Merge pull request #10 from XPila/MK3

Changed jerks, disabled oversampling, debug code, commands for seting…

Firmware/Configuration.h

@@ -443,14 +443,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis
 
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
-//#define DEFAULT_XJERK                 5.0    // (mm/sec)
-//#define DEFAULT_YJERK                 5.0    // (mm/sec)
-//#define DEFAULT_ZJERK                 0.2    // (mm/sec)
-//#define DEFAULT_EJERK                 2.5    // (mm/sec)
-#define DEFAULT_XJERK                 0.5      // (mm/sec)
-#define DEFAULT_YJERK                 0.5      // (mm/sec)
-#define DEFAULT_ZJERK                 0.1      // (mm/sec)
-#define DEFAULT_EJERK                 0.5      // (mm/sec)
+#define DEFAULT_XJERK                15       // (mm/sec)
+#define DEFAULT_YJERK                15       // (mm/sec)
+#define DEFAULT_ZJERK                 0.4     // (mm/sec)
+#define DEFAULT_EJERK                 2.5     // (mm/sec)
 
 //===========================================================================
 //=============================Additional Features===========================

Firmware/Marlin_main.cpp

@@ -1214,7 +1214,7 @@ void setup()
 		eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
 	}
 
-#ifndef DEBUG_SKIP_STARTMSGS
+#ifndef DEBUG_DISABLE_STARTMSGS
 	check_babystep(); //checking if Z babystep is in allowed range
 	setup_uvlo_interrupt();
 	
@@ -1235,7 +1235,7 @@ void setup()
       // Show the message.
 	  lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
   }
-#endif //DEBUG_SKIP_STARTMSGS
+#endif //DEBUG_DISABLE_STARTMSGS
   for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
   lcd_update_enable(true);
 
@@ -1906,14 +1906,14 @@ void homeaxis(int axis) {
         feedrate = homing_feedrate[axis];
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
 
-//		sg_homing_delay = 0;
+		sg_homing_delay = 0;
         st_synchronize();
         
         current_position[axis] = 0;
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
         destination[axis] = -home_retract_mm(axis) * axis_home_dir;
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-//		sg_homing_delay = 0;
+		sg_homing_delay = 0;
         st_synchronize();
         
         destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
@@ -1924,7 +1924,7 @@ void homeaxis(int axis) {
 #endif
 		feedrate = homing_feedrate[axis] / 2;
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-//		sg_homing_delay = 0;
+		sg_homing_delay = 0;
         st_synchronize();
         axis_is_at_home(axis);
         destination[axis] = current_position[axis];
@@ -5577,6 +5577,24 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 		MYSERIAL.print(" sg_thrs_y=");
 		MYSERIAL.println(sg_thrs_y, DEC);
     }
+    break;
+
+	case 917: // M917 Set TMC2130 pwm_ampl
+    {
+		if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
+		if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
+        if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
+        if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
+    }
+    break;
+
+	case 918: // M918 Set TMC2130 pwm_grad
+    {
+		if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
+		if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
+        if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
+        if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
+    }
     break;
 
     case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.

Firmware/planner.cpp

@@ -978,7 +978,7 @@ Having the real displacement of the head, we can calculate the total movement le
   // Acceleration of the segment, in mm/sec^2
   block->acceleration = block->acceleration_st / steps_per_mm;
 
-#if 1
+#if 0
   // Oversample diagonal movements by a power of 2 up to 8x
   // to achieve more accurate diagonal movements.
   uint8_t bresenham_oversample = 1;

Firmware/stepper.cpp

@@ -583,14 +583,23 @@ ISR(TIMER1_COMPA_vect)
         counter_x += current_block->steps_x;
         if (counter_x > 0) {
           WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+#ifdef DEBUG_XSTEP_DUP_PIN
+    WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
+#endif //DEBUG_XSTEP_DUP_PIN
           counter_x -= current_block->step_event_count;
           count_position[X_AXIS]+=count_direction[X_AXIS];   
           WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+#ifdef DEBUG_XSTEP_DUP_PIN
+    WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
+#endif //DEBUG_XSTEP_DUP_PIN
         }
 
         counter_y += current_block->steps_y;
         if (counter_y > 0) {
           WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+#ifdef DEBUG_YSTEP_DUP_PIN
+    WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
+#endif //DEBUG_YSTEP_DUP_PIN
 		  
 		  #ifdef Y_DUAL_STEPPER_DRIVERS
 			WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
@@ -599,6 +608,9 @@ ISR(TIMER1_COMPA_vect)
           counter_y -= current_block->step_event_count;
           count_position[Y_AXIS]+=count_direction[Y_AXIS];
           WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+#ifdef DEBUG_YSTEP_DUP_PIN
+    WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
+#endif //DEBUG_YSTEP_DUP_PIN
 		  
 		  #ifdef Y_DUAL_STEPPER_DRIVERS
 			WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
@@ -810,9 +822,13 @@ void st_init()
 
 
   //Initialize Step Pins
-  #if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
+#if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
     SET_OUTPUT(X_STEP_PIN);
     WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
+#ifdef DEBUG_XSTEP_DUP_PIN
+    SET_OUTPUT(DEBUG_XSTEP_DUP_PIN);
+    WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
+#endif //DEBUG_XSTEP_DUP_PIN
     disable_x();
   #endif
   #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
@@ -823,6 +839,10 @@ void st_init()
   #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
     SET_OUTPUT(Y_STEP_PIN);
     WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
+#ifdef DEBUG_YSTEP_DUP_PIN
+    SET_OUTPUT(DEBUG_YSTEP_DUP_PIN);
+    WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
+#endif //DEBUG_YSTEP_DUP_PIN
     #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
       SET_OUTPUT(Y2_STEP_PIN);
       WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
@@ -981,10 +1001,16 @@ void babystep(const uint8_t axis,const bool direction)
     
     //perform step 
     WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); 
+#ifdef DEBUG_XSTEP_DUP_PIN
+    WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
+#endif //DEBUG_XSTEP_DUP_PIN
     {
     volatile float x=1./float(axis+1)/float(axis+2); //wait a tiny bit
     }
     WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+#ifdef DEBUG_XSTEP_DUP_PIN
+    WRITE(DEBUG_XSTEP_DUP_PIN,INVERT_X_STEP_PIN);
+#endif //DEBUG_XSTEP_DUP_PIN
 
     //get old pin state back.
     WRITE(X_DIR_PIN,old_x_dir_pin);
@@ -1000,10 +1026,16 @@ void babystep(const uint8_t axis,const bool direction)
     
     //perform step 
     WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); 
+#ifdef DEBUG_YSTEP_DUP_PIN
+    WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
+#endif //DEBUG_YSTEP_DUP_PIN
     {
     volatile float x=1./float(axis+1)/float(axis+2); //wait a tiny bit
     }
     WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+#ifdef DEBUG_YSTEP_DUP_PIN
+    WRITE(DEBUG_YSTEP_DUP_PIN,INVERT_Y_STEP_PIN);
+#endif //DEBUG_YSTEP_DUP_PIN
 
     //get old pin state back.
     WRITE(Y_DIR_PIN,old_y_dir_pin);

Firmware/tmc2130.cpp

@@ -18,15 +18,26 @@ uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
 //running currents
 uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
 //axis stalled flags
-uint8_t tmc2130_axis_stalled[4] = {0, 0, 0, 0};
+uint8_t tmc2130_axis_stalled[2] = {0, 0};
 //last homing stalled
 uint8_t tmc2130_LastHomingStalled = 0;
 
+//pwm_ampl
+uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_XY, TMC2130_PWM_AMPL_XY};
+//pwm_grad
+uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_XY, TMC2130_PWM_GRAD_XY};
+//pwm_auto
+uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_XY, TMC2130_PWM_AUTO_XY};
+//pwm_freq
+uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_XY, TMC2130_PWM_FREQ_XY};
+
+
 uint8_t sg_homing_axis = 0xff;
 uint8_t sg_homing_delay = 0;
 uint8_t sg_thrs_x = TMC2130_SG_THRS_X;
 uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
 
+bool skip_debug_msg = false;
 
 //TMC2130 registers
 #define TMC2130_REG_GCONF      0x00 // 17 bits
@@ -65,14 +76,17 @@ uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
 uint16_t tmc2130_rd_TSTEP(uint8_t cs);
 uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect);
 
-void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16);
-void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale = TMC2130_PWM_AUTO, uint8_t PWMfreq = TMC2130_PWM_FREQ, uint8_t PWMgrad = TMC2130_PWM_GRAD, uint8_t PWMampl = TMC2130_PWM_AMPL);
+void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0);
+void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
 void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32);
 void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32);
 
-uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval);
+uint8_t tmc2130_axis_by_cs(uint8_t cs);
+uint8_t tmc2130_mres(uint16_t microstep_resolution);
+
 uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval);
 uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval);
+uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval);
 
 
 
@@ -91,30 +105,30 @@ void tmc2130_init()
 	SPI.begin();
 	for (int i = 0; i < 2; i++) // X Y axes
 	{
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
+		uint8_t mres = tmc2130_mres(TMC2130_USTEPS_XY);
+		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_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
+		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_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_XY, TMC2130_USTEPS_XY);
 	}
 	for (int i = 2; i < 3; i++) // Z axis
 	{
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
+		uint8_t mres = tmc2130_mres(TMC2130_USTEPS_Z);
+		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(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
-		tmc2130_wr_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480
-		tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
-		//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
-		tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_Z, TMC2130_USTEPS_Z);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000);
 	}
 	for (int i = 3; i < 4; i++) // E axis
 	{
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000004); //GCONF - bit 2 activate stealthChop
+		uint8_t mres = tmc2130_mres(TMC2130_USTEPS_E);
+		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(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
-		tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_E, TMC2130_USTEPS_E);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000);
 	}
 }
 
@@ -166,6 +180,9 @@ void tmc2130_check_overtemp()
 		for(int i=0;i<4;i++)
 		{
 			uint32_t drv_status = 0;
+
+			skip_debug_msg = true;
+
 			tmc2130_rd(cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
 			//MYSERIAL.print(drv_status);
 			//SERIAL_ECHOPGM(" ");
@@ -219,7 +236,7 @@ void tmc2130_home_exit()
 #endif
 }
 
-extern uint8_t tmc2130_didLastHomingStall()
+uint8_t tmc2130_didLastHomingStall()
 {
 	uint8_t ret = tmc2130_LastHomingStalled;
 	tmc2130_LastHomingStalled = false;
@@ -232,7 +249,7 @@ void tmc2130_set_current_h(uint8_t axis, uint8_t current)
 	MYSERIAL.print((int)axis);
 	MYSERIAL.print(" ");
 	MYSERIAL.println((int)current);
-	if (current > 15) current = 15; //current>15 is unsafe
+//	if (current > 15) current = 15; //current>15 is unsafe
 	tmc2130_current_h[axis] = current;
 	tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 }
@@ -243,7 +260,7 @@ void tmc2130_set_current_r(uint8_t axis, uint8_t current)
 	MYSERIAL.print((int)axis);
 	MYSERIAL.print(" ");
 	MYSERIAL.println((int)current);
-	if (current > 15) current = 15; //current>15 is unsafe
+//	if (current > 15) current = 15; //current>15 is unsafe
 	tmc2130_current_r[axis] = current;
 	tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 }
@@ -270,6 +287,28 @@ void tmc2130_print_currents()
 	MYSERIAL.println((int)tmc2130_current_r[3]);
 }
 
+void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
+{
+	MYSERIAL.print("tmc2130_set_pwm_ampl ");
+	MYSERIAL.print((int)axis);
+	MYSERIAL.print(" ");
+	MYSERIAL.println((int)pwm_ampl);
+	tmc2130_pwm_ampl[axis] = pwm_ampl;
+	if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_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);
+}
+
+void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
+{
+	MYSERIAL.print("tmc2130_set_pwm_grad ");
+	MYSERIAL.print((int)axis);
+	MYSERIAL.print(" ");
+	MYSERIAL.println((int)pwm_grad);
+	tmc2130_pwm_grad[axis] = pwm_grad;
+	if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_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);
+}
+
 uint16_t tmc2130_rd_TSTEP(uint8_t cs)
 {
 	uint32_t val32 = 0;
@@ -285,27 +324,40 @@ uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs)
 	return val32;
 }
 
-void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256, uint16_t microstep_resolution)
+void tmc2130_wr_CHOPCONF(uint8_t cs, 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)
 {
-	uint8_t mres=0b0100;
-	if(microstep_resolution == 256) mres = 0b0000;
-	if(microstep_resolution == 128) mres = 0b0001;
-	if(microstep_resolution == 64)  mres = 0b0010;
-	if(microstep_resolution == 32)  mres = 0b0011;
-	if(microstep_resolution == 16)  mres = 0b0100;
-	if(microstep_resolution == 8)   mres = 0b0101;
-	if(microstep_resolution == 4)   mres = 0b0110;
-	if(microstep_resolution == 2)   mres = 0b0111;
-	if(microstep_resolution == 1)   mres = 0b1000;
-	mres |= extrapolate256 << 4; //bit28 intpol
-	//tmc2130_write(cs,0x6C,mres,0x01,0x00,0xD3);
-//	tmc2130_write(cs,0x6C,mres,0x01,0x00,0xC3);
-	tmc2130_wr(cs,TMC2130_REG_CHOPCONF,((uint32_t)mres << 24) | 0x0100C3);
+	uint32_t val = 0;
+	val |= (uint32_t)(toff & 15);
+	val |= (uint32_t)(hstrt & 7) << 4;
+	val |= (uint32_t)(hend & 15) << 7;
+	val |= (uint32_t)(fd3 & 1) << 11;
+	val |= (uint32_t)(disfdcc & 1) << 12;
+	val |= (uint32_t)(rndtf & 1) << 13;
+	val |= (uint32_t)(chm & 1) << 14;
+	val |= (uint32_t)(tbl & 3) << 15;
+	val |= (uint32_t)(vsense & 1) << 17;
+	val |= (uint32_t)(vhighfs & 1) << 18;
+	val |= (uint32_t)(vhighchm & 1) << 19;
+	val |= (uint32_t)(sync & 15) << 20;
+	val |= (uint32_t)(mres & 15) << 24;
+	val |= (uint32_t)(intpol & 1) << 28;
+	val |= (uint32_t)(dedge & 1) << 29;
+	val |= (uint32_t)(diss2g & 1) << 30;
+	tmc2130_wr(cs, TMC2130_REG_CHOPCONF, val);
 }
 
-void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
+//void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
+void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel)
 {
-	tmc2130_wr(cs, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
+	uint32_t val = 0;
+	val |= (uint32_t)(pwm_ampl & 255);
+	val |= (uint32_t)(pwm_grad & 255) << 8;
+	val |= (uint32_t)(pwm_freq & 3) << 16;
+	val |= (uint32_t)(pwm_auto & 1) << 18;
+	val |= (uint32_t)(pwm_symm & 1) << 19;
+	val |= (uint32_t)(freewheel & 3) << 20;
+	tmc2130_wr(cs, TMC2130_REG_PWMCONF, val);
+//	tmc2130_wr(cs, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
 }
 
 void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32)
@@ -331,6 +383,20 @@ uint8_t tmc2130_axis_by_cs(uint8_t cs)
 	return -1;
 }
 
+uint8_t tmc2130_mres(uint16_t microstep_resolution)
+{
+	if (microstep_resolution == 256) return 0b0000;
+	if (microstep_resolution == 128) return 0b0001;
+	if (microstep_resolution == 64)  return 0b0010;
+	if (microstep_resolution == 32)  return 0b0011;
+	if (microstep_resolution == 16)  return 0b0100;
+	if (microstep_resolution == 8)   return 0b0101;
+	if (microstep_resolution == 4)   return 0b0110;
+	if (microstep_resolution == 2)   return 0b0111;
+	if (microstep_resolution == 1)   return 0b1000;
+	return 0;
+}
+
 uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval)
 {
 	uint8_t stat = tmc2130_txrx(cs, addr | 0x80, wval, 0);
@@ -353,14 +419,18 @@ uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval)
 	uint8_t stat = tmc2130_txrx(cs, addr, 0x00000000, &val32);
 	if (rval != 0) *rval = val32;
 #ifdef TMC2130_DEBUG_RD
-	MYSERIAL.print("tmc2130_rd(");
-	MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), 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);
+	if (!skip_debug_msg)
+	{
+		MYSERIAL.print("tmc2130_rd(");
+		MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), 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;
 }

Firmware/tmc2130.h

@@ -7,11 +7,13 @@ extern uint8_t tmc2130_mode;
 extern uint8_t tmc2130_current_h[4];
 extern uint8_t tmc2130_current_r[4];
 //flags for axis stall detection
-extern uint8_t tmc2130_axis_stalled[4];
+extern uint8_t tmc2130_axis_stalled[2];
 
 extern uint8_t sg_thrs_x;
 extern uint8_t sg_thrs_y;
 
+extern uint8_t sg_homing_delay;
+
 #define TMC2130_MODE_NORMAL 0
 #define TMC2130_MODE_SILENT 1
 
@@ -35,5 +37,10 @@ extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
 //print currents (M913)
 extern void tmc2130_print_currents();
 
+//set PWM_AMPL for any axis (M917)
+extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl);
+//set PWM_GRAD for any axis (M918)
+extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
+
 
 #endif //TMC2130_H

Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h

@@ -66,25 +66,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define HOMING_FEEDRATE {3000, 3000, 800, 0}  // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
 
 //#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
-#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
-#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 100, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 12, 120}    // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {2000, 2000, 250, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          1500   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  1500   // X, Y, Z and E max acceleration in mm/s^2 for retracts
 
 
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
-#define MAX_SILENT_FEEDRATE           2700   // 
+//#define MAX_SILENT_FEEDRATE           2700   // 
 
 #define Z_AXIS_ALWAYS_ON 1
 
 //DEBUG
-//#define DEBUG_DISABLE_MINTEMP
-//#define DEBUG_DISABLE_SWLIMITS
-//#define DEBUG_DISABLE_PREVENT_EXTRUDER
-#define DEBUG_BLINK_ACTIVE
-//#define DEBUG_SKIP_STARTMSGS
-
+#if 0
+#define DEBUG_DISABLE_STARTMSGS //no startup messages 
+#define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
+#define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
+#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)
+//#define DEBUG_BLINK_ACTIVE
+#endif
 
 /*------------------------------------
  TMC2130 default settings
@@ -92,32 +95,33 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_FCLK 12000000       // fclk = 12MHz
 
-#define TMC2130_USTEPS_XY 16        // microstep resolution for XY axes
-#define TMC2130_USTEPS_Z  16        // microstep resolution for Z axis
-#define TMC2130_USTEPS_E  16        // microstep resolution for E axis
-#define TMC2130_EXP256_XY 1         // extrapolate 256 for XY axes
-#define TMC2130_EXP256_Z  1         // extrapolate 256 for Z axis
-#define TMC2130_EXP256_E  1         // extrapolate 256 for E axis
-
-// PWM register configuration
-//#define TMC2130_PWM_GRAD 0x08       // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
-//#define TMC2130_PWM_AMPL 0xC8       // 0xFF - Sets PWM amplitude to 200 (max is 255)
-#define TMC2130_PWM_GRAD 0x01       // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
-#define TMC2130_PWM_AMPL 0xc8       // 0xFF - Sets PWM amplitude to 200 (max is 255)
-#define TMC2130_PWM_AUTO 0x04       // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
-//#define TMC2130_PWM_FREQ 0x01       // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 35.1kHz
-#define TMC2130_PWM_FREQ 0x01       // 0x02 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 46.9kHz
-
-#define TMC2130_PWM_DIV  683        // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
+#define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
+#define TMC2130_USTEPS_E    16        // microstep resolution for E axis
+#define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
+#define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
+#define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
+
+#define TMC2130_PWM_GRAD_XY 15         // PWMCONF
+#define TMC2130_PWM_AMPL_XY 200       // PWMCONF
+#define TMC2130_PWM_AUTO_XY 1         // PWMCONF
+#define TMC2130_PWM_FREQ_XY 2         // PWMCONF
+
+/* //not used
+#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_AUTO_E  1         // PWMCONF
+#define TMC2130_PWM_FREQ_E  2         // PWMCONF
+*/
+
+//#define TMC2130_PWM_DIV  683        // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_DIV  512        // PWM frequency divider (1024, 683, 512, 410)
 #define TMC2130_PWM_CLK  (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
 
-// Special configuration for XY axes for operation (during standstill, use same settings as for other axes) //todo
-// RP: this settings does not work (overtemp)
-//#define TMC2130_PWM_GRAD_XY 156     // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
-//#define TMC2130_PWM_AMPL_XY 63      // 0xFF - Sets PWM amplitude to 200 (max is 255)
-//#define TMC2130_PWM_AUTO_XY 0x00    // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
-//#define TMC2130_PWM_FREQ_XY 0x01    // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK)
-
 #define TMC2130_TPWMTHRS 0          // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
 #define TMC2130_THIGH 0             // THIGH - unused
 
@@ -125,15 +129,17 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_SG_HOMING     1     // stallguard homing
 #define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
-#define TMC2130_SG_THRS_X    12     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y    12     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_X    30     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y    30     // stallguard sensitivity for Y axis
 #define TMC2130_SG_DELAY     10     // stallguard delay (temporary solution)
 
-#define TMC2130_CURRENTS_H {2, 2, 2, 4}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {6, 6, 8, 8}  // default running currents for all axes
+//new settings is possible for vsense = 1
+#define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
+#define TMC2130_CURRENTS_R {13, 13, 20, 20}  // default running currents for all axes
+
 #define TMC2130_DEBUG
-#define TMC2130_DEBUG_WR
-#define TMC2130_DEBUG_RD
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
 
 
 /*------------------------------------

Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h

@@ -66,25 +66,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define HOMING_FEEDRATE {3000, 3000, 800, 0}  // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
 
 //#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
-#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
-#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 100, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 12, 120}    // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {2000, 2000, 250, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          1500   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  1500   // X, Y, Z and E max acceleration in mm/s^2 for retracts
 
 
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
-#define MAX_SILENT_FEEDRATE           2700   // 
+//#define MAX_SILENT_FEEDRATE           2700   // 
 
 #define Z_AXIS_ALWAYS_ON 1
 
 //DEBUG
-//#define DEBUG_DISABLE_MINTEMP
-//#define DEBUG_DISABLE_SWLIMITS
-//#define DEBUG_DISABLE_PREVENT_EXTRUDER
-#define DEBUG_BLINK_ACTIVE
-//#define DEBUG_SKIP_STARTMSGS
-
+#if 0
+#define DEBUG_DISABLE_STARTMSGS //no startup messages 
+#define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
+#define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
+#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)
+//#define DEBUG_BLINK_ACTIVE
+#endif
 
 /*------------------------------------
  TMC2130 default settings
@@ -92,32 +95,33 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_FCLK 12000000       // fclk = 12MHz
 
-#define TMC2130_USTEPS_XY 16        // microstep resolution for XY axes
-#define TMC2130_USTEPS_Z  16        // microstep resolution for Z axis
-#define TMC2130_USTEPS_E  16        // microstep resolution for E axis
-#define TMC2130_EXP256_XY 1         // extrapolate 256 for XY axes
-#define TMC2130_EXP256_Z  1         // extrapolate 256 for Z axis
-#define TMC2130_EXP256_E  1         // extrapolate 256 for E axis
-
-// PWM register configuration
-//#define TMC2130_PWM_GRAD 0x08       // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
-//#define TMC2130_PWM_AMPL 0xC8       // 0xFF - Sets PWM amplitude to 200 (max is 255)
-#define TMC2130_PWM_GRAD 0x01       // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
-#define TMC2130_PWM_AMPL 0xc8       // 0xFF - Sets PWM amplitude to 200 (max is 255)
-#define TMC2130_PWM_AUTO 0x04       // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
-//#define TMC2130_PWM_FREQ 0x01       // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 35.1kHz
-#define TMC2130_PWM_FREQ 0x01       // 0x02 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 46.9kHz
-
-#define TMC2130_PWM_DIV  683        // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
+#define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
+#define TMC2130_USTEPS_E    16        // microstep resolution for E axis
+#define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
+#define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
+#define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
+
+#define TMC2130_PWM_GRAD_XY 15         // PWMCONF
+#define TMC2130_PWM_AMPL_XY 200       // PWMCONF
+#define TMC2130_PWM_AUTO_XY 1         // PWMCONF
+#define TMC2130_PWM_FREQ_XY 2         // PWMCONF
+
+/* //not used
+#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_AUTO_E  1         // PWMCONF
+#define TMC2130_PWM_FREQ_E  2         // PWMCONF
+*/
+
+//#define TMC2130_PWM_DIV  683        // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_DIV  512        // PWM frequency divider (1024, 683, 512, 410)
 #define TMC2130_PWM_CLK  (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
 
-// Special configuration for XY axes for operation (during standstill, use same settings as for other axes) //todo
-// RP: this settings does not work (overtemp)
-//#define TMC2130_PWM_GRAD_XY 156     // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
-//#define TMC2130_PWM_AMPL_XY 63      // 0xFF - Sets PWM amplitude to 200 (max is 255)
-//#define TMC2130_PWM_AUTO_XY 0x00    // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
-//#define TMC2130_PWM_FREQ_XY 0x01    // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK)
-
 #define TMC2130_TPWMTHRS 0          // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
 #define TMC2130_THIGH 0             // THIGH - unused
 
@@ -125,15 +129,17 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_SG_HOMING     1     // stallguard homing
 #define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
-#define TMC2130_SG_THRS_X    12     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y    12     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_X    30     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y    30     // stallguard sensitivity for Y axis
 #define TMC2130_SG_DELAY     10     // stallguard delay (temporary solution)
 
-#define TMC2130_CURRENTS_H {2, 2, 2, 4}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {6, 6, 8, 8}  // default running currents for all axes
+//new settings is possible for vsense = 1
+#define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
+#define TMC2130_CURRENTS_R {13, 13, 20, 20}  // default running currents for all axes
+
 #define TMC2130_DEBUG
-#define TMC2130_DEBUG_WR
-#define TMC2130_DEBUG_RD
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
 
 
 /*------------------------------------