TMC2130 feedrate and acceleration limitation - separate profiles for normal and stealth mode

Firmware/ConfigurationStore.cpp

@@ -56,8 +56,8 @@ void Config_StoreSettings(uint16_t offset, uint8_t level)
   int i = offset;
   EEPROM_WRITE_VAR(i,ver); // invalidate data first 
   EEPROM_WRITE_VAR(i,axis_steps_per_unit);
-  EEPROM_WRITE_VAR(i,max_feedrate);  
-  EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second);
+  EEPROM_WRITE_VAR(i,max_feedrate_normal);
+  EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second_normal);
   EEPROM_WRITE_VAR(i,acceleration);
   EEPROM_WRITE_VAR(i,retract_acceleration);
   EEPROM_WRITE_VAR(i,minimumfeedrate);
@@ -126,12 +126,9 @@ void Config_StoreSettings(uint16_t offset, uint8_t level)
   }
 #endif //LIN_ADVANCE
 
-/*  MYSERIAL.print("Top address used:\n");
-  MYSERIAL.print(i); 
-  MYSERIAL.print("; (0x");
-  MYSERIAL.print(i, HEX);
-  MYSERIAL.println(")");
-*/ 
+  EEPROM_WRITE_VAR(i,max_feedrate_silent);
+  EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second_silent);
+
   char ver2[4]=EEPROM_VERSION;
   i=offset;
   EEPROM_WRITE_VAR(i,ver2); // validate data
@@ -144,10 +141,30 @@ void Config_StoreSettings(uint16_t offset, uint8_t level)
 #ifndef DISABLE_M503
 void Config_PrintSettings(uint8_t level)
 {  // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
+#ifdef TMC2130
+	printf_P(PSTR(
+		"%SSteps per unit:\n%S  M92 X%.2f Y%.2f Z%.2f E%.2f\n"
+		"%SMaximum feedrates - normal (mm/s):\n%S  M203 X%.2f Y%.2f Z%.2f E%.2f\n"
+		"%SMaximum feedrates - stealth (mm/s):\n%S  M203 X%.2f Y%.2f Z%.2f E%.2f\n"
+		"%SMaximum acceleration - normal (mm/s2):\n%S  M201 X%lu Y%lu Z%lu E%lu\n"
+		"%SMaximum acceleration - stealth (mm/s2):\n%S  M201 X%lu Y%lu Z%lu E%lu\n"
+		"%SAcceleration: S=acceleration, T=retract acceleration\n%S  M204 S%.2f T%.2f\n"
+		"%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)\n%S  M205 S%.2f T%.2f B%.2f X%.2f Y%.2f Z%.2f E%.2f\n"
+		"%SHome offset (mm):\n%S  M206 X%.2f Y%.2f Z%.2f\n"
+		),
+		echomagic, echomagic, axis_steps_per_unit[X_AXIS], axis_steps_per_unit[Y_AXIS], axis_steps_per_unit[Z_AXIS], axis_steps_per_unit[E_AXIS],
+		echomagic, echomagic, max_feedrate_normal[X_AXIS], max_feedrate_normal[Y_AXIS], max_feedrate_normal[Z_AXIS], max_feedrate_normal[E_AXIS],
+		echomagic, echomagic, max_feedrate_silent[X_AXIS], max_feedrate_silent[Y_AXIS], max_feedrate_silent[Z_AXIS], max_feedrate_silent[E_AXIS],
+		echomagic, echomagic, max_acceleration_units_per_sq_second_normal[X_AXIS], max_acceleration_units_per_sq_second_normal[Y_AXIS], max_acceleration_units_per_sq_second_normal[Z_AXIS], max_acceleration_units_per_sq_second_normal[E_AXIS],
+		echomagic, echomagic, max_acceleration_units_per_sq_second_silent[X_AXIS], max_acceleration_units_per_sq_second_silent[Y_AXIS], max_acceleration_units_per_sq_second_silent[Z_AXIS], max_acceleration_units_per_sq_second_silent[E_AXIS],
+		echomagic, echomagic, acceleration, retract_acceleration,
+		echomagic, echomagic, minimumfeedrate, mintravelfeedrate, minsegmenttime, max_jerk[X_AXIS], max_jerk[Y_AXIS], max_jerk[Z_AXIS], max_jerk[E_AXIS],
+		echomagic, echomagic, add_homing[X_AXIS], add_homing[Y_AXIS], add_homing[Z_AXIS]
+#else //TMC2130
 	printf_P(PSTR(
 		"%SSteps per unit:\n%S  M92 X%.2f Y%.2f Z%.2f E%.2f\n"
 		"%SMaximum feedrates (mm/s):\n%S  M203 X%.2f Y%.2f Z%.2f E%.2f\n"
-		"%SMaximum Acceleration (mm/s2):\n%S  M201 X%.2f Y%.2f Z%.2f E%.2f\n"
+		"%SMaximum acceleration (mm/s2):\n%S  M201 X%lu Y%lu Z%lu E%lu\n"
 		"%SAcceleration: S=acceleration, T=retract acceleration\n%S  M204 S%.2f T%.2f\n"
 		"%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)\n%S  M205 S%.2f T%.2f B%.2f X%.2f Y%.2f Z%.2f E%.2f\n"
 		"%SHome offset (mm):\n%S  M206 X%.2f Y%.2f Z%.2f\n"
@@ -158,6 +175,7 @@ void Config_PrintSettings(uint8_t level)
 		echomagic, echomagic, acceleration, retract_acceleration,
 		echomagic, echomagic, minimumfeedrate, mintravelfeedrate, minsegmenttime, max_jerk[X_AXIS], max_jerk[Y_AXIS], max_jerk[Z_AXIS], max_jerk[E_AXIS],
 		echomagic, echomagic, add_homing[X_AXIS], add_homing[Y_AXIS], add_homing[Z_AXIS]
+#endif //TMC2130
 	);
 #ifdef PIDTEMP
 	printf_P(PSTR("%SPID settings:\n%S   M301 P%.2f I%.2f D%.2f\n"),
@@ -219,11 +237,10 @@ bool Config_RetrieveSettings(uint16_t offset, uint8_t level)
     {
         // version number match
         EEPROM_READ_VAR(i,axis_steps_per_unit);
-        EEPROM_READ_VAR(i,max_feedrate);  
-        EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second);
+        EEPROM_READ_VAR(i,max_feedrate_normal);
+        EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second_normal);
         
         // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
-		reset_acceleration_rates();
         
         EEPROM_READ_VAR(i,acceleration);
         EEPROM_READ_VAR(i,retract_acceleration);
@@ -293,6 +310,11 @@ bool Config_RetrieveSettings(uint16_t offset, uint8_t level)
 #endif //LIN_ADVANCE
     calculate_extruder_multipliers();
 
+        EEPROM_READ_VAR(i,max_feedrate_silent);  
+        EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second_silent);
+
+		reset_acceleration_rates();
+
 		// Call updatePID (similar to when we have processed M301)
 		updatePID();
         SERIAL_ECHO_START;
@@ -321,14 +343,18 @@ void Config_ResetDefault()
     float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
     float tmp2[]=DEFAULT_MAX_FEEDRATE;
     long tmp3[]=DEFAULT_MAX_ACCELERATION;
+    float tmp4[]=DEFAULT_MAX_FEEDRATE_SILENT;
+    long tmp5[]=DEFAULT_MAX_ACCELERATION_SILENT;
     for (short i=0;i<4;i++) 
     {
         axis_steps_per_unit[i]=tmp1[i];  
-        max_feedrate[i]=tmp2[i];  
-        max_acceleration_units_per_sq_second[i]=tmp3[i];
+        max_feedrate_normal[i]=tmp2[i];  
+        max_acceleration_units_per_sq_second_normal[i]=tmp3[i];
+        max_feedrate_silent[i]=tmp4[i];  
+        max_acceleration_units_per_sq_second_silent[i]=tmp5[i];
     }
-    
-    // steps per sq second need to be updated to agree with the units per sq second
+
+	// steps per sq second need to be updated to agree with the units per sq second
     reset_acceleration_rates();
     
     acceleration=DEFAULT_ACCELERATION;

Firmware/Marlin_main.cpp

@@ -1378,7 +1378,6 @@ void setup()
 #ifdef TMC2130
 	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 = TMC2130_MODE_NORMAL;
 	uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
 	if (crashdet && !farm_mode)
@@ -1432,6 +1431,7 @@ void setup()
 
 #ifdef TMC2130
 	tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
+	update_mode_profile();
 	tmc2130_init();
 #endif //TMC2130
     
@@ -2600,6 +2600,7 @@ void force_high_power_mode(bool start_high_power_section) {
 		st_synchronize();
 		cli();
 		tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
+		update_mode_profile();
 		tmc2130_init();
     // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
     // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
@@ -6910,6 +6911,7 @@ Sigma_Exit:
 	case 914: // M914 Set normal mode
     {
 		tmc2130_mode = TMC2130_MODE_NORMAL;
+		update_mode_profile();
 		tmc2130_init();
     }
     break;
@@ -6917,6 +6919,7 @@ Sigma_Exit:
 	case 915: // M915 Set silent mode
     {
 		tmc2130_mode = TMC2130_MODE_SILENT;
+		update_mode_profile();
 		tmc2130_init();
     }
     break;

Firmware/planner.cpp

@@ -72,9 +72,20 @@
 //===========================================================================
 
 unsigned long minsegmenttime;
-float max_feedrate[NUM_AXIS]; // set the max speeds
+
+// Use M203 to override by software
+float max_feedrate_normal[NUM_AXIS];       // max speeds for normal mode
+float max_feedrate_silent[NUM_AXIS];       // max speeds for silent mode
+float* max_feedrate = max_feedrate_normal;
+
+// Use M92 to override by software
 float axis_steps_per_unit[NUM_AXIS];
-unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
+
+// Use M201 to override by software
+unsigned long max_acceleration_units_per_sq_second_normal[NUM_AXIS];
+unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
+unsigned long* max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_normal;
+
 float minimumfeedrate;
 float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
 float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
@@ -1283,11 +1294,28 @@ void set_extrude_min_temp(float temp)
 void reset_acceleration_rates()
 {
 	for(int8_t i=0; i < NUM_AXIS; i++)
-        {
         axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
-        }
 }
-unsigned char number_of_blocks() {
+
+#ifdef TMC2130
+void update_mode_profile()
+{
+	if (tmc2130_mode == TMC2130_MODE_NORMAL)
+	{
+		max_feedrate = max_feedrate_normal;
+		max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_normal;
+	}
+	else if (tmc2130_mode == TMC2130_MODE_SILENT)
+	{
+		max_feedrate = max_feedrate_silent;
+		max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_silent;
+	}
+	reset_acceleration_rates();
+}
+#endif //TMC2130
+
+unsigned char number_of_blocks()
+{
 	return (block_buffer_head + BLOCK_BUFFER_SIZE - block_buffer_tail) & (BLOCK_BUFFER_SIZE - 1);
 }
 #ifdef PLANNER_DIAGNOSTICS

Firmware/planner.h

@@ -159,9 +159,20 @@ void plan_set_e_position(const float &e);
 void check_axes_activity();
 
 extern unsigned long minsegmenttime;
-extern float max_feedrate[NUM_AXIS]; // set the max speeds
+
+// Use M203 to override by software
+extern float max_feedrate_normal[NUM_AXIS];
+extern float max_feedrate_silent[NUM_AXIS];
+extern float* max_feedrate;
+
+// Use M92 to override by software
 extern float axis_steps_per_unit[NUM_AXIS];
-extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
+
+// Use M201 to override by software
+extern unsigned long max_acceleration_units_per_sq_second_normal[NUM_AXIS];
+extern unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
+extern unsigned long* max_acceleration_units_per_sq_second; 
+
 extern float minimumfeedrate;
 extern float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
 extern float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
@@ -241,6 +252,8 @@ void set_extrude_min_temp(float temp);
 void reset_acceleration_rates();
 #endif
 
+void update_mode_profile();
+
 unsigned char number_of_blocks();
 
 // #define PLANNER_DIAGNOSTICS

Firmware/ultralcd.cpp

@@ -4066,8 +4066,9 @@ static void lcd_silent_mode_set() {
 //	  MYSERIAL.print("standstill OK");
 //  else
 //	  MYSERIAL.print("standstill NG!");
-  cli();
+	cli();
 	tmc2130_mode = (SilentModeMenu != SILENT_MODE_NORMAL)?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
+	update_mode_profile();
 	tmc2130_init();
   // We may have missed a stepper timer interrupt due to the time spent in tmc2130_init.
   // Be safe than sorry, reset the stepper timer before re-enabling interrupts.