Merge pull request #596 from XPila/MK3-V3_2

Z-axis stealth mode

Firmware/mesh_bed_calibration.cpp

@@ -2034,7 +2034,11 @@ BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level
 //    SERIAL_ECHO(int(verbosity_level));
 //    SERIAL_ECHOPGM("");
 	
+#ifdef NEW_XYZCAL
+	{
+#else //NEW_XYZCAL
 	while (iteration < 3) {
+#endif //NEW_XYZCAL
 
 		SERIAL_ECHOPGM("Iteration: ");
 		MYSERIAL.println(int(iteration + 1));

Firmware/stepper.cpp

@@ -585,7 +585,12 @@ FORCE_INLINE void stepper_check_endstops()
       if (! check_z_endstop) {
         #ifdef TMC2130_SG_HOMING
           // Stall guard homing turned on
-          z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
+#ifdef TMC2130_STEALTH_Z
+		  if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
+	          z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+		  else
+#endif //TMC2130_STEALTH_Z
+	          z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
         #else
           z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
         #endif //TMC2130_SG_HOMING
@@ -601,6 +606,11 @@ FORCE_INLINE void stepper_check_endstops()
       #if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT)
         #ifdef TMC2130_SG_HOMING
         // Stall guard homing turned on
+#ifdef TMC2130_STEALTH_Z
+		  if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
+	          z_max_endstop = false;
+		  else
+#endif //TMC2130_STEALTH_Z
         z_max_endstop = (READ(Z_TMC2130_DIAG) != 0);
         #else
         z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
@@ -622,7 +632,12 @@ FORCE_INLINE void stepper_check_endstops()
       // Good for searching for the center of an induction target.
       #ifdef TMC2130_SG_HOMING
       // Stall guard homing turned on
-        z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
+#ifdef TMC2130_STEALTH_Z
+		  if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
+	          z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+		  else
+#endif //TMC2130_STEALTH_Z
+       z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
       #else
         z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
       #endif //TMC2130_SG_HOMING

Firmware/tmc2130.cpp

@@ -52,7 +52,7 @@ uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_TH
 uint8_t tmc2130_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
 
 
-uint8_t sg_homing_axes_mask = 0x00;
+uint8_t tmc2130_sg_homing_axes_mask = 0x00;
 
 uint8_t tmc2130_sg_meassure = 0xff;
 uint32_t tmc2130_sg_meassure_cnt = 0;
@@ -131,7 +131,16 @@ uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval);
 
 void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
 
-
+uint16_t __tcoolthrs(uint8_t axis)
+{
+	switch (axis)
+	{
+	case X_AXIS: return TMC2130_TCOOLTHRS_X;
+	case Y_AXIS: return TMC2130_TCOOLTHRS_Y;
+	case Z_AXIS: return TMC2130_TCOOLTHRS_Z;
+	}
+	return 0;
+}
 
 void tmc2130_init()
 {
@@ -156,7 +165,7 @@ void tmc2130_init()
 		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
 		tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
 		tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
-		tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y));
+		tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
 		tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
 		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
 		tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
@@ -166,7 +175,15 @@ void tmc2130_init()
 	{
 		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
 		tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
+#ifndef TMC2130_STEALTH_Z
 		tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
+#else //TMC2130_STEALTH_Z
+		tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
+		tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
+		tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
+		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
+		tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
+#endif //TMC2130_STEALTH_Z
 	}
 	for (int axis = 3; axis < 4; axis++) // E axis
 	{
@@ -238,7 +255,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
 			}
 		}
 	}
-	if (sg_homing_axes_mask == 0)
+	if (tmc2130_sg_homing_axes_mask == 0)
 	{
 		if (tmc2130_sg_stop_on_crash && crash)
 		{
@@ -265,7 +282,7 @@ bool tmc2130_update_sg()
 
 void tmc2130_home_enter(uint8_t axes_mask)
 {
-//	printf_P(PSTR("tmc2130_home_enter(axes_mask=0x%02x)\n"), axes_mask);
+	printf_P(PSTR("tmc2130_home_enter(axes_mask=0x%02x)\n"), axes_mask);
 #ifdef TMC2130_SG_HOMING
 	if (axes_mask & 0x03) //X or Y
 		tmc2130_wait_standstill_xy(1000);
@@ -274,12 +291,12 @@ void tmc2130_home_enter(uint8_t axes_mask)
 		uint8_t mask = (X_AXIS_MASK << axis);
 		if (axes_mask & mask)
 		{
-			sg_homing_axes_mask |= mask;
+			tmc2130_sg_homing_axes_mask |= mask;
 			//Configuration to spreadCycle
 			tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
 			tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
 //			tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
-			tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y);
+			tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
 			tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]);
 			if (mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
 				tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
@@ -290,18 +307,22 @@ void tmc2130_home_enter(uint8_t axes_mask)
 
 void tmc2130_home_exit()
 {
-//	printf_P(PSTR("tmc2130_home_exit sg_homing_axes_mask=0x%02x\n"), sg_homing_axes_mask);
+	printf_P(PSTR("tmc2130_home_exit tmc2130_sg_homing_axes_mask=0x%02x\n"), tmc2130_sg_homing_axes_mask);
 #ifdef TMC2130_SG_HOMING
-	if (sg_homing_axes_mask & 0x03) //X or Y
+	if (tmc2130_sg_homing_axes_mask & 0x03) //X or Y
 		tmc2130_wait_standstill_xy(1000);
-	if (sg_homing_axes_mask)
+	if (tmc2130_sg_homing_axes_mask)
 	{
 		for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
 		{
 			uint8_t mask = (X_AXIS_MASK << axis);
-			if (sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK))
+			if (tmc2130_sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
 			{
+#ifndef TMC2130_STEALTH_Z
+				if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS))
+#else //TMC2130_STEALTH_Z
 				if (tmc2130_mode == TMC2130_MODE_SILENT)
+#endif //TMC2130_STEALTH_Z
 				{
 					tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
 					tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
@@ -313,12 +334,12 @@ void tmc2130_home_exit()
 					tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
 //					tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
 					tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
-					tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:((axis==X_AXIS)?TMC2130_TCOOLTHRS_X:TMC2130_TCOOLTHRS_Y));
+					tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
 					tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
 				}
 			}
 		}
-		sg_homing_axes_mask = 0x00;
+		tmc2130_sg_homing_axes_mask = 0x00;
 	}
 	tmc2130_sg_crash = false;
 #endif

Firmware/tmc2130.h

@@ -20,6 +20,8 @@ extern uint8_t tmc2130_sg_meassure;
 extern uint32_t tmc2130_sg_meassure_cnt;
 extern uint32_t tmc2130_sg_meassure_val;
 
+extern uint8_t tmc2130_sg_homing_axes_mask;
+
 #define TMC2130_MODE_NORMAL 0
 #define TMC2130_MODE_SILENT 1
 

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

@@ -245,6 +245,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_CURRENTS_R {16, 20, 28, 36}  // default running currents for all axes
 #define TMC2130_UNLOAD_CURRENT_R 12			 // lowe current for M600 to protect filament sensor 
 
+#define TMC2130_STEALTH_Z
+
 //#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR
 //#define TMC2130_DEBUG_RD

Firmware/xyzcal.cpp

@@ -370,7 +370,7 @@ void xyzcal_adjust_pixels(uint8_t* pixels, uint16_t* histo)
 {
 	uint8_t l;
 	uint16_t max_c = histo[0];
-	uint8_t max_l = 0;
+	uint8_t max_l = 1;
 	for (l = 1; l < 16; l++)
 	{
 		uint16_t c = histo[l];
@@ -384,7 +384,7 @@ void xyzcal_adjust_pixels(uint8_t* pixels, uint16_t* histo)
 	for (l = 15; l > 8; l--)
 		if (histo[l] >= 10)
 			break;
-	uint8_t pix_min = (max_l + 2) << 4;
+	uint8_t pix_min = (max_l + 1) << 4;
 	uint8_t pix_max = l << 4;
 	uint8_t pix_dif = pix_max - pix_min;
 	DBG(_n(" min=%d max=%d dif=%d\n"), pix_min, pix_max, pix_dif);
@@ -425,7 +425,7 @@ void xyzcal_draw_pattern_12x12_in_32x32(uint8_t* pattern, uint32_t* pixels, int
 
 int16_t xyzcal_match_pattern_12x12_in_32x32(uint16_t* pattern, uint8_t* pixels, uint8_t c, uint8_t r)
 {
-	uint8_t thr = 32;
+	uint8_t thr = 16;
 	int16_t match = 0;
 	for (uint8_t i = 0; i < 12; i++)
 		for (uint8_t j = 0; j < 12; j++)