Crashdetection + configuration file.

Firmware/Configuration_prusa.h

@@ -115,7 +115,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_PWM_FREQ_X  2         // PWMCONF
 
 #define TMC2130_PWM_GRAD_Y  4         // PWMCONF
-#define TMC2130_PWM_AMPL_Y  210       // PWMCONF
+#define TMC2130_PWM_AMPL_Y  215       // PWMCONF
 #define TMC2130_PWM_AUTO_Y  1         // PWMCONF
 #define TMC2130_PWM_FREQ_Y  2         // PWMCONF
 
@@ -137,19 +137,19 @@ 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 239       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS 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       0     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y       0     // stallguard sensitivity for Y axis
-#define TMC2130_SG_THRS_Z       2     // stallguard sensitivity for Z axis
+#define TMC2130_SG_THRS_X       4     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y       4     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_Z       3     // stallguard sensitivity for Z 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, 13, 20, 20}  // default running currents for all axes
+#define TMC2130_CURRENTS_R {13, 31, 20, 22}  // default running currents for all axes
 
 //#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR

Firmware/Marlin_main.cpp

@@ -583,7 +583,7 @@ void fsensor_restore_print_and_continue()
 }
 
 
-bool fsensor_enabled = true;
+bool fsensor_enabled = false;
 bool fsensor_ignore_error = true;
 bool fsensor_M600 = false;
 long fsensor_prev_pos_e = 0;
@@ -6964,6 +6964,26 @@ void restore_print_from_eeprom() {
 
 //extern uint32_t sdpos_atomic;
 
+void crashdet_enable()
+{
+	tmc2130_sg_stop_on_crash = true;
+}
+
+void crashdet_disable()
+{
+	tmc2130_sg_stop_on_crash = false;
+}
+
+void crashdet_stop_and_save_print()
+{
+	stop_and_save_print_to_ram(10, 0); //XY - no change, Z 10mm up, E - no change
+}
+
+void crashdet_restore_print_and_continue()
+{
+	restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
+}
+
 bool saved_printing = false;
 uint32_t saved_sdpos = 0;
 float saved_pos[4] = {0, 0, 0, 0};

Firmware/stepper.cpp

@@ -94,11 +94,13 @@ static bool check_endstops = true;
 
 static bool check_z_endstop = false;
 
-int8_t SilentMode;
+int8_t SilentMode = 0;
 
 volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
 volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 
+uint8_t LastStepMask = 0;
+
 #ifdef LIN_ADVANCE
 
   uint16_t ADV_NEVER = 65535;
@@ -390,6 +392,8 @@ void isr() {
     }
   }
 
+	LastStepMask = 0;
+
   if (current_block != NULL) {
     // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
     out_bits = current_block->direction_bits;
@@ -623,6 +627,7 @@ void isr() {
         counter_x += current_block->steps_x;
         if (counter_x > 0) {
           WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+		  LastStepMask |= X_AXIS_MASK;
 #ifdef DEBUG_XSTEP_DUP_PIN
     WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
 #endif //DEBUG_XSTEP_DUP_PIN
@@ -637,6 +642,7 @@ void isr() {
         counter_y += current_block->steps_y;
         if (counter_y > 0) {
           WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+		  LastStepMask |= Y_AXIS_MASK;
 #ifdef DEBUG_YSTEP_DUP_PIN
     WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
 #endif //DEBUG_YSTEP_DUP_PIN
@@ -660,7 +666,7 @@ void isr() {
       counter_z += current_block->steps_z;
       if (counter_z > 0) {
         WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
-        
+        LastStepMask |= Z_AXIS_MASK;
         #ifdef Z_DUAL_STEPPER_DRIVERS
           WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
         #endif
@@ -772,7 +778,9 @@ void isr() {
       plan_discard_current_block();
     }
   }
-  check_fans();
+#ifdef TMC2130
+	tmc2130_st_isr(LastStepMask);
+#endif //TMC2130
 }
 
 #ifdef LIN_ADVANCE
@@ -1149,6 +1157,7 @@ void babystep(const uint8_t axis,const bool direction)
     
     //perform step 
     WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); 
+	LastStepMask |= X_AXIS_MASK;
 #ifdef DEBUG_XSTEP_DUP_PIN
     WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
 #endif //DEBUG_XSTEP_DUP_PIN
@@ -1174,6 +1183,7 @@ void babystep(const uint8_t axis,const bool direction)
     
     //perform step 
     WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); 
+	LastStepMask |= Y_AXIS_MASK;
 #ifdef DEBUG_YSTEP_DUP_PIN
     WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN);
 #endif //DEBUG_YSTEP_DUP_PIN
@@ -1202,6 +1212,7 @@ void babystep(const uint8_t axis,const bool direction)
     #endif
     //perform step 
     WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); 
+	LastStepMask |= Z_AXIS_MASK;
     #ifdef Z_DUAL_STEPPER_DRIVERS
       WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
     #endif
@@ -1387,7 +1398,3 @@ void microstep_readings()
       SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
       #endif
 }
-
-
-
-

Firmware/tmc2130.cpp

@@ -13,6 +13,7 @@
 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();
 
 //chipselect pins
 uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
@@ -25,7 +26,7 @@ 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[3] = {0, 0, 0};
+uint8_t tmc2130_axis_stalled[4] = {0, 0, 0, 0};
 
 //pwm_ampl
 uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y};
@@ -37,12 +38,17 @@ uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y};
 uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y};
 
 
-uint8_t tmc2131_axis_sg_thr[3] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z};
+uint8_t tmc2131_axis_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, 0};
 
-uint32_t tmc2131_axis_sg_pos[3] = {0, 0, 0};
+uint32_t tmc2131_axis_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;
+
+
 bool skip_debug_msg = false;
 
 //TMC2130 registers
@@ -130,6 +136,7 @@ void tmc2130_init()
 //		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)tmc2131_axis_sg_thr[i]) << 16) | ((uint32_t)1 << 24));
 		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
 		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:TMC2130_TCOOLTHRS);
 		tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
@@ -162,6 +169,35 @@ void tmc2130_init()
 	}
 }
 
+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;
+	return mask;
+}
+
+void tmc2130_st_isr(uint8_t last_step_mask)
+{
+	bool error = false;
+	uint8_t diag_mask = tmc2130_sample_diag();
+	for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++)
+	{
+		uint8_t mask = (X_AXIS_MASK << axis);
+		if ((diag_mask & mask) && !(tmc2130_diag_mask & mask))
+			error = true;
+	}
+	tmc2130_diag_mask = diag_mask;
+	if (sg_homing_axes_mask == 0)
+		if (tmc2130_sg_stop_on_crash && error)
+		{
+			tmc2130_sg_crash = true;
+			crashdet_stop_and_save_print();
+		}
+}
+
 void tmc2130_update_sg_axis(uint8_t axis)
 {
 	if (!tmc2130_axis_stalled[axis])
@@ -251,7 +287,7 @@ void tmc2130_home_enter(uint8_t axes_mask)
 			tmc2130_axis_stalled[axis] = false;
 			//Configuration to spreadCycle
 			tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
-			tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((unsigned long)tmc2131_axis_sg_thr[axis]) << 16);
+			tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2131_axis_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
 			tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
 #ifndef TMC2130_SG_HOMING_SW_XY
 			if (mask & (X_AXIS_MASK | Y_AXIS_MASK))

Firmware/tmc2130.h

@@ -9,15 +9,21 @@ 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[3];
+extern uint8_t tmc2130_axis_stalled[4];
+
+extern uint8_t tmc2131_axis_sg_thr[4];
+
+extern bool tmc2130_sg_stop_on_crash;
+extern bool tmc2130_sg_crash;
 
-extern uint8_t tmc2131_axis_sg_thr[3];
 
 #define TMC2130_MODE_NORMAL 0
 #define TMC2130_MODE_SILENT 1
 
 //initialize tmc2130
 extern void tmc2130_init();
+//check diag pins (called from stepper isr)
+extern void tmc2130_st_isr(uint8_t last_step_mask);
 //update stall guard (called from st_synchronize inside the loop)
 extern bool tmc2130_update_sg();
 //temperature watching (called from )

Firmware/ultralcd.cpp

@@ -106,9 +106,15 @@ int8_t SDscrool = 0;
 int8_t SilentModeMenu = 0;
 
 int8_t FSensorStateMenu = 0;
+
+int8_t CrashDetectMenu = 0;
+
 extern void fsensor_enable();
 extern void fsensor_disable();
 
+extern void crashdet_enable();
+extern void crashdet_disable();
+
 
 #ifdef SNMM
 uint8_t snmm_extruder = 0;
@@ -166,7 +172,8 @@ extern bool powersupply;
 static void lcd_main_menu();
 static void lcd_tune_menu();
 static void lcd_prepare_menu();
-static void lcd_move_menu();
+//static void lcd_move_menu();
+static void lcd_crash_menu();
 static void lcd_settings_menu();
 static void lcd_calibration_menu();
 static void lcd_language_menu();
@@ -2520,18 +2527,6 @@ void EEPROM_read(int pos, uint8_t* value, uint8_t size)
   } while (--size);
 }
 
-static void lcd_fsensor_state_set()
-{
-    if (!FSensorStateMenu==0) {
-        fsensor_disable();
-    }else{
-        fsensor_enable();
-    }
-	FSensorStateMenu = !FSensorStateMenu;
-	lcd_goto_menu(lcd_settings_menu, 7);
-    
-}
-
 static void lcd_silent_mode_set() {
   SilentModeMenu = !SilentModeMenu;
   eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
@@ -2545,6 +2540,19 @@ static void lcd_silent_mode_set() {
   digipot_init();
   lcd_goto_menu(lcd_settings_menu, 7);
 }
+
+static void lcd_crash_mode_set()
+{
+    if (!CrashDetectMenu==0) {
+        crashdet_disable();
+    }else{
+        crashdet_enable();
+    }
+	CrashDetectMenu = !CrashDetectMenu;
+	lcd_goto_menu(lcd_settings_menu, 7);
+    
+}
+
 static void lcd_set_lang(unsigned char lang) {
   lang_selected = lang;
   firstrun = 1;
@@ -2555,6 +2563,18 @@ static void lcd_set_lang(unsigned char lang) {
     langsel = LANGSEL_ACTIVE;
 }
 
+static void lcd_fsensor_state_set()
+{
+    if (!FSensorStateMenu==0) {
+        fsensor_disable();
+    }else{
+        fsensor_enable();
+    }
+	FSensorStateMenu = !FSensorStateMenu;
+	lcd_goto_menu(lcd_settings_menu, 7);
+    
+}
+
 void lcd_force_language_selection() {
   eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_FORCE_SELECTION);
 }
@@ -2721,6 +2741,10 @@ void lcd_toshiba_flash_air_compatibility_toggle()
    eeprom_update_byte((uint8_t*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY, card.ToshibaFlashAir_isEnabled());
 }
 
+static void lcd_crash_menu()
+{
+}
+
 static void lcd_settings_menu()
 {
   EEPROM_read(EEPROM_SILENT, (uint8_t*)&SilentModeMenu, sizeof(SilentModeMenu));
@@ -2744,12 +2768,20 @@ static void lcd_settings_menu()
     MENU_ITEM(function, MSG_FSENSOR_ON, lcd_fsensor_state_set);
   }
 
-  if ((SilentModeMenu == 0) || (farm_mode) ) {
+  if (SilentModeMenu == 0) {
     MENU_ITEM(function, MSG_SILENT_MODE_OFF, lcd_silent_mode_set);
   } else {
     MENU_ITEM(function, MSG_SILENT_MODE_ON, lcd_silent_mode_set);
   }
-  
+
+  if (SilentModeMenu == 0) {
+    if (CrashDetectMenu == 0) {
+      MENU_ITEM(function, MSG_CRASHDETECT_OFF, lcd_crash_mode_set);
+    } else {
+      MENU_ITEM(function, MSG_CRASHDETECT_ON, lcd_crash_mode_set);
+    }
+  }
+
 	if (!isPrintPaused && !homing_flag)
 	{
 		MENU_ITEM(submenu, MSG_BABYSTEP_Z, lcd_babystep_z);