TMC2130 stallguard SW homing improvement - steps delta instead of delay (loop count), new function tmc2130_home_restart, always enable endstops durring homing.

Firmware/Marlin_main.cpp

@@ -1985,55 +1985,43 @@ inline void gcode_M900() {
     }
 #endif // LIN_ADVANCE
 
-void homeaxis(int axis) {
+void homeaxis(int axis)
+{
+	bool endstops_enabled  = enable_endstops(true); //RP: endstops should be allways enabled durring homming
 #define HOMEAXIS_DO(LETTER) \
 ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-    
-    if (axis==X_AXIS ? HOMEAXIS_DO(X) :
-        axis==Y_AXIS ? HOMEAXIS_DO(Y) :
-        0) {
+    if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
+	{
         int axis_home_dir = home_dir(axis);
-        
 #ifdef HAVE_TMC2130_DRIVERS
 		tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
-        
         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] = 1.5 * max_length(axis) * axis_home_dir;
         feedrate = homing_feedrate[axis];
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-
 #ifdef HAVE_TMC2130_DRIVERS
-		sg_homing_delay = 0;
-		tmc2130_axis_stalled[axis] = false;
+		tmc2130_home_restart(axis);
 #endif
         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);
-
 #ifdef HAVE_TMC2130_DRIVERS
-		sg_homing_delay = 0;
-		tmc2130_axis_stalled[axis] = false;
+		tmc2130_home_restart(axis);
 #endif
         st_synchronize();
-        
         destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
 #ifdef HAVE_TMC2130_DRIVERS
-        if (tmc2130_didLastHomingStall())
-            feedrate = homing_feedrate[axis];
-        else
-#endif
+		feedrate = homing_feedrate[axis];
+#else
 		feedrate = homing_feedrate[axis] / 2;
+#endif
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-
 #ifdef HAVE_TMC2130_DRIVERS
-		sg_homing_delay = 0;
-		tmc2130_axis_stalled[axis] = false;
+		tmc2130_home_restart(axis);
 #endif
         st_synchronize();
         axis_is_at_home(axis);
@@ -2041,29 +2029,24 @@ void homeaxis(int axis) {
         feedrate = 0.0;
         endstops_hit_on_purpose();
         axis_known_position[axis] = true;
-        
 #ifdef HAVE_TMC2130_DRIVERS
 		tmc2130_home_exit();
 #endif
     }
-    else if (axis==Z_AXIS ? HOMEAXIS_DO(Z) :
-             0) {
+    else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
+	{
         int axis_home_dir = home_dir(axis);
-        
         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] = 1.5 * max_length(axis) * axis_home_dir;
         feedrate = homing_feedrate[axis];
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
         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);
         st_synchronize();
-        
         destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
         feedrate = homing_feedrate[axis]/2 ;
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@@ -2074,7 +2057,9 @@ void homeaxis(int axis) {
         endstops_hit_on_purpose();
         axis_known_position[axis] = true;
     }
+    enable_endstops(endstops_enabled);
 }
+
 /**/
 void home_xy()
 {
@@ -5996,11 +5981,29 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 		}
 		break;
 	case 3:
+		MYSERIAL.print("fsensor_enable()");
 		fsensor_enable();
 		break;
 	case 4:
+		MYSERIAL.print("fsensor_disable()");
 		fsensor_disable();
 		break;
+	case 5:
+		{
+/*			MYSERIAL.print("tmc2130_rd_MSCNT(0)=");
+			int val = tmc2130_rd_MSCNT(tmc2130_cs[0]);
+			MYSERIAL.println(val);*/
+			homeaxis(0);
+		}
+		break;
+	case 6:
+		{
+/*			MYSERIAL.print("tmc2130_rd_MSCNT(1)=");
+			int val = tmc2130_rd_MSCNT(tmc2130_cs[1]);
+			MYSERIAL.println(val);*/
+			homeaxis(1);
+		}
+		break;
 	}
   }
 

Firmware/pat9125.cpp

@@ -47,7 +47,7 @@ int pat9125_update()
 			int iDY = ucYL | ((ucXYH << 8) & 0xf00);
 			if (iDX & 0x800) iDX -= 4096;
 			if (iDY & 0x800) iDY -= 4096;
-//			pat9125_x += iDX;
+			pat9125_x += iDX;
 			pat9125_y += iDY;
 			return 1;
 		}

Firmware/swspi.h

@@ -1,7 +1,6 @@
 #ifndef SWSPI_H
 #define SWSPI_H
 
-
 //#define SWSPI_RPI
 #define SWSPI_AVR
 
@@ -14,18 +13,18 @@
 #endif //SWSPI_RPI
 
 #ifdef SWSPI_AVR
-#if (MOTHERBOARD == BOARD_EINY_0_3a)
+//#if MOTHERBOARD == BOARD_EINY_0_3a
 #define SWSPI_MISO	16 //RX2
 #define SWSPI_MOSI	16 //RX2
 #define SWSPI_SCK	17 //TX2
 #define SWSPI_CS	20 //SDA
-#endif //(MOTHERBOARD == BOARD_EINY_0_3a)
-#if (MOTHERBOARD == BOARD_EINY_0_4a)
+//#endif //(MOTHERBOARD == 299)
+/*#if MOTHERBOARD == BOARD_EINY_0_4a
 #define SWSPI_MISO	62 //PK0
 #define SWSPI_MOSI	62 //PK0
 #define SWSPI_SCK	21 //SCL
 #define SWSPI_CS	20 //SDA
-#endif //(MOTHERBOARD == BOARD_EINY_0_4a)
+#endif //(MOTHERBOARD == BOARD_EINY_0_4a)*/
 #endif //SWSPI_AVR
 
 #define SWSPI_POL	1 //polarity

Firmware/tmc2130.cpp

@@ -8,6 +8,7 @@
 //externals for debuging
 extern float current_position[4];
 extern void st_get_position_xy(long &x, long &y);
+extern long st_get_position(uint8_t axis);
 
 //chipselect pins
 uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
@@ -32,8 +33,9 @@ uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_XY, TMC2130_PWM_AUTO_XY};
 uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_XY, TMC2130_PWM_FREQ_XY};
 
 
+uint32_t tmc2131_axis_sg_pos[2] = {0, 0};
+
 uint8_t sg_homing_axes_mask = 0x00;
-uint8_t sg_homing_delay = 0;
 uint8_t sg_thrs_x = TMC2130_SG_THRS_X;
 uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
 
@@ -74,6 +76,7 @@ bool skip_debug_msg = false;
 
 
 uint16_t tmc2130_rd_TSTEP(uint8_t cs);
+uint16_t tmc2130_rd_MSCNT(uint8_t cs);
 uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect);
 
 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);
@@ -146,7 +149,11 @@ bool tmc2130_update_sg()
 	if (sg_homing_axes_mask == 0) return false;
 #ifdef TMC2130_DEBUG
 	MYSERIAL.print("tmc2130_update_sg mask=0x");
-	MYSERIAL.println((int)sg_homing_axes_mask, 16);
+	MYSERIAL.print((int)sg_homing_axes_mask, 16);
+	MYSERIAL.print(" stalledX=");
+	MYSERIAL.print((int)tmc2130_axis_stalled[0]);
+	MYSERIAL.print(" stalledY=");
+	MYSERIAL.println((int)tmc2130_axis_stalled[1]);
 #endif //TMC2130_DEBUG
 	for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
 	{
@@ -159,15 +166,19 @@ bool tmc2130_update_sg()
 				uint16_t tstep = tmc2130_rd_TSTEP(cs);
 				if (tstep < TMC2130_TCOOLTHRS)
 				{
-					if(sg_homing_delay < TMC2130_SG_DELAY) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
-						sg_homing_delay++;
-					else
+					long pos = st_get_position(axis);
+					if (abs(pos - tmc2131_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
 					{
 						uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
-						if (sg==0)
+						if (sg == 0)
 						{
+
 							tmc2130_axis_stalled[axis] = true;
 							tmc2130_LastHomingStalled = true;
+#ifdef TMC2130_DEBUG
+	MYSERIAL.print("tmc2130_update_sg AXIS STALLED ");
+	MYSERIAL.println((int)axis);
+#endif //TMC2130_DEBUG
 						}
 //						else
 //							tmc2130_axis_stalled[axis] = false;
@@ -233,7 +244,7 @@ void tmc2130_home_enter(uint8_t axes_mask)
 		{
 			uint8_t cs = tmc2130_cs[axis];
 			sg_homing_axes_mask |= mask;
-			sg_homing_delay = 0;
+			tmc2131_axis_sg_pos[axis] = st_get_position(axis);
 			tmc2130_axis_stalled[axis] = false;
 			//Configuration to spreadCycle
 			tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000000);
@@ -266,12 +277,19 @@ void tmc2130_home_exit()
 				else
 					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, 0x00000000);
 			}
+			tmc2130_axis_stalled[axis] = false;
 		}
 		sg_homing_axes_mask = 0x00;
 	}
 #endif
 }
 
+void tmc2130_home_restart(uint8_t axis)
+{
+	tmc2131_axis_sg_pos[axis] = st_get_position(axis);
+	tmc2130_axis_stalled[axis] = false;
+}
+
 uint8_t tmc2130_didLastHomingStall()
 {
 	uint8_t ret = tmc2130_LastHomingStalled;
@@ -353,6 +371,13 @@ uint16_t tmc2130_rd_TSTEP(uint8_t cs)
 	return val32 & 0xffff;
 }
 
+uint16_t tmc2130_rd_MSCNT(uint8_t cs)
+{
+	uint32_t val32 = 0;
+	tmc2130_rd(cs, TMC2130_REG_MSCNT, &val32);
+	return val32 & 0x3ff;
+}
+
 uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs)
 {
 	uint32_t val32 = 0;

Firmware/tmc2130.h

@@ -1,6 +1,8 @@
 #ifndef TMC2130_H
 #define TMC2130_H
 
+extern uint8_t tmc2130_cs[4];
+
 //mode
 extern uint8_t tmc2130_mode;
 //holding and running currents
@@ -12,8 +14,6 @@ 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
 
@@ -24,9 +24,11 @@ extern bool tmc2130_update_sg();
 //temperature watching (called from )
 extern void tmc2130_check_overtemp();
 //enter homing (called from homeaxis before homing starts)
-extern void tmc2130_home_enter(uint8_t axis);
+extern void tmc2130_home_enter(uint8_t axes_mask);
 //exit homing (called from homeaxis after homing ends)
 extern void tmc2130_home_exit();
+//restart homing (called from homeaxis befor move)
+extern void tmc2130_home_restart(uint8_t axis);
 //
 extern uint8_t tmc2130_didLastHomingStall();
 
@@ -43,4 +45,7 @@ extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl);
 extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
 
 
+extern uint16_t tmc2130_rd_MSCNT(uint8_t cs);
+
+
 #endif //TMC2130_H

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

@@ -131,13 +131,13 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
 #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_SG_DELTA     128    // stallguard delta [usteps] (minimum usteps before stallguard readed)
 
-//new settings is possible for vsense = 1
+//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right
 #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
 //#define TMC2130_DEBUG_WR
 //#define TMC2130_DEBUG_RD
 

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

@@ -131,11 +131,11 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
 #define TMC2130_SG_THRS_X    40     // stallguard sensitivity for X axis
 #define TMC2130_SG_THRS_Y    40     // stallguard sensitivity for Y axis
-#define TMC2130_SG_DELAY     10     // stallguard delay (temporary solution)
+#define TMC2130_SG_DELTA     128    // stallguard delta [usteps] (minimum usteps before stallguard readed)
 
-//new settings is possible for vsense = 1
-#define TMC2130_CURRENTS_H {15, 15, 20, 28}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {15, 15, 40, 28}  // default running currents for all axes
+//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right
+#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