Extruder stealthChop and constant-off-time mode.

Extruder different chopper frequency in spreadcycle.
Dcodes (fix)

Firmware/Configuration_prusa.h

@@ -104,7 +104,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define MINTEMP_MINAMBIENT      25
 #define MINTEMP_MINAMBIENT_RAW  978
 
-
+//#define DEBUG_BUILD
 #ifdef DEBUG_BUILD
 //#define _NO_ASM
 #define DEBUG_DCODES //D codes
@@ -119,7 +119,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 //#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
 //#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
 //#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
-//#define DEBUG_DISABLE_STARTMSGS //no startup messages 
+#define DEBUG_DISABLE_STARTMSGS //no startup messages 
 //#define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
 //#define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
 //#define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
@@ -159,16 +159,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_PWM_AUTO_Y  1         // PWMCONF
 #define TMC2130_PWM_FREQ_Y  2         // PWMCONF
 
-/* //not used
+#define TMC2130_PWM_GRAD_E  2         // PWMCONF
+#define TMC2130_PWM_AMPL_E  235       // PWMCONF
+#define TMC2130_PWM_AUTO_E  1         // PWMCONF
+#define TMC2130_PWM_FREQ_E  2         // PWMCONF
+
 #define TMC2130_PWM_GRAD_Z  4         // PWMCONF
 #define TMC2130_PWM_AMPL_Z  200       // PWMCONF
 #define TMC2130_PWM_AUTO_Z  1         // PWMCONF
 #define TMC2130_PWM_FREQ_Z  2         // PWMCONF
+
 #define TMC2130_PWM_GRAD_E  4         // PWMCONF
-#define TMC2130_PWM_AMPL_E  200       // PWMCONF
+#define TMC2130_PWM_AMPL_E  240       // PWMCONF
 #define TMC2130_PWM_AUTO_E  1         // PWMCONF
 #define TMC2130_PWM_FREQ_E  2         // PWMCONF
-*/
+
+#define TMC2130_TOFF_XYZ    3         // CHOPCONF // fchop = 27.778kHz
+#define TMC2130_TOFF_E      3         // CHOPCONF // fchop = 27.778kHz
+//#define TMC2130_TOFF_E      4         // CHOPCONF // fchop = 21.429kHz
+//#define TMC2130_TOFF_E      5         // CHOPCONF // fchop = 17.442kHz
+
+//#define TMC2130_STEALTH_E // Extruder stealthChop mode
+//#define TMC2130_CNSTOFF_E // Extruder constant-off-time mode (similar to MK2)
 
 //#define TMC2130_PWM_DIV   683         // PWM frequency divider (1024, 683, 512, 410)
 #define TMC2130_PWM_DIV   512         // PWM frequency divider (1024, 683, 512, 410)

Firmware/Dcodes.cpp

@@ -491,7 +491,8 @@ void dcode_9125()
 	LOG("D9125 - PAT9125\n");
 	if ((strchr_pointer[1+4] == '?') || (strchr_pointer[1+4] == 0))
 	{
-		printf("res_x=%d res_y=%d x=%d y=%d b=%d s=%d\n", pat9125_xres, pat9125_yres, pat9125_x, pat9125_y, pat9125_b, pat9125_s);
+//		printf("res_x=%d res_y=%d x=%d y=%d b=%d s=%d\n", pat9125_xres, pat9125_yres, pat9125_x, pat9125_y, pat9125_b, pat9125_s);
+		printf("x=%d y=%d b=%d s=%d\n", pat9125_x, pat9125_y, pat9125_b, pat9125_s);
 		return;
 	}
 	if (strchr_pointer[1+4] == '!')

Firmware/tmc2130.cpp

@@ -34,13 +34,13 @@ uint8_t tmc2130_current_r_home[4] = {10, 10, 20, 10};
 
 
 //pwm_ampl
-uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y};
+uint8_t tmc2130_pwm_ampl[4] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y, TMC2130_PWM_AMPL_Z, TMC2130_PWM_AMPL_E};
 //pwm_grad
-uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y};
+uint8_t tmc2130_pwm_grad[4] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y, TMC2130_PWM_GRAD_Z, TMC2130_PWM_GRAD_E};
 //pwm_auto
-uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y};
+uint8_t tmc2130_pwm_auto[4] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y, TMC2130_PWM_AUTO_Z, TMC2130_PWM_AUTO_E};
 //pwm_freq
-uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y};
+uint8_t tmc2130_pwm_freq[4] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y, TMC2130_PWM_FREQ_Z, TMC2130_PWM_FREQ_E};
 
 uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
 
@@ -198,7 +198,15 @@ void tmc2130_init()
 //		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
 		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
+#else //TMC2130_STEALTH_E
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, 0);
+		tmc2130_wr(tmc2130_cs[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_TPWMTHRS(tmc2130_cs[axis], TMC2130_TPWMTHRS);
+#endif //TMC2130_STEALTH_E
 	}
 
 	tmc2130_sg_err[0] = 0;
@@ -414,14 +422,33 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
 {
 	uint8_t cs = tmc2130_cs[axis];
 	uint8_t intpol = 1;
+	uint8_t toff = TMC2130_TOFF_XYZ; // toff = 3 (fchop = 27.778kHz)
+	uint8_t hstrt = 5; //initial 4, modified to 5
+	uint8_t hend = 1;
+	uint8_t fd3 = 0;
+	uint8_t rndtf = 0; //random off time
+	uint8_t chm = 0; //spreadCycle
+	uint8_t tbl = 2; //blanking time
+	if (axis == E_AXIS)
+	{
+#ifdef TMC2130_CNSTOFF_E
+		// fd = 0 (slow decay only)
+		hstrt = 0; //fd0..2
+		fd3 = 0; //fd3
+		hend = 0; //sine wave offset
+		chm = 1; // constant off time mod
+#endif //TMC2130_CNSTOFF_E
+		toff = TMC2130_TOFF_E; // toff = 3-5
+//		rndtf = 1;
+	}
 	if (current_r <= 31)
 	{
-		tmc2130_wr_CHOPCONF(cs, 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, intpol, 0, 0);
+		tmc2130_wr_CHOPCONF(cs, 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));
 	}
 	else
 	{
-		tmc2130_wr_CHOPCONF(cs, 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, intpol, 0, 0);
+		tmc2130_wr_CHOPCONF(cs, 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));
 	}
 }