Crashdetection tunning.

Firmware/Configuration_prusa.h

@@ -78,18 +78,18 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //DEBUG
 #define DEBUG_DCODES //D codes
-#if 0
-#define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
-#define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
-#define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
-#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
-#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
-#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
+#if 1
+//#define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
+//#define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
+//#define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
+//#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_MINTEMP   //mintemp error ignored
-#define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+//#define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
+//#define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
 #define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
-#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
+//#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
 #define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
 //#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
 //#define DEBUG_YSTEP_DUP_PIN 21   //duplicate y-step output to pin 21 (SCL on P3)
@@ -137,19 +137,23 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_TPWMTHRS  0         // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
 #define TMC2130_THIGH     0         // THIGH - unused
 
-#define TMC2130_TCOOLTHRS 500       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS_X 400       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS_Y 400       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS_Z 500       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS_E 500       // TCOOLTHRS - coolstep treshold
 
 #define TMC2130_SG_HOMING       1     // stallguard homing
 //#define TMC2130_SG_HOMING_SW_XY  1    // stallguard "software" homing for XY axes
 #define TMC2130_SG_HOMING_SW_Z  1     // stallguard "software" homing for Z axis
-#define TMC2130_SG_THRS_X       7     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y       7     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_X       1     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y       3     // stallguard sensitivity for Y axis
 #define TMC2130_SG_THRS_Z       3     // stallguard sensitivity for Z axis
+#define TMC2130_SG_THRS_E       3     // stallguard sensitivity for E axis
 #define TMC2130_SG_DELTA      128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
 
 //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 {3, 3, 5, 8}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {13, 31, 20, 22}  // default running currents for all axes
+#define TMC2130_CURRENTS_R {13, 20, 20, 22}  // default running currents for all axes
 
 //#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR

Firmware/Marlin_main.cpp

@@ -589,12 +589,23 @@ void crashdet_restore_print_and_continue()
 }
 
 
+void crashdet_stop_and_save_print2()
+{
+	cli();
+	planner_abort_hard(); //abort printing
+	cmdqueue_reset(); //empty cmdqueue
+	card.sdprinting = false;
+	card.closefile();
+	sei();
+}
+
+
 #ifdef PAT9125
 
 void fsensor_stop_and_save_print()
 {
 //	stop_and_save_print_to_ram(10, -0.8); //XY - no change, Z 10mm up, E 0.8mm in
-	stop_and_save_print_to_ram(0, 0); //XY - no change, Z 10mm up, E 0.8mm in
+	stop_and_save_print_to_ram(0, 0); //XYZE - no change
 }
 
 void fsensor_restore_print_and_continue()
@@ -1245,7 +1256,7 @@ void loop()
 	if (tmc2130_sg_crash)
 	{
 		tmc2130_sg_crash = false;
-		crashdet_stop_and_save_print();
+//		crashdet_stop_and_save_print();
 		enquecommand_P((PSTR("D999")));
 	}
 #endif //TMC2130
@@ -5475,15 +5486,18 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 
 	case 916: // M916 Set sg_thrs
     {
-		if (code_seen('X')) tmc2130_axis_sg_thr[X_AXIS] = code_value();
-		if (code_seen('Y')) tmc2130_axis_sg_thr[Y_AXIS] = code_value();
-		if (code_seen('Z')) tmc2130_axis_sg_thr[Z_AXIS] = code_value();
-		MYSERIAL.print("tmc2130_axis_sg_thr[X]=");
-		MYSERIAL.print(tmc2130_axis_sg_thr[X_AXIS], DEC);
-		MYSERIAL.print("tmc2130_axis_sg_thr[Y]=");
-		MYSERIAL.print(tmc2130_axis_sg_thr[Y_AXIS], DEC);
-		MYSERIAL.print("tmc2130_axis_sg_thr[Z]=");
-		MYSERIAL.print(tmc2130_axis_sg_thr[Z_AXIS], DEC);
+		if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
+		if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
+		if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
+		if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
+		MYSERIAL.print("tmc2130_sg_thr[X]=");
+		MYSERIAL.println(tmc2130_sg_thr[X_AXIS], DEC);
+		MYSERIAL.print("tmc2130_sg_thr[Y]=");
+		MYSERIAL.println(tmc2130_sg_thr[Y_AXIS], DEC);
+		MYSERIAL.print("tmc2130_sg_thr[Z]=");
+		MYSERIAL.println(tmc2130_sg_thr[Z_AXIS], DEC);
+		MYSERIAL.print("tmc2130_sg_thr[E]=");
+		MYSERIAL.println(tmc2130_sg_thr[E_AXIS], DEC);
     }
     break;
 

Firmware/tmc2130.cpp

@@ -4,6 +4,10 @@
 
 #include "tmc2130.h"
 #include <SPI.h>
+#include "LiquidCrystal.h"
+#include "ultralcd.h"
+
+extern LiquidCrystal lcd;
 
 #define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
 #define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
@@ -14,6 +18,7 @@ extern float current_position[4];
 extern void st_get_position_xy(long &x, long &y);
 extern long st_get_position(uint8_t axis);
 extern void crashdet_stop_and_save_print();
+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 };
@@ -44,16 +49,19 @@ uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y};
 uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
 
 
-uint8_t tmc2130_axis_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, 0};
-uint8_t tmc2130_axis_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, 0};
+uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
+uint8_t tmc2130_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
 
-uint32_t tmc2130_axis_sg_pos[4] = {0, 0, 0, 0};
+uint32_t tmc2130_sg_pos[4] = {0, 0, 0, 0};
 
 uint8_t sg_homing_axes_mask = 0x00;
 
 bool tmc2130_sg_stop_on_crash = false;
 bool tmc2130_sg_crash = false;
 uint8_t tmc2130_diag_mask = 0x00;
+uint16_t tmc2130_sg_err[4] = {0, 0, 0, 0};
+uint16_t tmc2130_sg_cnt[4] = {0, 0, 0, 0};
+bool tmc2130_sg_change = false;
 
 
 bool skip_debug_msg = false;
@@ -134,59 +142,69 @@ void tmc2130_init()
 	SET_INPUT(Z_TMC2130_DIAG);
 	SET_INPUT(E0_TMC2130_DIAG);
 	SPI.begin();
-	for (int i = 0; i < 2; i++) // X Y axes
+	for (int axis = 0; axis < 2; axis++) // X Y axes
 	{
-/*		if (tmc2130_current_r[i] <= 31)
+/*		if (tmc2130_current_r[axis] <= 31)
 		{
-			tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
-			tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
+			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[i], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
-			tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
+			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(i, tmc2130_mres[i], tmc2130_current_h[i], tmc2130_current_r[i]);
-
-//		tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
-//		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_axis_sg_thr[i]) << 16) | ((uint32_t)1 << 24));
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:TMC2130_TCOOLTHRS);
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
-		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_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
-		//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
+		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
+
+//		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));
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
+//		tmc2130_wr(tmc2130_cs[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(tmc2130_cs[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_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 i = 2; i < 3; i++) // Z axis
+	for (int axis = 2; axis < 3; axis++) // Z axis
 	{
 //		uint8_t mres = tmc2130_mres(TMC2130_USTEPS_Z);
-/*		if (tmc2130_current_r[i] <= 31)
+/*		if (tmc2130_current_r[axis] <= 31)
 		{
-			tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
-			tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
+			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[i], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
-			tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
+			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(i, tmc2130_mres[i], tmc2130_current_h[i], tmc2130_current_r[i]);
+		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
 
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
 	}
-	for (int i = 3; i < 4; i++) // E axis
+	for (int axis = 3; axis < 4; axis++) // E axis
 	{
 //		uint8_t mres = tmc2130_mres(TMC2130_USTEPS_E);
-		tmc2130_setup_chopper(i, tmc2130_mres[i], tmc2130_current_h[i], tmc2130_current_r[i]);
+		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
 
-//		tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_E, 0, 0);
-//		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
+//		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[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000);
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
 	}
+
+	tmc2130_sg_err[0] = 0;
+	tmc2130_sg_err[1] = 0;
+	tmc2130_sg_err[2] = 0;
+	tmc2130_sg_err[3] = 0;
+	tmc2130_sg_cnt[0] = 0;
+	tmc2130_sg_cnt[1] = 0;
+	tmc2130_sg_cnt[2] = 0;
+	tmc2130_sg_cnt[3] = 0;
 }
 
 uint8_t tmc2130_sample_diag()
@@ -194,29 +212,52 @@ uint8_t tmc2130_sample_diag()
 	uint8_t mask = 0;
 	if (READ(X_TMC2130_DIAG)) mask |= X_AXIS_MASK;
 	if (READ(Y_TMC2130_DIAG)) mask |= Y_AXIS_MASK;
-//	if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
-//	if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
+	if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
+	if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
 	return mask;
 }
 
 void tmc2130_st_isr(uint8_t last_step_mask)
 {
 	if (tmc2130_mode == TMC2130_MODE_SILENT) return;
-	bool error = false;
+	bool crash = false;
 	uint8_t diag_mask = tmc2130_sample_diag();
-	for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++)
+	for (uint8_t axis = X_AXIS; axis <= E_AXIS; axis++)
 	{
 		uint8_t mask = (X_AXIS_MASK << axis);
-		if ((diag_mask & mask) && !(tmc2130_diag_mask & mask))
-			error = true;
+		if (diag_mask & mask) tmc2130_sg_err[axis]++;
+		else
+			if (tmc2130_sg_err[axis] > 0) tmc2130_sg_err[axis]--;
+		if (tmc2130_sg_cnt[axis] < tmc2130_sg_err[axis])
+		{
+			tmc2130_sg_cnt[axis] = tmc2130_sg_err[axis];
+			tmc2130_sg_change = true;
+			if (tmc2130_sg_err[axis] >= 64)
+			{
+				tmc2130_sg_err[axis] = 0;
+				crash = true;
+			}
+		}
+//		if ((diag_mask & mask)/* && !(tmc2130_diag_mask & mask)*/)
+//			crash = true;
 	}
 	tmc2130_diag_mask = diag_mask;
 	if (sg_homing_axes_mask == 0)
-		if (tmc2130_sg_stop_on_crash && error)
+	{
+/*		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 (tmc2130_sg_stop_on_crash && crash)
 		{
 			tmc2130_sg_crash = true;
 			tmc2130_sg_stop_on_crash = false;
+			crashdet_stop_and_save_print();
 		}
+	}
 }
 
 void tmc2130_update_sg_axis(uint8_t axis)
@@ -225,10 +266,10 @@ void tmc2130_update_sg_axis(uint8_t axis)
 	{
 		uint8_t cs = tmc2130_cs[axis];
 		uint16_t tstep = tmc2130_rd_TSTEP(cs);
-		if (tstep < TMC2130_TCOOLTHRS)
+		if (tstep < TMC2130_TCOOLTHRS_Z)
 		{
 			long pos = st_get_position(axis);
-			if (abs(pos - tmc2130_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
+			if (abs(pos - tmc2130_sg_pos[axis]) > TMC2130_SG_DELTA)
 			{
 				uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
 				if (sg == 0)
@@ -240,6 +281,10 @@ void tmc2130_update_sg_axis(uint8_t axis)
 
 bool tmc2130_update_sg()
 {
+//	uint16_t tstep = tmc2130_rd_TSTEP(tmc2130_cs[0]);
+//	MYSERIAL.print("TSTEP_X=");
+//	MYSERIAL.println((int)tstep);
+	
 #ifdef TMC2130_SG_HOMING_SW_XY
 	if (sg_homing_axes_mask & X_AXIS_MASK) tmc2130_update_sg_axis(X_AXIS);
 	if (sg_homing_axes_mask & Y_AXIS_MASK) tmc2130_update_sg_axis(Y_AXIS);
@@ -269,7 +314,7 @@ bool tmc2130_update_sg()
 				if (tstep < TMC2130_TCOOLTHRS)
 				{
 					long pos = st_get_position(axis);
-					if (abs(pos - tmc2130_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
+					if (abs(pos - tmc2130_sg_pos[axis]) > TMC2130_SG_DELTA)
 					{
 						uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
 						if (sg == 0)
@@ -304,13 +349,13 @@ void tmc2130_home_enter(uint8_t axes_mask)
 		if (axes_mask & mask)
 		{
 			sg_homing_axes_mask |= mask;
-			tmc2130_axis_sg_pos[axis] = st_get_position(axis);
+			tmc2130_sg_pos[axis] = st_get_position(axis);
 			tmc2130_axis_stalled[axis] = false;
 			//Configuration to spreadCycle
 			tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
-			tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_axis_sg_thr_home[axis]) << 16));
-//			tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_axis_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
-			tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
+			tmc2130_wr(cs, 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(cs, 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]);
 #ifndef TMC2130_SG_HOMING_SW_XY
 			if (mask & (X_AXIS_MASK | Y_AXIS_MASK))
@@ -346,8 +391,11 @@ void tmc2130_home_exit()
 #ifdef TMC2130_SG_HOMING_SW_XY
 					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
 #else //TMC2130_SG_HOMING_SW_XY
+//					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
 					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_axis_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
+//					tmc2130_wr(tmc2130_cs[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(tmc2130_cs[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);
 #endif //TMC2130_SG_HOMING_SW_XY
 				}
@@ -377,7 +425,7 @@ void tmc2130_home_resume(uint8_t axis)
 
 void tmc2130_home_restart(uint8_t axis)
 {
-	tmc2130_axis_sg_pos[axis] = st_get_position(axis);
+	tmc2130_sg_pos[axis] = st_get_position(axis);
 	tmc2130_axis_stalled[axis] = false;
 }
 
@@ -400,8 +448,20 @@ void tmc2130_check_overtemp()
 					tmc2130_wr(tmc2130_cs[j], TMC2130_REG_CHOPCONF, 0x00010000);
 				kill(TMC_OVERTEMP_MSG);
 			}
+
 		}
 		checktime = millis();
+		tmc2130_sg_change = true;
+	}
+	if (tmc2130_sg_change)
+	{
+		for (int i = 0; i < 4; i++)
+		{
+			tmc2130_sg_change = false;
+			lcd.setCursor(0 + i*4, 3);
+			lcd.print(itostr3(tmc2130_sg_cnt[i]));
+			lcd.print(' ');
+		}
 	}
 }
 

Firmware/tmc2130.h

@@ -11,7 +11,7 @@ extern uint8_t tmc2130_current_r[4];
 //flags for axis stall detection
 extern uint8_t tmc2130_axis_stalled[4];
 
-extern uint8_t tmc2130_axis_sg_thr[4];
+extern uint8_t tmc2130_sg_thr[4];
 
 extern bool tmc2130_sg_stop_on_crash;
 extern bool tmc2130_sg_crash;