From d91dbc73c95eb80afb212de8add4235c7b503e11 Mon Sep 17 00:00:00 2001 From: Robert Pelnar Date: Tue, 20 Feb 2018 17:06:37 +0100 Subject: [PATCH 1/3] tmc2130 - optimalization, removed unused code --- Firmware/tmc2130.cpp | 258 +++++++++---------------------------------- 1 file changed, 50 insertions(+), 208 deletions(-) diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index 91b21d84b..98ae11e1e 100644 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -117,10 +117,11 @@ void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_ void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32); void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32); +#define tmc2130_rd(axis, addr, rval) tmc2130_rx(axis, addr, rval) +#define tmc2130_wr(axis, addr, wval) tmc2130_tx(axis, addr | 0x80, wval) -uint8_t tmc2130_wr(uint8_t axis, uint8_t addr, uint32_t wval); -uint8_t tmc2130_rd(uint8_t axis, uint8_t addr, uint32_t* rval); -uint8_t tmc2130_txrx(uint8_t axis, uint8_t addr, uint32_t wval, uint32_t* rval); +uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval); +uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval); void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r); @@ -130,10 +131,6 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_ void tmc2130_init() { DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("STEALTH"):_n("NORMAL")); -/* 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);*/ WRITE(X_TMC2130_CS, HIGH); WRITE(Y_TMC2130_CS, HIGH); WRITE(Z_TMC2130_CS, HIGH); @@ -233,14 +230,7 @@ void tmc2130_st_isr(uint8_t last_step_mask) } if (sg_homing_axes_mask == 0) { -/* if (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) + if (tmc2130_sg_stop_on_crash && crash) { tmc2130_sg_crash = crash; tmc2130_sg_stop_on_crash = false; @@ -499,7 +489,7 @@ void tmc2130_wr_MSLUTSTART(uint8_t axis, uint8_t start_sin, uint8_t start_sin90) 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); + //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) @@ -513,13 +503,13 @@ void tmc2130_wr_MSLUTSEL(uint8_t axis, uint8_t x1, uint8_t x2, uint8_t x3, uint8 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); + //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); + //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) @@ -574,43 +564,6 @@ uint8_t tmc2130_usteps2mres(uint16_t usteps) return mres; } -uint8_t tmc2130_wr(uint8_t axis, uint8_t addr, uint32_t wval) -{ - uint8_t stat = tmc2130_txrx(axis, addr | 0x80, wval, 0); -#ifdef TMC2130_DEBUG_WR - MYSERIAL.print("tmc2130_wr("); - MYSERIAL.print((unsigned char)axis, 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 axis, uint8_t addr, uint32_t* rval) -{ - uint32_t val32 = 0; - uint8_t stat = tmc2130_txrx(axis, addr, 0x00000000, &val32); - if (rval != 0) *rval = val32; -#ifdef TMC2130_DEBUG_RD - if (!skip_debug_msg) - { - MYSERIAL.print("tmc2130_rd("); - MYSERIAL.print((unsigned char)axis, DEC); - MYSERIAL.print(", 0x"); - MYSERIAL.print((unsigned char)addr, HEX); - MYSERIAL.print(", 0x"); - MYSERIAL.print((unsigned long)val32, HEX); - MYSERIAL.print(")=0x"); - MYSERIAL.println((unsigned char)stat, HEX); - } - skip_debug_msg = false; -#endif //TMC2130_DEBUG_RD - return stat; -} inline void tmc2130_cs_low(uint8_t axis) { @@ -634,7 +587,8 @@ inline void tmc2130_cs_high(uint8_t axis) } } -uint8_t tmc2130_txrx(uint8_t axis, uint8_t addr, uint32_t wval, uint32_t* rval) + +uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval) { //datagram1 - request SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3)); @@ -646,6 +600,20 @@ uint8_t tmc2130_txrx(uint8_t axis, uint8_t addr, uint32_t wval, uint32_t* rval) SPI.transfer(wval & 0xff); // LSB 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(); //datagram2 - response SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3)); tmc2130_cs_low(axis); @@ -704,10 +672,10 @@ uint16_t tmc2130_get_res(uint8_t axis) void tmc2130_set_res(uint8_t axis, uint16_t res) { tmc2130_mres[axis] = tmc2130_usteps2mres(res); -// uint32_t u = micros(); + 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); + u = micros() - u; + printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u); } uint8_t tmc2130_get_pwr(uint8_t axis) @@ -852,8 +820,8 @@ void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream) void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200) { -// TMC2130 wave compression algorithm -// optimized for minimal memory requirements +// 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; @@ -865,15 +833,15 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200) 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 + 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); + 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; + { + 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; @@ -887,7 +855,7 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200) else { if (dA < d0) // delta < delta0 => switch wbit down - { + { //printf("dn\n"); b = 0; switch (dA) @@ -897,11 +865,11 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200) case 1: d0 = 1; d1 = 2; w[s+1] = 2; break; default: b = -1; break; } - if (b >= 0) { x[s] = i; s++; } + if (b >= 0) { x[s] = i; s++; } } else if (dA > d1) // delta > delta0 => switch wbit up { - //printf("up\n"); + //printf("up\n"); b = 1; switch (dA) { @@ -910,146 +878,20 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200) 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) { 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); + 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]); - -/* -// printf_P(PSTR(" tmc2130_set_wave %d %d\n"), axis, fac200); - switch (fac200) - { - case 0: //default TMC wave 247/0 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0xaaaab556); - tmc2130_wr_MSLUT(axis, 1, 0x4a9554aa); - tmc2130_wr_MSLUT(axis, 2, 0x24492929); - tmc2130_wr_MSLUT(axis, 3, 0x10104222); - tmc2130_wr_MSLUT(axis, 4, 0xf8000000); - tmc2130_wr_MSLUT(axis, 5, 0xb5bb777d); - tmc2130_wr_MSLUT(axis, 6, 0x49295556); - tmc2130_wr_MSLUT(axis, 7, 0x00404222); - tmc2130_wr_MSLUTSEL(axis, 2, 154, 255, 1, 2, 1, 1); - break; - case 210: //calculated wave 247/1.050 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0x55294a4e); - tmc2130_wr_MSLUT(axis, 1, 0xa52a552a); - tmc2130_wr_MSLUT(axis, 2, 0x48949294); - tmc2130_wr_MSLUT(axis, 3, 0x81042222); - tmc2130_wr_MSLUT(axis, 4, 0x00000000); - tmc2130_wr_MSLUT(axis, 5, 0xdb6eef7e); - tmc2130_wr_MSLUT(axis, 6, 0x9295555a); - tmc2130_wr_MSLUT(axis, 7, 0x00408444); - tmc2130_wr_MSLUTSEL(axis, 3, 160, 255, 1, 2, 1, 1); - break; - case 212: //calculated wave 247/1.060 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0x4a94948e); - tmc2130_wr_MSLUT(axis, 1, 0x94a952a5); - tmc2130_wr_MSLUT(axis, 2, 0x24925252); - tmc2130_wr_MSLUT(axis, 3, 0x10421112); - tmc2130_wr_MSLUT(axis, 4, 0xc0000020); - tmc2130_wr_MSLUT(axis, 5, 0xdb7777df); - tmc2130_wr_MSLUT(axis, 6, 0x9295556a); - tmc2130_wr_MSLUT(axis, 7, 0x00408444); - tmc2130_wr_MSLUTSEL(axis, 3, 157, 255, 1, 2, 1, 1); - break; - case 214: //calculated wave 247/1.070 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0xa949489e); - tmc2130_wr_MSLUT(axis, 1, 0x52a54a54); - tmc2130_wr_MSLUT(axis, 2, 0x224a494a); - tmc2130_wr_MSLUT(axis, 3, 0x04108889); - tmc2130_wr_MSLUT(axis, 4, 0xffc08002); - tmc2130_wr_MSLUT(axis, 5, 0x6dbbbdfb); - tmc2130_wr_MSLUT(axis, 6, 0x94a555ab); - tmc2130_wr_MSLUT(axis, 7, 0x00408444); - tmc2130_wr_MSLUTSEL(axis, 4, 149, 255, 1, 2, 1, 1); - break; - case 215: //calculated wave 247/1.075 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0x4a52491e); - tmc2130_wr_MSLUT(axis, 1, 0xa54a54a9); - tmc2130_wr_MSLUT(axis, 2, 0x49249494); - tmc2130_wr_MSLUT(axis, 3, 0x10421122); - tmc2130_wr_MSLUT(axis, 4, 0x00000008); - tmc2130_wr_MSLUT(axis, 5, 0x6ddbdefc); - tmc2130_wr_MSLUT(axis, 6, 0x94a555ad); - tmc2130_wr_MSLUT(axis, 7, 0x00408444); - tmc2130_wr_MSLUTSEL(axis, 4, 161, 255, 1, 2, 1, 1); - break; - case 216: //calculated wave 247/1.080 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0x9494911e); - tmc2130_wr_MSLUT(axis, 1, 0x4a94a94a); - tmc2130_wr_MSLUT(axis, 2, 0x92492929); - tmc2130_wr_MSLUT(axis, 3, 0x41044444); - tmc2130_wr_MSLUT(axis, 4, 0x00000040); - tmc2130_wr_MSLUT(axis, 5, 0xaedddf7f); - tmc2130_wr_MSLUT(axis, 6, 0x94a956ad); - tmc2130_wr_MSLUT(axis, 7, 0x00808448); - tmc2130_wr_MSLUTSEL(axis, 4, 159, 255, 1, 2, 1, 1); - break; - case 218: //calculated wave 247/1.090 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0x4a49223e); - tmc2130_wr_MSLUT(axis, 1, 0x4a52a529); - tmc2130_wr_MSLUT(axis, 2, 0x49252529); - tmc2130_wr_MSLUT(axis, 3, 0x08422224); - tmc2130_wr_MSLUT(axis, 4, 0xfc008004); - tmc2130_wr_MSLUT(axis, 5, 0xb6eef7df); - tmc2130_wr_MSLUT(axis, 6, 0xa4aaaab5); - tmc2130_wr_MSLUT(axis, 7, 0x00808448); - tmc2130_wr_MSLUTSEL(axis, 5, 153, 255, 1, 2, 1, 1); - break; - case 220: //calculated wave 247/1.100 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0xa492487e); - tmc2130_wr_MSLUT(axis, 1, 0x294a52a4); - tmc2130_wr_MSLUT(axis, 2, 0x492494a5); - tmc2130_wr_MSLUT(axis, 3, 0x82110912); - tmc2130_wr_MSLUT(axis, 4, 0x00000080); - tmc2130_wr_MSLUT(axis, 5, 0xdb777df8); - tmc2130_wr_MSLUT(axis, 6, 0x252aaad6); - tmc2130_wr_MSLUT(axis, 7, 0x00808449); - tmc2130_wr_MSLUTSEL(axis, 6, 162, 255, 1, 2, 1, 1); - break; - case 222: //calculated wave 247/1.110 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0x524910fe); - tmc2130_wr_MSLUT(axis, 1, 0xa5294a52); - tmc2130_wr_MSLUT(axis, 2, 0x24929294); - tmc2130_wr_MSLUT(axis, 3, 0x20844489); - tmc2130_wr_MSLUT(axis, 4, 0xc0004008); - tmc2130_wr_MSLUT(axis, 5, 0xdbbbdf7f); - tmc2130_wr_MSLUT(axis, 6, 0x252aab5a); - tmc2130_wr_MSLUT(axis, 7, 0x00808449); - tmc2130_wr_MSLUTSEL(axis, 7, 157, 255, 1, 2, 1, 1); - break; - case 224: //calculated wave 247/1.120 - tmc2130_wr_MSLUTSTART(axis, 0, 247); - tmc2130_wr_MSLUT(axis, 0, 0x292223fe); - tmc2130_wr_MSLUT(axis, 1, 0x94a52949); - tmc2130_wr_MSLUT(axis, 2, 0x92524a52); - tmc2130_wr_MSLUT(axis, 3, 0x04222244); - tmc2130_wr_MSLUT(axis, 4, 0x00000101); - tmc2130_wr_MSLUT(axis, 5, 0x6dddefe0); - tmc2130_wr_MSLUT(axis, 6, 0x254aad5b); - tmc2130_wr_MSLUT(axis, 7, 0x00810889); - tmc2130_wr_MSLUTSEL(axis, 9, 164, 255, 1, 2, 1, 1); - break; - }*/ + 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) From e2e48bfd71832f165c004d74df63d662e24553dc Mon Sep 17 00:00:00 2001 From: Robert Pelnar Date: Tue, 20 Feb 2018 18:50:20 +0100 Subject: [PATCH 2/3] SD speed test (DEBUG) homeaxis - fix set_destination_to_current --- Firmware/Marlin_main.cpp | 51 ++++++++++++++++++++++++++++++++++++++++ Firmware/cardreader.h | 5 ++++ 2 files changed, 56 insertions(+) diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index e16e8869b..18e78016a 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -1140,6 +1140,51 @@ void setup() // 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(). 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_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); @@ -1845,6 +1890,7 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep) // for the stall guard to work. current_position[axis] = 0; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + set_destination_to_current(); // destination[axis] = 11.f; destination[axis] = 3.f; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); @@ -6527,6 +6573,11 @@ void get_coordinates() if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE; #endif //MAX_SILENT_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) + } } } diff --git a/Firmware/cardreader.h b/Firmware/cardreader.h index f9d30a769..4d1367a99 100644 --- a/Firmware/cardreader.h +++ b/Firmware/cardreader.h @@ -131,7 +131,12 @@ private: #endif // SDCARD_SORT_ALPHA +#ifdef DEBUG_SD_SPEED_TEST +public: +#endif DEBUG_SD_SPEED_TEST Sd2Card card; + +private: SdVolume volume; SdFile file; #define SD_PROCEDURE_DEPTH 1 From 66161062cfe34d2895163e798123c5dd86253382 Mon Sep 17 00:00:00 2001 From: Robert Pelnar Date: Tue, 20 Feb 2018 19:02:55 +0100 Subject: [PATCH 3/3] Homing accuracy calibration in selftest. --- Firmware/ultralcd.cpp | 24 +++++++++++++++++++++--- 1 file changed, 21 insertions(+), 3 deletions(-) diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp index 5b1038e90..aec66143a 100644 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -1585,13 +1585,17 @@ static void lcd_menu_fails_stats() #ifdef DEBUG_BUILD +#ifdef DEBUG_STACK_MONITOR extern uint16_t SP_min; extern char* __malloc_heap_start; extern char* __malloc_heap_end; +#endif //DEBUG_STACK_MONITOR 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); +#endif //DEBUG_STACK_MONITOR if (lcd_clicked()) { @@ -5836,7 +5840,7 @@ static void lcd_selftest_v() static bool lcd_selftest() { int _progress = 0; - bool _result = false; + bool _result = true; lcd_wait_for_cool_down(); lcd_implementation_clear(); lcd.setCursor(0, 0); lcd_printPGM(MSG_SELFTEST_START); @@ -5845,8 +5849,12 @@ static bool lcd_selftest() #endif // TMC2130 delay(2000); 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) { @@ -5929,6 +5937,15 @@ static bool lcd_selftest() } } + if (_result) + { + _progress = lcd_selftest_screen(13, 0, 2, true, 0); + tmc2130_home_calibrate(X_AXIS); + _progress = lcd_selftest_screen(13, 1, 2, true, 0); + tmc2130_home_calibrate(Y_AXIS); + _progress = lcd_selftest_screen(13, 2, 2, true, 0); + } + if (_result) { _progress = lcd_selftest_screen(7, _progress, 3, true, 2000); //check bed @@ -6712,6 +6729,7 @@ static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bo if (_step == 10) lcd_printPGM(MSG_SELFTEST_CHECK_FSENSOR); if (_step == 11) lcd_printPGM(MSG_SELFTEST_CHECK_ALLCORRECT); if (_step == 12) lcd_printPGM(MSG_SELFTEST_FAILED); + if (_step == 13) lcd_printPGM(PSTR("Calibrating home")); lcd.setCursor(0, 1); lcd.print("--------------------");