rx(axis, addr, rval)
uint8_t tmc2130_calc_mres(uint16_t microstep_resolution); #define tmc2130_wr(axis, addr, wval) tmc2130_tx(axis, addr | 0x80, wval)
uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval); uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval);
uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval); uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval);
uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, 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);
@ -128,10 +131,6 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
void tmc2130_init() void tmc2130_init()
{ {
DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("STEALTH"):_n("NORMAL")); DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("STEALTH"):_n("NORMAL"));
tmc2130_mres[0] = tmc2130_calc_mres(TMC2130_USTEPS_XY);
tmc2130_mres[1] = tmc2130_calc_mres(TMC2130_USTEPS_XY);
tmc2130_mres[2] = tmc2130_calc_mres(TMC2130_USTEPS_Z);
tmc2130_mres[3] = tmc2130_calc_mres(TMC2130_USTEPS_E);
WRITE(X_TMC2130_CS, HIGH); WRITE(X_TMC2130_CS, HIGH);
WRITE(Y_TMC2130_CS, HIGH); WRITE(Y_TMC2130_CS, HIGH);
WRITE(Z_TMC2130_CS, HIGH); WRITE(Z_TMC2130_CS, HIGH);
@ -147,65 +146,33 @@ void tmc2130_init()
SPI.begin(); SPI.begin();
for (int axis = 0; axis < 2; axis++) // X Y axes for (int axis = 0; axis < 2; axis++) // X Y axes
{ {
/* if (tmc2130_current_r[axis] <= 31)
{
tmc2130_wr_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
}
else
{
tmc2130_wr_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[axis] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[axis] >> 1) & 0x1f));
}*/
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_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0); tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f)); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000); tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24)); tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16)); tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y)); //tmc2130_wr_THIGH(axis, TMC2130_THIGH);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
tmc2130_wr_TPWMTHRS(tmc2130_cs[axis], TMC2130_TPWMTHRS);
//tmc2130_wr_THIGH(tmc2130_cs[axis], TMC2130_THIGH);
} }
for (int axis = 2; axis < 3; axis++) // Z axis for (int axis = 2; axis < 3; axis++) // Z axis
{ {
// uint8_t mres = tmc2130_mres(TMC2130_USTEPS_Z);
/* if (tmc2130_current_r[axis] <= 31)
{
tmc2130_wr_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
}
else
{
tmc2130_wr_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[axis] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[axis] >> 1) & 0x1f));
}*/
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(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
} }
for (int axis = 3; axis < 4; axis++) // E axis for (int axis = 3; axis < 4; axis++) // E axis
{ {
// uint8_t mres = tmc2130_mres(TMC2130_USTEPS_E);
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_CHOPCONF(tmc2130_cs[axis], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_E, 0, 0);
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
#ifndef TMC2130_STEALTH_E #ifndef TMC2130_STEALTH_E
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#else //TMC2130_STEALTH_E #else //TMC2130_STEALTH_E
tmc2130_wr(tmc2130_cs[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(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, 0); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
tmc2130_wr_PWMCONF(tmc2130_cs[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(tmc2130_cs[axis], TMC2130_TPWMTHRS); tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
#endif //TMC2130_STEALTH_E #endif //TMC2130_STEALTH_E
} }
@ -217,6 +184,14 @@ void tmc2130_init()
tmc2130_sg_cnt[1] = 0; tmc2130_sg_cnt[1] = 0;
tmc2130_sg_cnt[2] = 0; tmc2130_sg_cnt[2] = 0;
tmc2130_sg_cnt[3] = 0; tmc2130_sg_cnt[3] = 0;
#ifdef TMC2130_LINEARITY_CORRECTION
tmc2130_set_wave(X_AXIS, 247, tmc2130_wave_fac[X_AXIS]);
tmc2130_set_wave(Y_AXIS, 247, tmc2130_wave_fac[Y_AXIS]);
tmc2130_set_wave(Z_AXIS, 247, tmc2130_wave_fac[Z_AXIS]);
tmc2130_set_wave(E_AXIS, 247, tmc2130_wave_fac[E_AXIS]);
#endif //TMC2130_LINEARITY_CORRECTION
} }
uint8_t tmc2130_sample_diag() uint8_t tmc2130_sample_diag()
@ -258,14 +233,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
} }
if (sg_homing_axes_mask == 0) if (sg_homing_axes_mask == 0)
{ {
/* if (crash) if (tmc2130_sg_stop_on_crash && crash)
{
if (diag_mask & 0x01) tmc2130_sg_cnt[0]++;
if (diag_mask & 0x02) tmc2130_sg_cnt[1]++;
if (diag_mask & 0x04) tmc2130_sg_cnt[2]++;
if (diag_mask & 0x08) tmc2130_sg_cnt[3]++;
}*/
if (/*!is_usb_printing && */tmc2130_sg_stop_on_crash && crash)
{ {
tmc2130_sg_crash = crash; tmc2130_sg_crash = crash;
tmc2130_sg_stop_on_crash = false; tmc2130_sg_stop_on_crash = false;
@ -279,11 +247,10 @@ bool tmc2130_update_sg()
{ {
if (tmc2130_sg_meassure <= E_AXIS) if (tmc2130_sg_meassure <= E_AXIS)
{ {
uint8_t cs = tmc2130_cs[tmc2130_sg_meassure]; uint32_t val32 = 0;
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff; tmc2130_rd(tmc2130_sg_meassure, TMC2130_REG_DRV_STATUS, &val32);
tmc2130_sg_meassure_val += sg; tmc2130_sg_meassure_val += (val32 & 0x3ff);
tmc2130_sg_meassure_cnt++; tmc2130_sg_meassure_cnt++;
// printf_P(PSTR("tmc2130_update_sg - meassure - sg=%d\n"), sg);
return true; return true;
} }
return false; return false;
@ -296,18 +263,17 @@ void tmc2130_home_enter(uint8_t 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);
uint8_t cs = tmc2130_cs[axis];
if (axes_mask & mask) if (axes_mask & mask)
{ {
sg_homing_axes_mask |= mask; sg_homing_axes_mask |= mask;
//Configuration to spreadCycle //Configuration to spreadCycle
tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_wr(cs, 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(cs, 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(cs, TMC2130_REG_TCOOLTHRS, (axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y);
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(cs, 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
} }
} }
#endif //TMC2130_SG_HOMING #endif //TMC2130_SG_HOMING
@ -326,18 +292,18 @@ void tmc2130_home_exit()
{ {
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(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, 0); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
// tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0); // tmc2130_wr_PWMCONF(i, tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
} }
else else
{ {
// tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL); // tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
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(tmc2130_cs[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(tmc2130_cs[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(tmc2130_cs[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:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y));
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
} }
} }
} }
@ -369,8 +335,8 @@ bool tmc2130_wait_standstill_xy(int timeout)
{ {
uint32_t drv_status_x = 0; uint32_t drv_status_x = 0;
uint32_t drv_status_y = 0; uint32_t drv_status_y = 0;
tmc2130_rd(tmc2130_cs[X_AXIS], TMC2130_REG_DRV_STATUS, &drv_status_x); tmc2130_rd(X_AXIS, TMC2130_REG_DRV_STATUS, &drv_status_x);
tmc2130_rd(tmc2130_cs[Y_AXIS], TMC2130_REG_DRV_STATUS, &drv_status_y); tmc2130_rd(Y_AXIS, TMC2130_REG_DRV_STATUS, &drv_status_y);
// DBG(_n("\tdrv_status_x=0x%08x drv_status_x=0x%08x\n"), drv_status_x, drv_status_y); // DBG(_n("\tdrv_status_x=0x%08x drv_status_x=0x%08x\n"), drv_status_x, drv_status_y);
standstill = (drv_status_x & 0x80000000) && (drv_status_y & 0x80000000); standstill = (drv_status_x & 0x80000000) && (drv_status_y & 0x80000000);
tmc2130_check_overtemp(); tmc2130_check_overtemp();
@ -390,13 +356,13 @@ void tmc2130_check_overtemp()
{ {
uint32_t drv_status = 0; uint32_t drv_status = 0;
skip_debug_msg = true; skip_debug_msg = true;
tmc2130_rd(tmc2130_cs[i], TMC2130_REG_DRV_STATUS, &drv_status); tmc2130_rd(i, TMC2130_REG_DRV_STATUS, &drv_status);
if (drv_status & ((uint32_t)1 << 26)) if (drv_status & ((uint32_t)1 << 26))
{ // BIT 26 - over temp prewarning ~120C (+-20C) { // BIT 26 - over temp prewarning ~120C (+-20C)
SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG); SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
SERIAL_ECHOLN(i); SERIAL_ECHOLN(i);
for (int j = 0; j < 4; j++) for (int j = 0; j < 4; j++)
tmc2130_wr(tmc2130_cs[j], TMC2130_REG_CHOPCONF, 0x00010000); tmc2130_wr(j, TMC2130_REG_CHOPCONF, 0x00010000);
kill(TMC_OVERTEMP_MSG); kill(TMC_OVERTEMP_MSG);
} }
@ -420,7 +386,6 @@ void tmc2130_check_overtemp()
void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r) void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
{ {
uint8_t cs = tmc2130_cs[axis];
uint8_t intpol = 1; uint8_t intpol = 1;
uint8_t toff = TMC2130_TOFF_XYZ; // toff = 3 (fchop = 27.778kHz) uint8_t toff = TMC2130_TOFF_XYZ; // toff = 3 (fchop = 27.778kHz)
uint8_t hstrt = 5; //initial 4, modified to 5 uint8_t hstrt = 5; //initial 4, modified to 5
@ -443,13 +408,13 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
} }
if (current_r <= 31) if (current_r <= 31)
{ {
tmc2130_wr_CHOPCONF(cs, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0); tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0);
tmc2130_wr(cs, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f)); tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f));
} }
else else
{ {
tmc2130_wr_CHOPCONF(cs, toff, hstrt, hend, fd3, 0, 0, 0, tbl, 0, 0, 0, 0, mres, intpol, 0, 0); tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, 0, 0, tbl, 0, 0, 0, 0, mres, intpol, 0, 0);
tmc2130_wr(cs, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((current_r >> 1) & 0x1f) << 8) | ((current_h >> 1) & 0x1f)); tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((current_r >> 1) & 0x1f) << 8) | ((current_h >> 1) & 0x1f));
} }
} }
@ -485,7 +450,7 @@ void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
MYSERIAL.println((int)pwm_ampl); MYSERIAL.println((int)pwm_ampl);
tmc2130_pwm_ampl[axis] = pwm_ampl; tmc2130_pwm_ampl[axis] = pwm_ampl;
if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT)) if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
tmc2130_wr_PWMCONF(tmc2130_cs[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);
} }
void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad) void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
@ -496,32 +461,61 @@ void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
MYSERIAL.println((int)pwm_grad); MYSERIAL.println((int)pwm_grad);
tmc2130_pwm_grad[axis] = pwm_grad; tmc2130_pwm_grad[axis] = pwm_grad;
if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT)) if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
tmc2130_wr_PWMCONF(tmc2130_cs[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);
} }
uint16_t tmc2130_rd_TSTEP(uint8_t cs) uint16_t tmc2130_rd_TSTEP(uint8_t axis)
{ {
uint32_t val32 = 0; uint32_t val32 = 0;
tmc2130_rd(cs, TMC2130_REG_TSTEP, &val32); tmc2130_rd(axis, TMC2130_REG_TSTEP, &val32);
if (val32 & 0x000f0000) return 0xffff; if (val32 & 0x000f0000) return 0xffff;
return val32 & 0xffff; return val32 & 0xffff;
} }
uint16_t tmc2130_rd_MSCNT(uint8_t cs) uint16_t tmc2130_rd_MSCNT(uint8_t axis)
{ {
uint32_t val32 = 0; uint32_t val32 = 0;
tmc2130_rd(cs, TMC2130_REG_MSCNT, &val32); tmc2130_rd(axis, TMC2130_REG_MSCNT, &val32);
return val32 & 0x3ff; return val32 & 0x3ff;
} }
uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs) uint32_t tmc2130_rd_MSCURACT(uint8_t axis)
{ {
uint32_t val32 = 0; uint32_t val32 = 0;
tmc2130_rd(cs, TMC2130_REG_DRV_STATUS, &val32); tmc2130_rd(axis, TMC2130_REG_MSCURACT, &val32);
return val32; return val32;
} }
void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t fd3, uint8_t disfdcc, uint8_t rndtf, uint8_t chm, uint8_t tbl, uint8_t vsense, uint8_t vhighfs, uint8_t vhighchm, uint8_t sync, uint8_t mres, uint8_t intpol, uint8_t dedge, uint8_t diss2g) void tmc2130_wr_MSLUTSTART(uint8_t axis, uint8_t start_sin, uint8_t start_sin90)
{
uint32_t val = 0;
val |= (uint32_t)start_sin;
val |= ((uint32_t)start_sin90) << 16;
tmc2130_wr(axis, TMC2130_REG_MSLUTSTART, val);
//printf_P(PSTR("MSLUTSTART=%08lx (start_sin=%d start_sin90=%d)\n"), val, start_sin, start_sin90);
}
void tmc2130_wr_MSLUTSEL(uint8_t axis, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t w0, uint8_t w1, uint8_t w2, uint8_t w3)
{
uint32_t val = 0;
val |= ((uint32_t)w0);
val |= ((uint32_t)w1) << 2;
val |= ((uint32_t)w2) << 4;
val |= ((uint32_t)w3) << 6;
val |= ((uint32_t)x1) << 8;
val |= ((uint32_t)x2) << 16;
val |= ((uint32_t)x3) << 24;
tmc2130_wr(axis, TMC2130_REG_MSLUTSEL, val);
//printf_P(PSTR("MSLUTSEL=%08lx (x1=%d x2=%d x3=%d w0=%d w1=%d w2=%d w3=%d)\n"), val, x1, x2, x3, w0, w1, w2, w3);
}
void tmc2130_wr_MSLUT(uint8_t axis, uint8_t i, uint32_t val)
{
tmc2130_wr(axis, TMC2130_REG_MSLUT0 + (i & 7), val);
//printf_P(PSTR("MSLUT[%d]=%08lx\n"), i, val);
}
void tmc2130_wr_CHOPCONF(uint8_t axis, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t fd3, uint8_t disfdcc, uint8_t rndtf, uint8_t chm, uint8_t tbl, uint8_t vsense, uint8_t vhighfs, uint8_t vhighchm, uint8_t sync, uint8_t mres, uint8_t intpol, uint8_t dedge, uint8_t diss2g)
{ {
uint32_t val = 0; uint32_t val = 0;
val |= (uint32_t)(toff & 15); val |= (uint32_t)(toff & 15);
@ -540,11 +534,11 @@ void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff, uint8_t hstrt, uint8_t hend,
val |= (uint32_t)(intpol & 1) << 28; val |= (uint32_t)(intpol & 1) << 28;
val |= (uint32_t)(dedge & 1) << 29; val |= (uint32_t)(dedge & 1) << 29;
val |= (uint32_t)(diss2g & 1) << 30; val |= (uint32_t)(diss2g & 1) << 30;
tmc2130_wr(cs, TMC2130_REG_CHOPCONF, val); tmc2130_wr(axis, TMC2130_REG_CHOPCONF, val);
} }
//void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl) //void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
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 axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel)
{ {
uint32_t val = 0; uint32_t val = 0;
val |= (uint32_t)(pwm_ampl & 255); val |= (uint32_t)(pwm_ampl & 255);
@ -553,108 +547,86 @@ void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t
val |= (uint32_t)(pwm_auto & 1) << 18; val |= (uint32_t)(pwm_auto & 1) << 18;
val |= (uint32_t)(pwm_symm & 1) << 19; val |= (uint32_t)(pwm_symm & 1) << 19;
val |= (uint32_t)(freewheel & 3) << 20; val |= (uint32_t)(freewheel & 3) << 20;
tmc2130_wr(cs, TMC2130_REG_PWMCONF, val); tmc2130_wr(axis, TMC2130_REG_PWMCONF, val);
// 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 // tmc2130_wr(axis, 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_wr_TPWMTHRS(uint8_t cs, uint32_t val32) void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32)
{ {
tmc2130_wr(cs, TMC2130_REG_TPWMTHRS, val32); tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, val32);
} }
void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32) void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32)
{ {
tmc2130_wr(cs, TMC2130_REG_THIGH, val32); tmc2130_wr(axis, TMC2130_REG_THIGH, val32);
} }
#if defined(TMC2130_DEBUG_RD) || defined(TMC2130_DEBUG_WR) uint8_t tmc2130_usteps2mres(uint16_t usteps)
uint8_t tmc2130_axis_by_cs(uint8_t cs)
{ {
switch (cs) uint8_t mres = 8; while (mres && (usteps >>= 1)) mres--;
return mres;
}
inline void tmc2130_cs_low(uint8_t axis)
{
switch (axis)
{ {
case X_TMC2130_CS: return 0; case X_AXIS: WRITE(X_TMC2130_CS, LOW); break;
case Y_TMC2130_CS: return 1; case Y_AXIS: WRITE(Y_TMC2130_CS, LOW); break;
case Z_TMC2130_CS: return 2; case Z_AXIS: WRITE(Z_TMC2130_CS, LOW); break;
case E0_TMC2130_CS: return 3; case E_AXIS: WRITE(E0_TMC2130_CS, LOW); break;
} }
return -1;
}
#endif //TMC2130_DEBUG
uint8_t tmc2130_calc_mres(uint16_t microstep_resolution)
{
if (microstep_resolution == 256) return 0b0000;
if (microstep_resolution == 128) return 0b0001;
if (microstep_resolution == 64) return 0b0010;
if (microstep_resolution == 32) return 0b0011;
if (microstep_resolution == 16) return 0b0100;
if (microstep_resolution == 8) return 0b0101;
if (microstep_resolution == 4) return 0b0110;
if (microstep_resolution == 2) return 0b0111;
if (microstep_resolution == 1) return 0b1000;
return 0;
} }
uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval) inline void tmc2130_cs_high(uint8_t axis)
{ {
uint8_t stat = tmc2130_txrx(cs, addr | 0x80, wval, 0); switch (axis)
#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
if (!skip_debug_msg)
{ {
MYSERIAL.print("tmc2130_rd("); case X_AXIS: WRITE(X_TMC2130_CS, HIGH); break;
MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC); case Y_AXIS: WRITE(Y_TMC2130_CS, HIGH); break;
MYSERIAL.print(", 0x"); case Z_AXIS: WRITE(Z_TMC2130_CS, HIGH); break;
MYSERIAL.print((unsigned char)addr, HEX); case E_AXIS: WRITE(E0_TMC2130_CS, HIGH); break;
MYSERIAL.print(", 0x");
MYSERIAL.print((unsigned long)val32, HEX);
MYSERIAL.print(")=0x");
MYSERIAL.println((unsigned char)stat, HEX);
} }
skip_debug_msg = false;
#endif //TMC2130_DEBUG_RD
return stat;
} }
uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval)
uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval)
{ {
//datagram1 - request //datagram1 - request
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3)); SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
digitalWrite(cs, LOW); tmc2130_cs_low(axis);
SPI.transfer(addr); // address SPI.transfer(addr); // address
SPI.transfer((wval >> 24) & 0xff); // MSB SPI.transfer((wval >> 24) & 0xff); // MSB
SPI.transfer((wval >> 16) & 0xff); SPI.transfer((wval >> 16) & 0xff);
SPI.transfer((wval >> 8) & 0xff); SPI.transfer((wval >> 8) & 0xff);
SPI.transfer(wval & 0xff); // LSB SPI.transfer(wval & 0xff); // LSB
digitalWrite(cs, HIGH); tmc2130_cs_high(axis);
SPI.endTransaction();
}
uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
{
//datagram1 - request
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
tmc2130_cs_low(axis);
SPI.transfer(addr); // address
SPI.transfer(0); // MSB
SPI.transfer(0);
SPI.transfer(0);
SPI.transfer(0); // LSB
tmc2130_cs_high(axis);
SPI.endTransaction(); SPI.endTransaction();
//datagram2 - response //datagram2 - response
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3)); SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
digitalWrite(cs, LOW); tmc2130_cs_low(axis);
uint8_t stat = SPI.transfer(0); // status uint8_t stat = SPI.transfer(0); // status
uint32_t val32 = 0; uint32_t val32 = 0;
val32 = SPI.transfer(0); // MSB val32 = SPI.transfer(0); // MSB
val32 = (val32 << 8) | SPI.transfer(0); val32 = (val32 << 8) | SPI.transfer(0);
val32 = (val32 << 8) | SPI.transfer(0); val32 = (val32 << 8) | SPI.transfer(0);
val32 = (val32 << 8) | SPI.transfer(0); // LSB val32 = (val32 << 8) | SPI.transfer(0); // LSB
digitalWrite(cs, HIGH); tmc2130_cs_high(axis);
SPI.endTransaction(); SPI.endTransaction();
if (rval != 0) *rval = val32; if (rval != 0) *rval = val32;
return stat; return stat;
@ -669,5 +641,336 @@ void tmc2130_eeprom_save_config()
} }
#define _GET_PWR_X (READ(X_ENABLE_PIN) == X_ENABLE_ON)
#define _GET_PWR_Y (READ(Y_ENABLE_PIN) == Y_ENABLE_ON)
#define _GET_PWR_Z (READ(Z_ENABLE_PIN) == Z_ENABLE_ON)
#define _GET_PWR_E (READ(E0_ENABLE_PIN) == E_ENABLE_ON)
#define _SET_PWR_X(ena) { WRITE(X_ENABLE_PIN, ena?X_ENABLE_ON:!X_ENABLE_ON); asm("nop"); }
#define _SET_PWR_Y(ena) { WRITE(Y_ENABLE_PIN, ena?Y_ENABLE_ON:!Y_ENABLE_ON); asm("nop"); }
#define _SET_PWR_Z(ena) { WRITE(Z_ENABLE_PIN, ena?Z_ENABLE_ON:!Z_ENABLE_ON); asm("nop"); }
#define _SET_PWR_E(ena) { WRITE(E0_ENABLE_PIN, ena?E_ENABLE_ON:!E_ENABLE_ON); asm("nop"); }
#define _GET_DIR_X (READ(X_DIR_PIN) == INVERT_X_DIR)
#define _GET_DIR_Y (READ(Y_DIR_PIN) == INVERT_Y_DIR)
#define _GET_DIR_Z (READ(Z_DIR_PIN) == INVERT_Z_DIR)
#define _GET_DIR_E (READ(E0_DIR_PIN) == INVERT_E0_DIR)
#define _SET_DIR_X(dir) { WRITE(X_DIR_PIN, dir?INVERT_X_DIR:!INVERT_X_DIR); asm("nop"); }
#define _SET_DIR_Y(dir) { WRITE(Y_DIR_PIN, dir?INVERT_Y_DIR:!INVERT_Y_DIR); asm("nop"); }
#define _SET_DIR_Z(dir) { WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR); asm("nop"); }
#define _SET_DIR_E(dir) { WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR); asm("nop"); }
#define _DO_STEP_X { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); asm("nop"); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); asm("nop"); }
#define _DO_STEP_Y { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); asm("nop"); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); asm("nop"); }
#define _DO_STEP_Z { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); asm("nop"); WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); asm("nop"); }
#define _DO_STEP_E { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); asm("nop"); WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); asm("nop"); }
uint16_t tmc2130_get_res(uint8_t axis)
{
return tmc2130_mres2usteps(tmc2130_mres[axis]);
}
void tmc2130_set_res(uint8_t axis, uint16_t res)
{
tmc2130_mres[axis] = tmc2130_usteps2mres(res);
// uint32_t u = micros();
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
// u = micros() - u;
// printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u);
}
uint8_t tmc2130_get_pwr(uint8_t axis)
{
switch (axis)
{
case X_AXIS: return _GET_PWR_X;
case Y_AXIS: return _GET_PWR_Y;
case Z_AXIS: return _GET_PWR_Z;
case E_AXIS: return _GET_PWR_E;
}
return 0;
}
void tmc2130_set_pwr(uint8_t axis, uint8_t pwr)
{
switch (axis)
{
case X_AXIS: _SET_PWR_X(pwr); break;
case Y_AXIS: _SET_PWR_Y(pwr); break;
case Z_AXIS: _SET_PWR_Z(pwr); break;
case E_AXIS: _SET_PWR_E(pwr); break;
}
}
uint8_t tmc2130_get_inv(uint8_t axis)
{
switch (axis)
{
case X_AXIS: return INVERT_X_DIR;
case Y_AXIS: return INVERT_Y_DIR;
case Z_AXIS: return INVERT_Z_DIR;
case E_AXIS: return INVERT_E0_DIR;
}
return 0;
}
uint8_t tmc2130_get_dir(uint8_t axis)
{
switch (axis)
{
case X_AXIS: return _GET_DIR_X;
case Y_AXIS: return _GET_DIR_Y;
case Z_AXIS: return _GET_DIR_Z;
case E_AXIS: return _GET_DIR_E;
}
return 0;
}
void tmc2130_set_dir(uint8_t axis, uint8_t dir)
{
switch (axis)
{
case X_AXIS: _SET_DIR_X(dir); break;
case Y_AXIS: _SET_DIR_Y(dir); break;
case Z_AXIS: _SET_DIR_Z(dir); break;
case E_AXIS: _SET_DIR_E(dir); break;
}
}
void tmc2130_do_step(uint8_t axis)
{
switch (axis)
{
case X_AXIS: _DO_STEP_X; break;
case Y_AXIS: _DO_STEP_Y; break;
case Z_AXIS: _DO_STEP_Z; break;
case E_AXIS: _DO_STEP_E; break;
}
}
void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us)
{
tmc2130_set_dir(axis, dir);
delayMicroseconds(100);
while (steps--)
{
tmc2130_do_step(axis);
delayMicroseconds(delay_us);
}
}
void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution)
{
printf_P(PSTR("tmc2130_goto_step %d %d %d %d \n"), axis, step, dir, delay_us, microstep_resolution);
uint8_t shift; for (shift = 0; shift < 8; shift++) if (microstep_resolution == (256 >> shift)) break;
uint16_t cnt = 4 * (1 << (8 - shift));
uint16_t mscnt = tmc2130_rd_MSCNT(axis);
if (dir == 2)
{
dir = tmc2130_get_inv(axis)?0:1;
int steps = (int)step - (int)(mscnt >> shift);
if (steps < 0)
{
dir ^= 1;
steps = -steps;
}
if (steps > (cnt / 2))
{
dir ^= 1;
steps = cnt - steps;
}
cnt = steps;
}
tmc2130_set_dir(axis, dir);
delayMicroseconds(100);
mscnt = tmc2130_rd_MSCNT(axis);
while ((cnt--) && ((mscnt >> shift) != step))
{
tmc2130_do_step(axis);
delayMicroseconds(delay_us);
mscnt = tmc2130_rd_MSCNT(axis);
}
}
void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream)
{
uint8_t pwr = tmc2130_get_pwr(axis);
tmc2130_set_pwr(axis, 0);
tmc2130_setup_chopper(axis, tmc2130_usteps2mres(256), tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_goto_step(axis, 0, 2, 100, 256);
tmc2130_set_dir(axis, tmc2130_get_inv(axis)?0:1);
for (int i = 0; i <= 255; i++)
{
uint32_t val = tmc2130_rd_MSCURACT(axis);
uint16_t mscnt = tmc2130_rd_MSCNT(axis);
int curA = (val & 0xff) | ((val << 7) & 0x8000);
if (stream)
{
if (mscnt == i)
fprintf_P(stream, PSTR("%d\t%d\n"), i, curA);
else //TODO - remove this check
fprintf_P(stream, PSTR("!! (i=%d MSCNT=%d)\n"), i, mscnt);
}
if (data) *(data++) = curA;
tmc2130_do_step(axis);
delayMicroseconds(100);
}
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
}
void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200)
{
// TMC2130 wave compression algorithm
// optimized for minimal memory requirements
printf_P(PSTR("tmc2130_set_wave %d %d\n"), axis, fac200);
if (fac200 < TMC2130_WAVE_FAC200_MIN) fac200 = 0;
if (fac200 > TMC2130_WAVE_FAC200_MAX) fac200 = TMC2130_WAVE_FAC200_MAX;
float fac = (float)fac200/200; //correction factor
uint8_t vA = 0; //value of currentA
uint8_t va = 0; //previous vA
uint8_t d0 = 0; //delta0
uint8_t d1 = 1; //delta1
uint8_t w[4] = {1,1,1,1}; //W bits (MSLUTSEL)
uint8_t x[3] = {255,255,255}; //X segment bounds (MSLUTSEL)
uint8_t s = 0; //current segment
int8_t b; //encoded bit value
uint8_t dA; //delta value
int i; //microstep index
uint32_t reg; //tmc2130 register
tmc2130_wr_MSLUTSTART(axis, 0, amp);
for (i = 0; i < 256; i++)
{
if ((i & 31) == 0)
reg = 0;
// calculate value
if (fac == 0) // default TMC wave
vA = (uint8_t)((amp+1) * sin((2*PI*i + PI)/1024) + 0.5) - 1;
else // corrected wave
vA = (uint8_t)(amp * pow(sin(2*PI*i/1024), fac) + 0.5);
dA = vA - va; // calculate delta
va = vA;
b = -1;
if (dA == d0) b = 0; //delta == delta0 => bit=0
else if (dA == d1) b = 1; //delta == delta1 => bit=1
else
{
if (dA < d0) // delta < delta0 => switch wbit down
{
//printf("dn\n");
b = 0;
switch (dA)
{
case -1: d0 = -1; d1 = 0; w[s+1] = 0; break;
case 0: d0 = 0; d1 = 1; w[s+1] = 1; break;
case 1: d0 = 1; d1 = 2; w[s+1] = 2; break;
default: b = -1; break;
}
if (b >= 0) { x[s] = i; s++; }
}
else if (dA > d1) // delta > delta0 => switch wbit up
{
//printf("up\n");
b = 1;
switch (dA)
{
case 1: d0 = 0; d1 = 1; w[s+1] = 1; break;
case 2: d0 = 1; d1 = 2; w[s+1] = 2; break;
case 3: d0 = 2; d1 = 3; w[s+1] = 3; break;
default: b = -1; break;
}
if (b >= 0) { x[s] = i; s++; }
}
}
if (b < 0) break; // delta out of range (<-1 or >3)
if (s > 3) break; // segment out of range (> 3)
//printf("%d\n", vA);
if (b == 1) reg |= 0x80000000;
if ((i & 31) == 31)
tmc2130_wr_MSLUT(axis, (uint8_t)(i >> 5), reg);
else
reg >>= 1;
// printf("%3d\t%3d\t%2d\t%2d\t%2d\t%2d %08x\n", i, vA, dA, b, w[s], s, reg);
}
tmc2130_wr_MSLUTSEL(axis, x[0], x[1], x[2], w[0], w[1], w[2], w[3]);
}
void bubblesort_uint8(uint8_t* data, uint8_t size, uint8_t* data2)
{
uint8_t changed = 1;
while (changed)
{
changed = 0;
for (uint8_t i = 0; i < (size - 1); i++)
if (data[i] > data[i+1])
{
uint8_t register d = data[i];
data[i] = data[i+1];
data[i+1] = d;
if (data2)
{
d = data2[i];
data2[i] = data2[i+1];
data2[i+1] = d;
}
changed = 1;
}
}
}
uint8_t clusterize_uint8(uint8_t* data, uint8_t size, uint8_t* ccnt, uint8_t* cval, uint8_t tol)
{
uint8_t cnt = 1;
uint16_t sum = data[0];
uint8_t cl = 0;
for (uint8_t i = 1; i < size; i++)
{
uint8_t d = data[i];
uint8_t val = sum / cnt;
uint8_t dif = 0;
if (val > d) dif = val - d;
else dif = d - val;
if (dif <= tol)
{
cnt += 1;
sum += d;
}
else
{
if (ccnt) ccnt[cl] = cnt;
if (cval) cval[cl] = val;
cnt = 1;
sum = d;
cl += 1;
}
}
if (ccnt) ccnt[cl] = cnt;
if (cval) cval[cl] = sum / cnt;
return ++cl;
}
bool tmc2130_home_calibrate(uint8_t axis)
{
uint8_t step[16];
uint8_t cnt[16];
uint8_t val[16];
homeaxis(axis, 16, step);
bubblesort_uint8(step, 16, 0);
printf_P(PSTR("sorted samples:\n"));
for (uint8_t i = 0; i < 16; i++)
printf_P(PSTR(" i=%2d step=%2d\n"), i, step[i]);
uint8_t cl = clusterize_uint8(step, 16, cnt, val, 1);
printf_P(PSTR("clusters:\n"));
for (uint8_t i = 0; i < cl; i++)
printf_P(PSTR(" i=%2d cnt=%2d val=%2d\n"), i, cnt[i], val[i]);
bubblesort_uint8(cnt, cl, val);
tmc2130_home_origin[axis] = val[cl-1];
printf_P(PSTR("result value: %d\n"), tmc2130_home_origin[axis]);
if (axis == X_AXIS) eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN, tmc2130_home_origin[X_AXIS]);
else if (axis == Y_AXIS) eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN, tmc2130_home_origin[Y_AXIS]);
return true;
}
#endif //TMC2130 #endif //TMC2130

40
Firmware/tmc2130.h
View File

@ -1,27 +1,40 @@
#ifndef TMC2130_H #ifndef TMC2130_H
#define TMC2130_H #define TMC2130_H
extern uint8_t tmc2130_cs[4];
//mode //mode
extern uint8_t tmc2130_mode; extern uint8_t tmc2130_mode;
//holding and running currents //holding and running currents
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 //microstep resolution (0 means 256usteps, 8 means 1ustep
extern uint8_t tmc2130_mres[4];
//flags for axis stall detection
extern uint8_t tmc2130_sg_thr[4]; extern uint8_t tmc2130_sg_thr[4];
extern bool tmc2130_sg_stop_on_crash; extern bool tmc2130_sg_stop_on_crash;
extern uint8_t tmc2130_sg_crash; //crash mask extern uint8_t tmc2130_sg_crash; //crash mask
extern uint8_t tmc2130_sg_meassure; extern uint8_t tmc2130_sg_meassure;
extern uint16_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;
#define TMC2130_MODE_NORMAL 0 #define TMC2130_MODE_NORMAL 0
#define TMC2130_MODE_SILENT 1 #define TMC2130_MODE_SILENT 1
#define TMC2130_WAVE_FAC200_MIN 180
#define TMC2130_WAVE_FAC200_MAX 250
#define TMC2130_WAVE_FAC200_STP 1
extern uint8_t tmc2130_home_enabled;
extern uint8_t tmc2130_home_origin[2];
extern uint8_t tmc2130_home_bsteps[2];
extern uint8_t tmc2130_home_fsteps[2];
extern uint8_t tmc2130_wave_fac[4];
//initialize tmc2130 //initialize tmc2130
extern void tmc2130_init(); extern void tmc2130_init();
//check diag pins (called from stepper isr) //check diag pins (called from stepper isr)
@ -54,7 +67,11 @@ extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl);
extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl); extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
extern uint16_t tmc2130_rd_MSCNT(uint8_t cs); extern uint16_t tmc2130_rd_MSCNT(uint8_t axis);
extern uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
extern uint8_t tmc2130_usteps2mres(uint16_t usteps);
#define tmc2130_mres2usteps(mres) ((uint16_t)256 >> mres)
extern bool tmc2130_wait_standstill_xy(int timeout); extern bool tmc2130_wait_standstill_xy(int timeout);
@ -89,4 +106,19 @@ struct
} tmc2130_axis_config; } tmc2130_axis_config;
#pragma pack(pop) #pragma pack(pop)
extern uint16_t tmc2130_get_res(uint8_t axis);
extern void tmc2130_set_res(uint8_t axis, uint16_t res);
extern uint8_t tmc2130_get_pwr(uint8_t axis);
extern void tmc2130_set_pwr(uint8_t axis, uint8_t pwr);
extern uint8_t tmc2130_get_inv(uint8_t axis);
extern uint8_t tmc2130_get_dir(uint8_t axis);
extern void tmc2130_set_dir(uint8_t axis, uint8_t dir);
extern void tmc2130_do_step(uint8_t axis);
extern void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us);
extern void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution);
extern void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream);
extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200);
extern bool tmc2130_home_calibrate(uint8_t axis);
#endif //TMC2130_H #endif //TMC2130_H

277
Firmware/ultralcd.cpp
View File

@ -238,6 +238,9 @@ static void menu_action_setlang(unsigned char lang);
static void menu_action_sdfile(const char* filename, char* longFilename); static void menu_action_sdfile(const char* filename, char* longFilename);
static void menu_action_sddirectory(const char* filename, char* longFilename); static void menu_action_sddirectory(const char* filename, char* longFilename);
static void menu_action_setting_edit_bool(const char* pstr, bool* ptr); static void menu_action_setting_edit_bool(const char* pstr, bool* ptr);
static void menu_action_setting_edit_wfac(const char* pstr, uint8_t* ptr, uint8_t minValue, uint8_t maxValue);
static void menu_action_setting_edit_mres(const char* pstr, uint8_t* ptr, uint8_t minValue, uint8_t maxValue);
static void menu_action_setting_edit_byte3(const char* pstr, uint8_t* ptr, uint8_t minValue, uint8_t maxValue);
static void menu_action_setting_edit_int3(const char* pstr, int* ptr, int minValue, int maxValue); static void menu_action_setting_edit_int3(const char* pstr, int* ptr, int minValue, int maxValue);
static void menu_action_setting_edit_float3(const char* pstr, float* ptr, float minValue, float maxValue); static void menu_action_setting_edit_float3(const char* pstr, float* ptr, float minValue, float maxValue);
static void menu_action_setting_edit_float32(const char* pstr, float* ptr, float minValue, float maxValue); static void menu_action_setting_edit_float32(const char* pstr, float* ptr, float minValue, float maxValue);
@ -1592,13 +1595,17 @@ static void lcd_menu_fails_stats()
#ifdef DEBUG_BUILD #ifdef DEBUG_BUILD
#ifdef DEBUG_STACK_MONITOR
extern uint16_t SP_min; extern uint16_t SP_min;
extern char* __malloc_heap_start; extern char* __malloc_heap_start;
extern char* __malloc_heap_end; extern char* __malloc_heap_end;
#endif //DEBUG_STACK_MONITOR
static void lcd_menu_debug() static void lcd_menu_debug()
{ {
#ifdef DEBUG_STACK_MONITOR
fprintf_P(lcdout, PSTR(ESC_H(1,1)"RAM statistics"ESC_H(5,1)"SP_min: 0x%04x"ESC_H(1,2)"heap_start: 0x%04x"ESC_H(3,3)"heap_end: 0x%04x"), SP_min, __malloc_heap_start, __malloc_heap_end); fprintf_P(lcdout, PSTR(ESC_H(1,1)"RAM statistics"ESC_H(5,1)"SP_min: 0x%04x"ESC_H(1,2)"heap_start: 0x%04x"ESC_H(3,3)"heap_end: 0x%04x"), SP_min, __malloc_heap_start, __malloc_heap_end);
#endif //DEBUG_STACK_MONITOR
if (lcd_clicked()) if (lcd_clicked())
{ {
@ -3995,6 +4002,221 @@ static void lcd_selftest_()
lcd_selftest(); lcd_selftest();
} }
#ifdef EXPERIMENTAL_FEATURES
static void lcd_experimantal_menu();
static void lcd_homing_accuracy_menu();
static void lcd_accurate_home_set()
{
tmc2130_home_enabled = tmc2130_home_enabled?0:1;
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED, tmc2130_home_enabled);
}
static void lcd_homing_accuracy_menu_advanced_reset()
{
tmc2130_home_bsteps[X_AXIS] = 48;
tmc2130_home_fsteps[X_AXIS] = 48;
tmc2130_home_bsteps[Y_AXIS] = 48;
tmc2130_home_fsteps[Y_AXIS] = 48;
}
static void lcd_homing_accuracy_menu_advanced_save()
{
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN, tmc2130_home_origin[X_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS, tmc2130_home_bsteps[X_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS, tmc2130_home_fsteps[X_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN, tmc2130_home_origin[Y_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS, tmc2130_home_bsteps[Y_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS, tmc2130_home_fsteps[Y_AXIS]);
}
static void lcd_homing_accuracy_menu_advanced_back()
{
lcd_homing_accuracy_menu_advanced_save();
currentMenu = lcd_homing_accuracy_menu;
lcd_homing_accuracy_menu();
}
static void lcd_homing_accuracy_menu_advanced()
{
lcd_timeoutToStatus = millis() + LCD_TIMEOUT_TO_STATUS;
START_MENU();
MENU_ITEM(back, PSTR("Homing accuracy"), lcd_homing_accuracy_menu_advanced_back);
MENU_ITEM(function, PSTR("Reset def. steps"), lcd_homing_accuracy_menu_advanced_reset);
MENU_ITEM_EDIT(byte3, PSTR("X-origin"), &tmc2130_home_origin[X_AXIS], 0, 63);
MENU_ITEM_EDIT(byte3, PSTR("Y-origin"), &tmc2130_home_origin[Y_AXIS], 0, 63);
MENU_ITEM_EDIT(byte3, PSTR("X-bsteps"), &tmc2130_home_bsteps[X_AXIS], 0, 128);
MENU_ITEM_EDIT(byte3, PSTR("Y-bsteps"), &tmc2130_home_bsteps[Y_AXIS], 0, 128);
MENU_ITEM_EDIT(byte3, PSTR("X-fsteps"), &tmc2130_home_fsteps[X_AXIS], 0, 128);
MENU_ITEM_EDIT(byte3, PSTR("Y-fsteps"), &tmc2130_home_fsteps[Y_AXIS], 0, 128);
END_MENU();
}
static void lcd_homing_accuracy_menu()
{
START_MENU();
MENU_ITEM(back, PSTR("Experimental"), lcd_experimantal_menu);
MENU_ITEM(function, tmc2130_home_enabled?PSTR("Accur. homing On"):PSTR("Accur. homing Off"), lcd_accurate_home_set);
MENU_ITEM(gcode, PSTR("Calibrate X"), PSTR("G28XC"));
MENU_ITEM(gcode, PSTR("Calibrate Y"), PSTR("G28YC"));
MENU_ITEM(submenu, PSTR("Advanced"), lcd_homing_accuracy_menu_advanced);
END_MENU();
}
static void lcd_ustep_resolution_menu_save()
{
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
}
static void lcd_ustep_resolution_menu_back()
{
float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
bool changed = false;
if (tmc2130_mres[X_AXIS] != eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES))
{
axis_steps_per_unit[X_AXIS] = tmp1[X_AXIS] * tmc2130_mres2usteps(tmc2130_mres[X_AXIS]) / TMC2130_USTEPS_XY;
changed = true;
}
if (tmc2130_mres[Y_AXIS] != eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES))
{
axis_steps_per_unit[Y_AXIS] = tmp1[Y_AXIS] * tmc2130_mres2usteps(tmc2130_mres[Y_AXIS]) / TMC2130_USTEPS_XY;
changed = true;
}
if (tmc2130_mres[Z_AXIS] != eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES))
{
axis_steps_per_unit[Z_AXIS] = tmp1[Z_AXIS] * tmc2130_mres2usteps(tmc2130_mres[Z_AXIS]) / TMC2130_USTEPS_Z;
changed = true;
}
if (tmc2130_mres[E_AXIS] != eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES))
{
axis_steps_per_unit[E_AXIS] = tmp1[E_AXIS] * tmc2130_mres2usteps(tmc2130_mres[E_AXIS]) / TMC2130_USTEPS_E;
changed = true;
}
if (changed)
{
lcd_ustep_resolution_menu_save();
Config_StoreSettings(EEPROM_OFFSET);
tmc2130_init();
}
currentMenu = lcd_experimantal_menu;
lcd_experimantal_menu();
}
static void lcd_ustep_resolution_reset_def_xyze()
{
tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
axis_steps_per_unit[X_AXIS] = tmp1[X_AXIS];
axis_steps_per_unit[Y_AXIS] = tmp1[Y_AXIS];
axis_steps_per_unit[Z_AXIS] = tmp1[Z_AXIS];
axis_steps_per_unit[E_AXIS] = tmp1[E_AXIS];
}
static void lcd_ustep_resolution_menu()
{
lcd_timeoutToStatus = millis() + LCD_TIMEOUT_TO_STATUS;
START_MENU();
MENU_ITEM(back, PSTR("Experimental"), lcd_ustep_resolution_menu_back);
MENU_ITEM(function, PSTR("Reset defaults"), lcd_ustep_resolution_reset_def_xyze);
MENU_ITEM_EDIT(mres, PSTR("X-resolution"), &tmc2130_mres[X_AXIS], 4, 4);
MENU_ITEM_EDIT(mres, PSTR("Y-resolution"), &tmc2130_mres[Y_AXIS], 4, 4);
MENU_ITEM_EDIT(mres, PSTR("Z-resolution"), &tmc2130_mres[Z_AXIS], 4, 4);
MENU_ITEM_EDIT(mres, PSTR("E-resolution"), &tmc2130_mres[E_AXIS], 2, 5);
END_MENU();
}
static void lcd_ustep_linearity_menu_save()
{
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC, tmc2130_wave_fac[X_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC, tmc2130_wave_fac[Y_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC, tmc2130_wave_fac[Z_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC, tmc2130_wave_fac[E_AXIS]);
}
static void lcd_ustep_linearity_menu_back()
{
bool changed = false;
if (tmc2130_wave_fac[X_AXIS] < TMC2130_WAVE_FAC200_MIN) tmc2130_wave_fac[X_AXIS] = 0;
if (tmc2130_wave_fac[Y_AXIS] < TMC2130_WAVE_FAC200_MIN) tmc2130_wave_fac[Y_AXIS] = 0;
if (tmc2130_wave_fac[Z_AXIS] < TMC2130_WAVE_FAC200_MIN) tmc2130_wave_fac[Z_AXIS] = 0;
if (tmc2130_wave_fac[E_AXIS] < TMC2130_WAVE_FAC200_MIN) tmc2130_wave_fac[E_AXIS] = 0;
changed |= (eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC) != tmc2130_wave_fac[X_AXIS]);
changed |= (eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC) != tmc2130_wave_fac[Y_AXIS]);
changed |= (eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC) != tmc2130_wave_fac[Z_AXIS]);
changed |= (eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC) != tmc2130_wave_fac[E_AXIS]);
lcd_ustep_linearity_menu_save();
if (changed) tmc2130_init();
currentMenu = lcd_experimantal_menu;
lcd_experimantal_menu();
}
static void lcd_ustep_linearity_menu_recomended()
{
tmc2130_wave_fac[X_AXIS] = 220;
tmc2130_wave_fac[Y_AXIS] = 220;
tmc2130_wave_fac[Z_AXIS] = 220;
tmc2130_wave_fac[E_AXIS] = 220;
}
static void lcd_ustep_linearity_menu_reset()
{
tmc2130_wave_fac[X_AXIS] = 0;
tmc2130_wave_fac[Y_AXIS] = 0;
tmc2130_wave_fac[Z_AXIS] = 0;
tmc2130_wave_fac[E_AXIS] = 0;
}
static void lcd_ustep_linearity_menu()
{
lcd_timeoutToStatus = millis() + LCD_TIMEOUT_TO_STATUS;
START_MENU();
MENU_ITEM(back, PSTR("Experimental"), lcd_ustep_linearity_menu_back);
MENU_ITEM(function, PSTR("Reset correction"), lcd_ustep_linearity_menu_reset);
MENU_ITEM(function, PSTR("Recomended config"), lcd_ustep_linearity_menu_recomended);
MENU_ITEM_EDIT(wfac, PSTR("X-correction"), &tmc2130_wave_fac[X_AXIS], TMC2130_WAVE_FAC200_MIN-TMC2130_WAVE_FAC200_STP, TMC2130_WAVE_FAC200_MAX);
MENU_ITEM_EDIT(wfac, PSTR("Y-correction"), &tmc2130_wave_fac[Y_AXIS], TMC2130_WAVE_FAC200_MIN-TMC2130_WAVE_FAC200_STP, TMC2130_WAVE_FAC200_MAX);
MENU_ITEM_EDIT(wfac, PSTR("Z-correction"), &tmc2130_wave_fac[Z_AXIS], TMC2130_WAVE_FAC200_MIN-TMC2130_WAVE_FAC200_STP, TMC2130_WAVE_FAC200_MAX);
MENU_ITEM_EDIT(wfac, PSTR("E-correction"), &tmc2130_wave_fac[E_AXIS], TMC2130_WAVE_FAC200_MIN-TMC2130_WAVE_FAC200_STP, TMC2130_WAVE_FAC200_MAX);
END_MENU();
}
static void lcd_experimantal_menu_save_all()
{
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED, tmc2130_home_enabled);
lcd_ustep_resolution_menu_save();
lcd_ustep_linearity_menu_save();
Config_StoreSettings(EEPROM_OFFSET);
}
static void lcd_experimantal_menu_disable_all()
{
tmc2130_home_enabled = 0;
lcd_ustep_resolution_reset_def_xyze();
lcd_ustep_linearity_menu_reset();
lcd_experimantal_menu_save_all();
tmc2130_init();
}
static void lcd_experimantal_menu()
{
START_MENU();
MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
MENU_ITEM(function, PSTR("All Xfeatures off"), lcd_experimantal_menu_disable_all);
MENU_ITEM(submenu, PSTR("Homing accuracy"), lcd_homing_accuracy_menu);
MENU_ITEM(submenu, PSTR("uStep resolution"), lcd_ustep_resolution_menu);
MENU_ITEM(submenu, PSTR("uStep linearity"), lcd_ustep_linearity_menu);
END_MENU();
}
#endif //EXPERIMENTAL_FEATURES
static void lcd_calibration_menu() static void lcd_calibration_menu()
{ {
START_MENU(); START_MENU();
@ -5204,6 +5426,10 @@ static void lcd_main_menu()
#endif #endif
MENU_ITEM(submenu, MSG_SETTINGS, lcd_settings_menu); MENU_ITEM(submenu, MSG_SETTINGS, lcd_settings_menu);
if(!isPrintPaused) MENU_ITEM(submenu, MSG_MENU_CALIBRATION, lcd_calibration_menu); if(!isPrintPaused) MENU_ITEM(submenu, MSG_MENU_CALIBRATION, lcd_calibration_menu);
#ifdef EXPERIMENTAL_FEATURES
MENU_ITEM(submenu, PSTR("Experimantal"), lcd_experimantal_menu);
#endif //EXPERIMENTAL_FEATURES
} }
if (!is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL)) if (!is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
@ -5627,6 +5853,30 @@ void lcd_sdcard_menu()
} }
*/ */
// Convert tmc2130 mres to string
char *mres_to_str3(const uint8_t &x)
{
return itostr3(256 >> x);
}
extern char conv[8];
// Convert tmc2130 wfac to string
char *wfac_to_str5(const uint8_t &x)
{
if (x>=TMC2130_WAVE_FAC200_MIN) return ftostr43(((float)(x & 0xff))/200);
conv[0] = ' ';
conv[1] = ' ';
conv[2] = 'O';
conv[3] = 'f';
conv[4] = 'f';
conv[5] = 0;
return conv;
}
menu_edit_type(uint8_t, wfac, wfac_to_str5, 1)
menu_edit_type(uint8_t, mres, mres_to_str3, 1)
menu_edit_type(uint8_t, byte3, itostr3, 1)
menu_edit_type(int, int3, itostr3, 1) menu_edit_type(int, int3, itostr3, 1)
menu_edit_type(float, float3, ftostr3, 1) menu_edit_type(float, float3, ftostr3, 1)
menu_edit_type(float, float32, ftostr32, 100) menu_edit_type(float, float32, ftostr32, 100)
@ -5641,10 +5891,10 @@ static void lcd_selftest_v()
(void)lcd_selftest(); (void)lcd_selftest();
} }
static bool lcd_selftest() bool lcd_selftest()
{ {
int _progress = 0; int _progress = 0;
bool _result = false; bool _result = true;
lcd_wait_for_cool_down(); lcd_wait_for_cool_down();
lcd_implementation_clear(); lcd_implementation_clear();
lcd.setCursor(0, 0); lcd_printPGM(MSG_SELFTEST_START); lcd.setCursor(0, 0); lcd_printPGM(MSG_SELFTEST_START);
@ -5653,8 +5903,12 @@ static bool lcd_selftest()
#endif // TMC2130 #endif // TMC2130
delay(2000); delay(2000);
KEEPALIVE_STATE(IN_HANDLER); KEEPALIVE_STATE(IN_HANDLER);
_progress = lcd_selftest_screen(-1, _progress, 3, true, 2000);
_result = lcd_selftest_fan_dialog(0); if (_result)
{
_progress = lcd_selftest_screen(-1, _progress, 3, true, 2000);
_result = lcd_selftest_fan_dialog(0);
}
if (_result) if (_result)
{ {
@ -5733,10 +5987,22 @@ static bool lcd_selftest()
_result = lcd_selfcheck_axis(2, Z_MAX_POS); _result = lcd_selfcheck_axis(2, Z_MAX_POS);
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) { if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) {
enquecommand_P(PSTR("G28 W")); enquecommand_P(PSTR("G28 W"));
enquecommand_P(PSTR("G1 Z15")); enquecommand_P(PSTR("G1 Z15 F1000"));
} }
} }
if (_result)
{
_progress = lcd_selftest_screen(13, 0, 2, true, 0);
bool bres = tmc2130_home_calibrate(X_AXIS);
_progress = lcd_selftest_screen(13, 1, 2, true, 0);
bres &= tmc2130_home_calibrate(Y_AXIS);
_progress = lcd_selftest_screen(13, 2, 2, true, 0);
if (bres)
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED, 1);
_result = bres;
}
if (_result) if (_result)
{ {
_progress = lcd_selftest_screen(7, _progress, 3, true, 2000); //check bed _progress = lcd_selftest_screen(7, _progress, 3, true, 2000); //check bed
@ -6520,6 +6786,7 @@ static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bo
if (_step == 10) lcd_printPGM(MSG_SELFTEST_CHECK_FSENSOR); if (_step == 10) lcd_printPGM(MSG_SELFTEST_CHECK_FSENSOR);
if (_step == 11) lcd_printPGM(MSG_SELFTEST_CHECK_ALLCORRECT); if (_step == 11) lcd_printPGM(MSG_SELFTEST_CHECK_ALLCORRECT);
if (_step == 12) lcd_printPGM(MSG_SELFTEST_FAILED); if (_step == 12) lcd_printPGM(MSG_SELFTEST_FAILED);
if (_step == 13) lcd_printPGM(PSTR("Calibrating home"));
lcd.setCursor(0, 1); lcd.setCursor(0, 1);
lcd.print("--------------------"); lcd.print("--------------------");

2
Firmware/ultralcd.h
View File

@ -35,7 +35,7 @@ void lcd_mylang();
bool lcd_detected(void); bool lcd_detected(void);
static void lcd_selftest_v(); static void lcd_selftest_v();
static bool lcd_selftest(); extern bool lcd_selftest();
static bool lcd_selfcheck_endstops(); static bool lcd_selfcheck_endstops();
#ifdef TMC2130 #ifdef TMC2130

11
Firmware/ultralcd_implementation_hitachi_HD44780.h
View File

@ -1144,6 +1144,17 @@ static void lcd_implementation_drawmenu_setting_edit_generic_P(uint8_t row, cons
lcd.print(' '); lcd.print(' ');
lcd_printPGM(data); lcd_printPGM(data);
} }
extern char *wfac_to_str5(const uint8_t &x);
extern char *mres_to_str3(const uint8_t &x);
#define lcd_implementation_drawmenu_setting_edit_wfac_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', wfac_to_str5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_wfac(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', wfac_to_str5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_mres_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', mres_to_str3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_mres(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', mres_to_str3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_byte3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3((uint8_t)*(data)))
#define lcd_implementation_drawmenu_setting_edit_byte3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3((uint8_t)*(data)))
#define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data))) #define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data))) #define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data))) #define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data)))

24
Firmware/util.cpp
View File

@ -239,6 +239,30 @@ inline int8_t is_provided_version_newer(const char *version_string)
return 0; return 0;
} }
bool force_selftest_if_fw_version()
{
//if fw version used before flashing new firmware (fw version currently stored in eeprom) is lower then 3.1.2-RC2, function returns true to force selftest
uint16_t ver_eeprom[4];
uint16_t ver_with_calibration[4] = {3, 1, 2, 4}; //hardcoded 3.1.2-RC2 version
bool force_selftest = false;
ver_eeprom[0] = eeprom_read_word((uint16_t*)EEPROM_FIRMWARE_VERSION_MAJOR);
ver_eeprom[1] = eeprom_read_word((uint16_t*)EEPROM_FIRMWARE_VERSION_MINOR);
ver_eeprom[2] = eeprom_read_word((uint16_t*)EEPROM_FIRMWARE_VERSION_REVISION);
ver_eeprom[3] = eeprom_read_word((uint16_t*)EEPROM_FIRMWARE_VERSION_FLAVOR);
for (uint8_t i = 0; i < 4; ++i) {
if (ver_with_calibration[i] > ver_eeprom[i]) {
force_selftest = true;
break;
}
else if (ver_with_calibration[i] < ver_eeprom[i])
break;
}
return force_selftest;
}
bool show_upgrade_dialog_if_version_newer(const char *version_string) bool show_upgrade_dialog_if_version_newer(const char *version_string)
{ {
uint16_t ver_gcode[4], ver_current[4]; uint16_t ver_gcode[4], ver_current[4];

1
Firmware/util.h
View File

@ -18,6 +18,7 @@ enum FirmwareRevisionFlavorType
}; };
extern bool show_upgrade_dialog_if_version_newer(const char *version_string); extern bool show_upgrade_dialog_if_version_newer(const char *version_string);
extern bool force_selftest_if_fw_version();
extern void update_current_firmware_version_to_eeprom(); extern void update_current_firmware_version_to_eeprom();