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Configure TMC interpolation per driver (#19828)

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ManuelMcLure 2020-10-22 04:27:33 -07:00 committed by GitHub
parent ec596315bd
commit 4fccb92e07
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4 changed files with 99 additions and 19 deletions
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25
Marlin/Configuration_adv.h
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@ -2261,14 +2261,20 @@
#if HAS_TRINAMIC_CONFIG
#define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current
#define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256
/**
* Interpolate microsteps to 256
* Override for each driver with <driver>_INTERPOLATE settings below
*/
#define INTERPOLATE true
#if AXIS_IS_TMC(X)
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing
#define X_MICROSTEPS 16 // 0..256
#define X_RSENSE 0.11
#define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...
#define X_CHAIN_POS -1 // -1..0: Not chained. 1: MCU MOSI connected. 2: Next in chain, ...
//#define X_INTERPOLATE true // Enable to override 'INTERPOLATE' for the X axis
#endif
#if AXIS_IS_TMC(X2)
@ -2277,6 +2283,7 @@
#define X2_MICROSTEPS 16
#define X2_RSENSE 0.11
#define X2_CHAIN_POS -1
//#define X2_INTERPOLATE true
#endif
#if AXIS_IS_TMC(Y)
@ -2285,6 +2292,7 @@
#define Y_MICROSTEPS 16
#define Y_RSENSE 0.11
#define Y_CHAIN_POS -1
//#define Y_INTERPOLATE true
#endif
#if AXIS_IS_TMC(Y2)
@ -2293,6 +2301,7 @@
#define Y2_MICROSTEPS 16
#define Y2_RSENSE 0.11
#define Y2_CHAIN_POS -1
//#define Y2_INTERPOLATE true
#endif
#if AXIS_IS_TMC(Z)
@ -2301,6 +2310,7 @@
#define Z_MICROSTEPS 16
#define Z_RSENSE 0.11
#define Z_CHAIN_POS -1
//#define Z_INTERPOLATE true
#endif
#if AXIS_IS_TMC(Z2)
@ -2309,6 +2319,7 @@
#define Z2_MICROSTEPS 16
#define Z2_RSENSE 0.11
#define Z2_CHAIN_POS -1
//#define Z2_INTERPOLATE true
#endif
#if AXIS_IS_TMC(Z3)
@ -2317,6 +2328,7 @@
#define Z3_MICROSTEPS 16
#define Z3_RSENSE 0.11
#define Z3_CHAIN_POS -1
//#define Z3_INTERPOLATE true
#endif
#if AXIS_IS_TMC(Z4)
@ -2325,6 +2337,7 @@
#define Z4_MICROSTEPS 16
#define Z4_RSENSE 0.11
#define Z4_CHAIN_POS -1
//#define Z4_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E0)
@ -2332,6 +2345,7 @@
#define E0_MICROSTEPS 16
#define E0_RSENSE 0.11
#define E0_CHAIN_POS -1
//#define E0_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E1)
@ -2339,6 +2353,7 @@
#define E1_MICROSTEPS 16
#define E1_RSENSE 0.11
#define E1_CHAIN_POS -1
//#define E1_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E2)
@ -2346,6 +2361,7 @@
#define E2_MICROSTEPS 16
#define E2_RSENSE 0.11
#define E2_CHAIN_POS -1
//#define E2_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E3)
@ -2353,6 +2369,7 @@
#define E3_MICROSTEPS 16
#define E3_RSENSE 0.11
#define E3_CHAIN_POS -1
//#define E3_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E4)
@ -2360,6 +2377,7 @@
#define E4_MICROSTEPS 16
#define E4_RSENSE 0.11
#define E4_CHAIN_POS -1
//#define E4_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E5)
@ -2367,6 +2385,7 @@
#define E5_MICROSTEPS 16
#define E5_RSENSE 0.11
#define E5_CHAIN_POS -1
//#define E5_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E6)
@ -2374,6 +2393,7 @@
#define E6_MICROSTEPS 16
#define E6_RSENSE 0.11
#define E6_CHAIN_POS -1
//#define E6_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E7)
@ -2381,6 +2401,7 @@
#define E7_MICROSTEPS 16
#define E7_RSENSE 0.11
#define E7_CHAIN_POS -1
//#define E7_INTERPOLATE true
#endif
/**

13
Marlin/src/feature/tmc_util.cpp
View File

@ -497,7 +497,8 @@
TMC_HEND,
TMC_HSTRT,
TMC_SGT,
TMC_MSCNT
TMC_MSCNT,
TMC_INTERPOLATE
};
enum TMC_drv_status_enum : char {
TMC_DRV_CODES,
@ -553,6 +554,7 @@
case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break;
case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
default: break;
}
}
@ -588,6 +590,7 @@
SERIAL_ECHOPGM("/256");
}
break;
case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
default: break;
}
}
@ -603,6 +606,7 @@
case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break;
case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
default: break;
}
}
@ -644,6 +648,12 @@
#if HAS_DRIVER(TMC2660)
static void _tmc_parse_drv_status(TMC2660Stepper, const TMC_drv_status_enum) { }
static void _tmc_status(TMC2660Stepper &st, const TMC_debug_enum i) {
switch (i) {
case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
default: break;
}
}
#endif
template <typename TMC>
@ -902,6 +912,7 @@
#endif
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
TMC_REPORT("interp\t", TMC_INTERPOLATE);
TMC_REPORT("tstep\t", TMC_TSTEP);
TMC_REPORT("PWM thresh.", TMC_TPWMTHRS);
TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);

48
Marlin/src/inc/Conditionals_post.h
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@ -1608,6 +1608,54 @@
#define Y_SPI_SENSORLESS Y_SENSORLESS
#define Z_SPI_SENSORLESS Z_SENSORLESS
#endif
#ifndef X_INTERPOLATE
#define X_INTERPOLATE INTERPOLATE
#endif
#ifndef X2_INTERPOLATE
#define X2_INTERPOLATE INTERPOLATE
#endif
#ifndef Y_INTERPOLATE
#define Y_INTERPOLATE INTERPOLATE
#endif
#ifndef Y2_INTERPOLATE
#define Y2_INTERPOLATE INTERPOLATE
#endif
#ifndef Z_INTERPOLATE
#define Z_INTERPOLATE INTERPOLATE
#endif
#ifndef Z2_INTERPOLATE
#define Z2_INTERPOLATE INTERPOLATE
#endif
#ifndef Z3_INTERPOLATE
#define Z3_INTERPOLATE INTERPOLATE
#endif
#ifndef Z4_INTERPOLATE
#define Z4_INTERPOLATE INTERPOLATE
#endif
#ifndef E0_INTERPOLATE
#define E0_INTERPOLATE INTERPOLATE
#endif
#ifndef E1_INTERPOLATE
#define E1_INTERPOLATE INTERPOLATE
#endif
#ifndef E2_INTERPOLATE
#define E2_INTERPOLATE INTERPOLATE
#endif
#ifndef E3_INTERPOLATE
#define E3_INTERPOLATE INTERPOLATE
#endif
#ifndef E4_INTERPOLATE
#define E4_INTERPOLATE INTERPOLATE
#endif
#ifndef E5_INTERPOLATE
#define E5_INTERPOLATE INTERPOLATE
#endif
#ifndef E6_INTERPOLATE
#define E6_INTERPOLATE INTERPOLATE
#endif
#ifndef E7_INTERPOLATE
#define E7_INTERPOLATE INTERPOLATE
#endif
#endif
#if (HAS_E_DRIVER(TMC2660) \

30
Marlin/src/module/stepper/trinamic.cpp
View File

@ -36,7 +36,7 @@
#include <SPI.h>
enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST)
#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST, ST##_INTERPOLATE)
// IC = TMC model number
// ST = Stepper object letter
@ -131,13 +131,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if HAS_DRIVER(TMC2130)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
st.begin();
CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01;
chopconf.toff = chop_init.toff;
chopconf.intpol = INTERPOLATE;
chopconf.intpol = interpolate;
chopconf.hend = chop_init.hend + 3;
chopconf.hstrt = chop_init.hstrt - 1;
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
@ -166,13 +166,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if HAS_DRIVER(TMC2160)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
st.begin();
CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01;
chopconf.toff = chop_init.toff;
chopconf.intpol = INTERPOLATE;
chopconf.intpol = interpolate;
chopconf.hend = chop_init.hend + 3;
chopconf.hstrt = chop_init.hstrt - 1;
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
@ -484,7 +484,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if HAS_DRIVER(TMC2208)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
TMC2208_n::GCONF_t gconf{0};
gconf.pdn_disable = true; // Use UART
gconf.mstep_reg_select = true; // Select microsteps with UART
@ -496,7 +496,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
TMC2208_n::CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01; // blank_time = 24
chopconf.toff = chop_init.toff;
chopconf.intpol = INTERPOLATE;
chopconf.intpol = interpolate;
chopconf.hend = chop_init.hend + 3;
chopconf.hstrt = chop_init.hstrt - 1;
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
@ -526,7 +526,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if HAS_DRIVER(TMC2209)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
TMC2208_n::GCONF_t gconf{0};
gconf.pdn_disable = true; // Use UART
gconf.mstep_reg_select = true; // Select microsteps with UART
@ -538,7 +538,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
TMC2208_n::CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01; // blank_time = 24
chopconf.toff = chop_init.toff;
chopconf.intpol = INTERPOLATE;
chopconf.intpol = interpolate;
chopconf.hend = chop_init.hend + 3;
chopconf.hstrt = chop_init.hstrt - 1;
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
@ -568,7 +568,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if HAS_DRIVER(TMC2660)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool, const chopper_timing_t &chop_init) {
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool, const chopper_timing_t &chop_init, const bool interpolate) {
st.begin();
TMC2660_n::CHOPCONF_t chopconf{0};
@ -582,7 +582,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
st.rms_current(mA);
st.microsteps(microsteps);
TERN_(SQUARE_WAVE_STEPPING, st.dedge(true));
st.intpol(INTERPOLATE);
st.intpol(interpolate);
st.diss2g(true); // Disable short to ground protection. Too many false readings?
TERN_(TMC_DEBUG, st.rdsel(0b01));
}
@ -590,13 +590,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if HAS_DRIVER(TMC5130)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
st.begin();
CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01;
chopconf.toff = chop_init.toff;
chopconf.intpol = INTERPOLATE;
chopconf.intpol = interpolate;
chopconf.hend = chop_init.hend + 3;
chopconf.hstrt = chop_init.hstrt - 1;
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
@ -625,13 +625,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if HAS_DRIVER(TMC5160)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
st.begin();
CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01;
chopconf.toff = chop_init.toff;
chopconf.intpol = INTERPOLATE;
chopconf.intpol = interpolate;
chopconf.hend = chop_init.hend + 3;
chopconf.hstrt = chop_init.hstrt - 1;
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);