Linearity correction - TMC codes for calibration object, variable stored as uint8, range from 1.03 to 1.20

Firmware/Configuration.h

@@ -159,10 +159,10 @@
 // TMC2130 uStep linearity correction
 
 // Linearity correction factor (XYZE)
-#define EEPROM_TMC2130_WAVE_X_FAC              (EEPROM_TMC2130_HOME_ENABLED - 2)               // uint16
-#define EEPROM_TMC2130_WAVE_Y_FAC              (EEPROM_TMC2130_WAVE_X_FAC - 2)                 // uint16
-#define EEPROM_TMC2130_WAVE_Z_FAC              (EEPROM_TMC2130_WAVE_Y_FAC - 2)                 // uint16
-#define EEPROM_TMC2130_WAVE_E_FAC              (EEPROM_TMC2130_WAVE_Z_FAC - 2)                 // uint16
+#define EEPROM_TMC2130_WAVE_X_FAC              (EEPROM_TMC2130_HOME_ENABLED - 1)               // uint8
+#define EEPROM_TMC2130_WAVE_Y_FAC              (EEPROM_TMC2130_WAVE_X_FAC - 1)                 // uint8
+#define EEPROM_TMC2130_WAVE_Z_FAC              (EEPROM_TMC2130_WAVE_Y_FAC - 1)                 // uint8
+#define EEPROM_TMC2130_WAVE_E_FAC              (EEPROM_TMC2130_WAVE_Z_FAC - 1)                 // uint8
 
 
 ////////////////////////////////////////

Firmware/Dcodes.cpp

@@ -465,6 +465,7 @@ void dcode_10()
 void dcode_12()
 {//Time
 	LOG("D12 - Time\n");
+
 }
 
 
@@ -590,7 +591,7 @@ void dcode_2130()
 			}
 			else if (strncmp(strchr_pointer + 7, "wave", 4) == 0)
 			{
-				uint16_t fac1000 = atoi(strchr_pointer + 11) & 0xffff;
+				uint8_t fac1000 = atoi(strchr_pointer + 11) & 0xffff;
 				if (fac1000 < TMC2130_WAVE_FAC1000_MIN) fac1000 = 0;
 				if (fac1000 > TMC2130_WAVE_FAC1000_MAX) fac1000 = TMC2130_WAVE_FAC1000_MAX;
 				tmc2130_set_wave(axis, 247, fac1000);

Firmware/Marlin_main.cpp

@@ -57,6 +57,7 @@
 #include "Timer.h"
 
 #include <avr/wdt.h>
+#include <avr/pgmspace.h>
 
 #include "Dcodes.h"
 
@@ -1077,15 +1078,15 @@ void setup()
 
 #ifdef TMC2130_LINEARITY_CORRECTION
 #ifdef EXPERIMENTAL_FEATURES
-	tmc2130_wave_fac[X_AXIS] = eeprom_read_word((uint16_t*)EEPROM_TMC2130_WAVE_X_FAC);
-	tmc2130_wave_fac[Y_AXIS] = eeprom_read_word((uint16_t*)EEPROM_TMC2130_WAVE_Y_FAC);
-	tmc2130_wave_fac[Z_AXIS] = eeprom_read_word((uint16_t*)EEPROM_TMC2130_WAVE_Z_FAC);
+	tmc2130_wave_fac[X_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
+	tmc2130_wave_fac[Y_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
+	tmc2130_wave_fac[Z_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
 #endif //EXPERIMENTAL_FEATURES
 	tmc2130_wave_fac[E_AXIS] = eeprom_read_word((uint16_t*)EEPROM_TMC2130_WAVE_E_FAC);
-	if (tmc2130_wave_fac[X_AXIS] == 0xffff) tmc2130_wave_fac[X_AXIS] = 0;
-	if (tmc2130_wave_fac[Y_AXIS] == 0xffff) tmc2130_wave_fac[Y_AXIS] = 0;
-	if (tmc2130_wave_fac[Z_AXIS] == 0xffff) tmc2130_wave_fac[Z_AXIS] = 0;
-	if (tmc2130_wave_fac[E_AXIS] == 0xffff) tmc2130_wave_fac[E_AXIS] = 0;
+	if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
+	if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
+	if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
+	if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
 #endif //TMC2130_LINEARITY_CORRECTION
 
 #ifdef TMC2130_VARIABLE_RESOLUTION
@@ -2543,19 +2544,36 @@ void process_commands()
 	  lcd_setstatus(strchr_pointer + 5);
   }
 
-#ifdef TMC2130
-  else if(code_seen("CRASH_DETECTED"))
-  {
-	  uint8_t mask = 0;
-	  if (code_seen("X")) mask |= X_AXIS_MASK;
-	  if (code_seen("Y")) mask |= Y_AXIS_MASK;
-	  crashdet_detected(mask);
-  }
-  else if(code_seen("CRASH_RECOVER"))
-	  crashdet_recover();
-  else if(code_seen("CRASH_CANCEL"))
-	  crashdet_cancel();
-#endif //TMC2130
+//#ifdef TMC2130
+	else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
+	{
+	  if(code_seen("CRASH_DETECTED"))
+	  {
+		  uint8_t mask = 0;
+		  if (code_seen("X")) mask |= X_AXIS_MASK;
+		  if (code_seen("Y")) mask |= Y_AXIS_MASK;
+		  crashdet_detected(mask);
+	  }
+	  else if(code_seen("CRASH_RECOVER"))
+		  crashdet_recover();
+	  else if(code_seen("CRASH_CANCEL"))
+		  crashdet_cancel();
+	}
+	else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
+	{
+		if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_E"), 10) == 0)
+		{
+			uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
+			tmc2130_set_wave(E_AXIS, 247, fac);
+		}
+		else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_E"), 10) == 0)
+		{
+			uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
+			uint16_t res = tmc2130_get_res(E_AXIS);
+			tmc2130_goto_step(E_AXIS, step & (4*res - 1), 2, 1000, res);
+		}
+	}
+//#endif //TMC2130
 
   else if(code_seen("PRUSA")){
 		if (code_seen("Ping")) {  //PRUSA Ping

Firmware/temperature.cpp

@@ -992,7 +992,11 @@ static void updateTemperaturesFromRawValues()
 	current_temperature_ambient = analog2tempAmbient(current_temperature_raw_ambient); //thermistor for ambient is NTCG104LH104JT1 (2000)
 #endif
    
+#ifdef DEBUG_HEATER_BED_SIM
+	current_temperature_bed = target_temperature_bed;
+#else //DEBUG_HEATER_BED_SIM
 	current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
+#endif //DEBUG_HEATER_BED_SIM
 
     #ifdef TEMP_SENSOR_1_AS_REDUNDANT
       redundant_temperature = analog2temp(redundant_temperature_raw, 1);

Firmware/tmc2130.cpp

@@ -63,7 +63,7 @@ uint8_t tmc2130_home_origin[2] = {0, 0};
 uint8_t tmc2130_home_bsteps[2] = {48, 48};
 uint8_t tmc2130_home_fsteps[2] = {48, 48};
 
-uint16_t tmc2130_wave_fac[4] = {0, 0, 0, 0};
+uint8_t tmc2130_wave_fac[4] = {0, 0, 0, 0};
 
 bool tmc2130_sg_stop_on_crash = true;
 uint8_t tmc2130_sg_diag_mask = 0x00;
@@ -193,9 +193,9 @@ void tmc2130_init()
 	tmc2130_sg_cnt[3] = 0;
 
 #ifdef TMC2130_LINEARITY_CORRECTION
-	tmc2130_set_wave(X_AXIS, 247, tmc2130_wave_fac[X_AXIS]);
-	tmc2130_set_wave(Y_AXIS, 247, tmc2130_wave_fac[Y_AXIS]);
-	tmc2130_set_wave(Z_AXIS, 247, tmc2130_wave_fac[Z_AXIS]);
+//	tmc2130_set_wave(X_AXIS, 247, tmc2130_wave_fac[X_AXIS]);
+//	tmc2130_set_wave(Y_AXIS, 247, tmc2130_wave_fac[Y_AXIS]);
+//	tmc2130_set_wave(Z_AXIS, 247, tmc2130_wave_fac[Z_AXIS]);
 	tmc2130_set_wave(E_AXIS, 247, tmc2130_wave_fac[E_AXIS]);
 #endif //TMC2130_LINEARITY_CORRECTION
 
@@ -892,14 +892,16 @@ void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream)
 	tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
 }
 
-void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint16_t fac1000)
+void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000)
 {
 // TMC2130 wave compression algorithm
 // optimized for minimal memory requirements
-	printf_P(PSTR("tmc2130_set_wave %d %d\n"), axis, fac1000);
+	printf_P(PSTR("tmc2130_set_wave %hhd %hhd\n"), axis, fac1000);
 	if (fac1000 < TMC2130_WAVE_FAC1000_MIN) fac1000 = 0;
 	if (fac1000 > TMC2130_WAVE_FAC1000_MAX) fac1000 = TMC2130_WAVE_FAC1000_MAX;
-	float fac = (float)fac1000/1000; //correction factor
+	float fac = 0;
+	if (fac1000) fac = (float)((uint16_t)fac1000 + 1000) / 1000; //correction factor
+	printf_P(PSTR(" factor: %s\n"), ftostr43(fac));
 	uint8_t vA = 0;                //value of currentA
 	uint8_t va = 0;                //previous vA
 	uint8_t d0 = 0;                //delta0

Firmware/tmc2130.h

@@ -23,8 +23,8 @@ extern uint32_t tmc2130_sg_meassure_val;
 #define TMC2130_MODE_NORMAL 0
 #define TMC2130_MODE_SILENT 1
 
-#define TMC2130_WAVE_FAC1000_MIN 900
-#define TMC2130_WAVE_FAC1000_MAX 1250
+#define TMC2130_WAVE_FAC1000_MIN  30
+#define TMC2130_WAVE_FAC1000_MAX 200
 #define TMC2130_WAVE_FAC1000_STP   1
 
 extern uint8_t tmc2130_home_enabled;
@@ -32,7 +32,7 @@ extern uint8_t tmc2130_home_origin[2];
 extern uint8_t tmc2130_home_bsteps[2];
 extern uint8_t tmc2130_home_fsteps[2];
 
-extern uint16_t tmc2130_wave_fac[4];
+extern uint8_t tmc2130_wave_fac[4];
 
 
 //initialize tmc2130
@@ -117,7 +117,7 @@ extern void tmc2130_do_step(uint8_t axis);
 extern void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us);
 extern void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution);
 extern void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream);
-extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint16_t fac1000);
+extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000);
 
 extern bool tmc2130_home_calibrate(uint8_t axis);
 

Firmware/ultralcd.cpp

@@ -242,7 +242,7 @@ static void menu_action_setlang(unsigned char lang);
 static void menu_action_sdfile(const char* filename, char* longFilename);
 static void menu_action_sddirectory(const char* filename, char* longFilename);
 static void menu_action_setting_edit_bool(const char* pstr, bool* ptr);
-static void menu_action_setting_edit_wfac(const char* pstr, uint16_t* ptr, uint16_t minValue, uint16_t maxValue);
+static void menu_action_setting_edit_wfac(const char* pstr, uint8_t* ptr, uint8_t minValue, uint8_t maxValue);
 static void menu_action_setting_edit_mres(const char* pstr, uint8_t* ptr, uint8_t minValue, uint8_t maxValue);
 static void menu_action_setting_edit_byte3(const char* pstr, uint8_t* ptr, uint8_t minValue, uint8_t maxValue);
 static void menu_action_setting_edit_int3(const char* pstr, int* ptr, int minValue, int maxValue);
@@ -6114,20 +6114,20 @@ char *mres_to_str3(const uint8_t &x)
 }
 menu_edit_type(uint8_t, mres, mres_to_str3, 1)
 // Convert tmc2130 wfac to string 
-char *wfac_to_str5(const uint16_t &x)
+char *wfac_to_str5(const uint8_t &x)
 {
-	if (x>=TMC2130_WAVE_FAC1000_MIN)
+	if (x >= TMC2130_WAVE_FAC1000_MIN)
 	    {
 	    conv[0] = '[';
-	    ftostr43(((float)(x & 0xffff)/1000),1);
+	    ftostr43(((float)((uint16_t)x + 1000) / 1000), 1);
 	    }
-	else strcpy_P(conv,MSG_EXTRUDER_CORRECTION_OFF);
+	else strcpy_P(conv, MSG_EXTRUDER_CORRECTION_OFF);
 	conv[6] = ']';
 	conv[7] = ' ';
 	conv[8] = 0;
 	return conv;
 }
-menu_edit_type(uint16_t, wfac, wfac_to_str5, 1)
+menu_edit_type(uint8_t, wfac, wfac_to_str5, 1)
 #endif //TMC2130
 
 menu_edit_type(uint8_t, byte3, itostr3, 1)

Firmware/ultralcd_implementation_hitachi_HD44780.h

@@ -1145,7 +1145,7 @@ static void lcd_implementation_drawmenu_setting_edit_generic_P(uint8_t row, cons
 }
 
 
-extern char *wfac_to_str5(const uint16_t &x);
+extern char *wfac_to_str5(const uint8_t &x);
 extern char *mres_to_str3(const uint8_t &x);
 
 #define lcd_implementation_drawmenu_setting_edit_wfac_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', wfac_to_str5(*(data)))

Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h

@@ -169,7 +169,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #endif /* DEBUG_BUILD */
 
 //#define EXPERIMENTAL_FEATURES
-//#define TMC2130_LINEARITY_CORRECTION
+#define TMC2130_LINEARITY_CORRECTION
 //#define TMC2130_VARIABLE_RESOLUTION