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Trinamic: Split stealthChop, improve driver monitoring, etc. (#12582)

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This commit is contained in:
teemuatlut
2018-12-07 23:34:21 +02:00
committed by Scott Lahteine
parent 055cb2b956
commit 50b2fbd031
77 changed files with 1671 additions and 290 deletions
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123
Marlin/src/module/stepper_indirection.cpp
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@@ -140,7 +140,8 @@
#endif // TMC26X
#if HAS_TRINAMIC
#define _TMC_INIT(ST, SPMM) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#define _TMC_INIT(ST, SPMM_INDEX, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, planner.settings.axis_steps_per_mm[SPMM_INDEX], stealthchop_by_axis[STEALTH_INDEX])
#endif
//
@@ -201,11 +202,7 @@
#endif
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
#if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
UNUSED(thrs);
UNUSED(spmm);
#endif
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
st.begin();
CHOPCONF_t chopconf{0};
@@ -221,20 +218,22 @@
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
#if ENABLED(STEALTHCHOP)
st.en_pwm_mode(true);
st.en_pwm_mode(stealth);
PWMCONF_t pwmconf{0};
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
pwmconf.pwm_autoscale = true;
pwmconf.pwm_grad = 5;
pwmconf.pwm_ampl = 180;
st.PWMCONF(pwmconf.sr);
PWMCONF_t pwmconf{0};
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
pwmconf.pwm_autoscale = true;
pwmconf.pwm_grad = 5;
pwmconf.pwm_ampl = 180;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#endif
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
UNUSED(thrs);
UNUSED(spmm);
#endif
st.GSTAT(); // Clear GSTAT
}
#endif // TMC2130
@@ -440,16 +439,13 @@
}
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
#if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
UNUSED(thrs);
UNUSED(spmm);
#endif
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
TMC2208_n::GCONF_t gconf{0};
gconf.pdn_disable = true; // Use UART
gconf.mstep_reg_select = true; // Select microsteps with UART
gconf.i_scale_analog = false;
gconf.en_spreadcycle = !stealth;
st.GCONF(gconf.sr);
TMC2208_n::CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01; // blank_time = 24
@@ -463,25 +459,24 @@
st.microsteps(microsteps);
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
#if ENABLED(STEALTHCHOP)
gconf.en_spreadcycle = false;
TMC2208_n::PWMCONF_t pwmconf{0};
pwmconf.pwm_lim = 12;
pwmconf.pwm_reg = 8;
pwmconf.pwm_autograd = true;
pwmconf.pwm_autoscale = true;
pwmconf.pwm_freq = 0b01;
pwmconf.pwm_grad = 14;
pwmconf.pwm_ofs = 36;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#endif
TMC2208_n::PWMCONF_t pwmconf{0};
pwmconf.pwm_lim = 12;
pwmconf.pwm_reg = 8;
pwmconf.pwm_autograd = true;
pwmconf.pwm_autoscale = true;
pwmconf.pwm_freq = 0b01;
pwmconf.pwm_grad = 14;
pwmconf.pwm_ofs = 36;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
gconf.en_spreadcycle = true;
UNUSED(thrs);
UNUSED(spmm);
#endif
st.GCONF(gconf.sr);
st.GSTAT(0b111); // Clear
delay(200);
}
@@ -543,7 +538,7 @@
#endif
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const float) {
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const float, const bool) {
st.begin();
st.rms_current(mA);
st.microsteps(microsteps);
@@ -605,44 +600,66 @@ void reset_stepper_drivers() {
L6470_init_to_defaults();
#endif
#if HAS_TRINAMIC
static constexpr bool stealthchop_by_axis[] = {
#if ENABLED(STEALTHCHOP_XY)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_Z)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_E)
true
#else
false
#endif
};
#endif
#if AXIS_IS_TMC(X)
_TMC_INIT(X, planner.settings.axis_steps_per_mm[X_AXIS]);
_TMC_INIT(X, X_AXIS, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(X2)
_TMC_INIT(X2, planner.settings.axis_steps_per_mm[X_AXIS]);
_TMC_INIT(X2, X_AXIS, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Y)
_TMC_INIT(Y, planner.settings.axis_steps_per_mm[Y_AXIS]);
_TMC_INIT(Y, Y_AXIS, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Y2)
_TMC_INIT(Y2, planner.settings.axis_steps_per_mm[Y_AXIS]);
_TMC_INIT(Y2, Y_AXIS, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Z)
_TMC_INIT(Z, planner.settings.axis_steps_per_mm[Z_AXIS]);
_TMC_INIT(Z, Z_AXIS, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(Z2)
_TMC_INIT(Z2, planner.settings.axis_steps_per_mm[Z_AXIS]);
_TMC_INIT(Z2, Z_AXIS, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(Z3)
_TMC_INIT(Z3, planner.settings.axis_steps_per_mm[Z_AXIS]);
_TMC_INIT(Z3, Z_AXIS, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(E0)
_TMC_INIT(E0, planner.settings.axis_steps_per_mm[E_AXIS_N(0)]);
_TMC_INIT(E0, E_AXIS, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E1)
_TMC_INIT(E1, planner.settings.axis_steps_per_mm[E_AXIS_N(1)]);
_TMC_INIT(E1, E_AXIS_N(1), STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E2)
_TMC_INIT(E2, planner.settings.axis_steps_per_mm[E_AXIS_N(2)]);
_TMC_INIT(E2, E_AXIS_N(2), STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E3)
_TMC_INIT(E3, planner.settings.axis_steps_per_mm[E_AXIS_N(3)]);
_TMC_INIT(E3, E_AXIS_N(3), STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E4)
_TMC_INIT(E4, planner.settings.axis_steps_per_mm[E_AXIS_N(4)]);
_TMC_INIT(E4, E_AXIS_N(4), STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E5)
_TMC_INIT(E5, planner.settings.axis_steps_per_mm[E_AXIS_N(5)]);
_TMC_INIT(E5, E_AXIS_N(5), STEALTH_AXIS_E);
#endif
#if USE_SENSORLESS