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Support for EinsyRambo 0.3; improved M119 and M914

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- Now supports EinsyRambo 0.3
- M119 now shows average stallguard values for previous planner motion.
- M914 now disables stealthchop to allow SGT to be hand-tuned.
- Now using SERIAL_ECHO rather than SERIAL_PROTOCOL.
- M914 now allows negative values without overflow.
master
Marcio Teixeira 8 years ago
parent 5c9891e29f
commit 63cc0744d6
4 changed files with 96 additions and 88 deletions
Show Stats Download Patch File Download Diff File

160
Marlin/Conditionals_LulzBot.h
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@ -66,6 +66,7 @@
#define LULZBOT_USE_EINSYRAMBO #define LULZBOT_USE_EINSYRAMBO
#define LULZBOT_USE_AUTOLEVELING #define LULZBOT_USE_AUTOLEVELING
#define LULZBOT_SENSORLESS_HOMING #define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_SENSORLESS_PROBING
#define LULZBOT_BAUDRATE 115200 #define LULZBOT_BAUDRATE 115200
#define LULZBOT_UUID "4479bf92-7e47-4c2c-be95-64dd01bd413b" #define LULZBOT_UUID "4479bf92-7e47-4c2c-be95-64dd01bd413b"
#endif #endif
@ -107,9 +108,7 @@
#define LULZBOT_USE_EARLY_EINSY #define LULZBOT_USE_EARLY_EINSY
#define LULZBOT_TWO_PIECE_BED #define LULZBOT_TWO_PIECE_BED
#define LULZBOT_USE_AUTOLEVELING #define LULZBOT_USE_AUTOLEVELING
#define LULZBOT_USE_MIN_ENDSTOPS #define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_USE_MAX_ENDSTOPS
#define LULZBOT_USE_NORMALLY_CLOSED_ENDSTOPS
#define LULZBOT_BAUDRATE 250000 #define LULZBOT_BAUDRATE 250000
#define LULZBOT_PRINTCOUNTER #define LULZBOT_PRINTCOUNTER
#define LULZBOT_UUID "e5502411-d46d-421d-ba3a-a20126d7930f" #define LULZBOT_UUID "e5502411-d46d-421d-ba3a-a20126d7930f"
@ -125,9 +124,7 @@
#define LULZBOT_USE_LCD_DISPLAY #define LULZBOT_USE_LCD_DISPLAY
#define LULZBOT_TWO_PIECE_BED #define LULZBOT_TWO_PIECE_BED
#define LULZBOT_USE_AUTOLEVELING #define LULZBOT_USE_AUTOLEVELING
#define LULZBOT_USE_MIN_ENDSTOPS #define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_USE_MAX_ENDSTOPS
#define LULZBOT_USE_NORMALLY_CLOSED_ENDSTOPS
#define LULZBOT_BAUDRATE 250000 #define LULZBOT_BAUDRATE 250000
#define LULZBOT_PRINTCOUNTER #define LULZBOT_PRINTCOUNTER
#define LULZBOT_UUID "e5502411-d46d-421d-ba3a-a20126d7930f" #define LULZBOT_UUID "e5502411-d46d-421d-ba3a-a20126d7930f"
@ -1021,10 +1018,6 @@
st.shaft_dir(1); \ st.shaft_dir(1); \
st.external_ref(0); /* I_scale_analog = 0 */ \ st.external_ref(0); /* I_scale_analog = 0 */ \
st.internal_sense_R(0); /* internal_Rsense = 0 */ \ st.internal_sense_R(0); /* internal_Rsense = 0 */ \
/* Disable short protection since this generates false positives
on the Z axis when probing.
*/ \
//st.disable_short_protection(1)
#define LULZBOT_TMC_HEALTHCHECK(AXIS) \ #define LULZBOT_TMC_HEALTHCHECK(AXIS) \
{ \ { \
@ -1033,7 +1026,7 @@
AXIS##_DIR_WRITE(0); DIR_0 = (stepper##AXIS.IOIN() >> 1) & 0b1; \ AXIS##_DIR_WRITE(0); DIR_0 = (stepper##AXIS.IOIN() >> 1) & 0b1; \
AXIS##_DIR_WRITE(1); DIR_1 = (stepper##AXIS.IOIN() >> 1) & 0b1; \ AXIS##_DIR_WRITE(1); DIR_1 = (stepper##AXIS.IOIN() >> 1) & 0b1; \
if(!ALWAYS_1 || DIR_0 != 0 || DIR_1 != 1) { \ if(!ALWAYS_1 || DIR_0 != 0 || DIR_1 != 1) { \
SERIAL_PROTOCOLPGM("Failed TMC driver health check!"); \ SERIAL_ECHOPGM("Failed TMC driver health check!"); \
} \ } \
} }
@ -1043,6 +1036,8 @@
uint32_t IOIN = stepper##AXIS.IOIN(); \ uint32_t IOIN = stepper##AXIS.IOIN(); \
uint32_t IHOLD_IRUN = stepper##AXIS.IHOLD_IRUN(); \ uint32_t IHOLD_IRUN = stepper##AXIS.IHOLD_IRUN(); \
uint32_t CHOPCONF = stepper##AXIS.CHOPCONF(); \ uint32_t CHOPCONF = stepper##AXIS.CHOPCONF(); \
uint32_t COOLCONF = stepper##AXIS.COOLCONF(); \
int8_t SGT = (COOLCONF >> 16) & 0b1111111; \
uint16_t SG_RESULT = (DRVSTATUS) & 0b111111111; \ uint16_t SG_RESULT = (DRVSTATUS) & 0b111111111; \
bool drv_enn = (IOIN >> 4) & 0b1; \ bool drv_enn = (IOIN >> 4) & 0b1; \
bool stst = (DRVSTATUS >> 31) & 0b1; \ bool stst = (DRVSTATUS >> 31) & 0b1; \
@ -1056,29 +1051,38 @@
uint16_t ihold = (IHOLD_IRUN) & 0b11111; \ uint16_t ihold = (IHOLD_IRUN) & 0b11111; \
uint16_t irun = (IHOLD_IRUN >> 8) & 0b11111; \ uint16_t irun = (IHOLD_IRUN >> 8) & 0b11111; \
bool vsense = (CHOPCONF >> 17) & 0b1; \ bool vsense = (CHOPCONF >> 17) & 0b1; \
SERIAL_PROTOCOLPGM("TMC_" #AXIS ": "); \ SERIAL_ECHOPGM(" " #AXIS ":"); \
if(!drv_enn) SERIAL_PROTOCOLPGM("en "); \ SERIAL_ECHOPGM(" ihr:"); \
if(stst) SERIAL_PROTOCOLPGM("st "); \ SERIAL_ECHO(ihold); \
if(olb) SERIAL_PROTOCOLPGM("olb "); \ SERIAL_ECHOPGM("/"); \
if(ola) SERIAL_PROTOCOLPGM("ola "); \ SERIAL_ECHO(irun); \
if(s2gb) SERIAL_PROTOCOLPGM("s2gb "); \ SERIAL_ECHOPGM(" vsen:"); \
if(s2ga) SERIAL_PROTOCOLPGM("s2ga "); \ SERIAL_ECHO(vsense); \
if(otpw) SERIAL_PROTOCOLPGM("otpw "); \ if(stepper##AXIS.coolstep_min_speed() == 1024UL * 1024UL - 1UL) { \
if(ot) SERIAL_PROTOCOLPGM("ot "); \ SERIAL_ECHOPGM(" sgt:"); \
if(fsactive) SERIAL_PROTOCOLPGM("fsactive "); \ SERIAL_ECHO(LULZBOT_SIGN_EXTEND_SGT(SGT)); \
SERIAL_PROTOCOLPGM("ihold_irun:"); \ if(num_sg > 0) { \
SERIAL_PROTOCOL(ihold); \ SERIAL_ECHOPGM(" avg_sg:"); \
SERIAL_PROTOCOLPGM("/"); \ SERIAL_ECHO(sum_sg_##AXIS/num_sg); \
SERIAL_PROTOCOL(irun); \ } \
SERIAL_PROTOCOLPGM(" vsense:"); \ } else { \
SERIAL_PROTOCOL(vsense); \ SERIAL_ECHOPGM(" stealth"); \
SERIAL_PROTOCOLPGM(" SGR:"); \ } \
SERIAL_PROTOCOLLN(SG_RESULT); \ if(!drv_enn) SERIAL_ECHOPGM(" en"); \
if(stst) SERIAL_ECHOPGM(" st"); \
if(olb) SERIAL_ECHOPGM(" olb"); \
if(ola) SERIAL_ECHOPGM(" ola"); \
if(s2gb) SERIAL_ECHOPGM(" s2gb"); \
if(s2ga) SERIAL_ECHOPGM(" s2ga"); \
if(otpw) SERIAL_ECHOPGM(" otpw"); \
if(ot) SERIAL_ECHOPGM(" ot"); \
if(fsactive) SERIAL_ECHOPGM(" fsactive"); \
SERIAL_ECHOLN(""); \
} }
/* For reasons unknown, s2ga and s2gb seem to be getting triggered #define LULZBOT_SIGN_EXTEND_SGT(sgt) int8_t(sgt | ((sgt << 1) & 0x80))
* during probing at the end of Z motions. This checks to see if
* these flags are set, and if so, resets the drivers */ /* This checks to see if the s2ga and s2gb flags are set */
#define LULZBOT_TMC_CHECK_S2G(AXIS, WHERE) \ #define LULZBOT_TMC_CHECK_S2G(AXIS, WHERE) \
{ \ { \
safe_delay(100); \ safe_delay(100); \
@ -1086,76 +1090,65 @@
bool s2gb = (DRVSTATUS >> 28) & 0b1; \ bool s2gb = (DRVSTATUS >> 28) & 0b1; \
bool s2ga = (DRVSTATUS >> 27) & 0b1; \ bool s2ga = (DRVSTATUS >> 27) & 0b1; \
if(s2ga || s2gb) { \ if(s2ga || s2gb) { \
SERIAL_PROTOCOLLN("s2g detected in checkpoint#" #WHERE); \ SERIAL_ECHOLN("s2g detected in checkpoint#" #WHERE); \
/* Z_ENABLE_WRITE(!Z_ENABLE_ON); */ \
/* Z_ENABLE_WRITE( Z_ENABLE_ON); */ \
} \ } \
} }
#define LULZBOT_PROBE_DIAGNOSTICS(TRIGGERED) \ #define LULZBOT_PROBE_DIAGNOSTICS(TRIGGERED) \
if(TRIGGERED) \ if(TRIGGERED) \
SERIAL_ERRORLNPGM("Probe triggered"); \ SERIAL_ECHOLNPGM("Probe triggered"); \
else \ else \
SERIAL_ERRORLNPGM("Probe not triggered"); SERIAL_ERRORLNPGM("Probe not triggered");
/* The following function accumulates the average of a /* The following function accumulates the average of a
stallguard value during a planner move and reports stallguard values during a planner move */
it once the motion ends */ #define LULZBOT_TMC_STALLGUARD_AVG_VARS \
#define LULZBOT_TMC_STALLGUARD_AVERAGE(AXIS, SUM, NUM) \ static uint8_t current_tail, tally_freq = 10; \
static uint8_t current_tail; \ static uint32_t sum_sg_X = 0, sum_sg_Y = 0, sum_sg_Z = 0, sum_sg_E0 = 0, num_sg = 0;
static uint32_t SUM; \
static uint16_t NUM; \ #define LULZBOT_TMC_STALLGUARD_AVG_FUNC \
if(current_tail != planner.block_buffer_tail) { \ if(--tally_freq == 0) { \
current_tail = planner.block_buffer_tail; \ tally_freq = 10; \
/* When the planner finishes move, report results */ \ if(planner.blocks_queued()) { \
SERIAL_ECHOLNPAIR(#AXIS " avg_sg: ", SUM/NUM); \ /* Reset accumulators at the start of each movement */ \
SUM = 0; \ if(current_tail != planner.block_buffer_tail) { \
NUM = 0; \ current_tail = planner.block_buffer_tail; \
} else if(planner.blocks_queued()) { \ sum_sg_X = sum_sg_Y = sum_sg_Z = sum_sg_E0 = num_sg = 0; \
/* While in motion, accumulate sg values */ \ } \
SUM += stepper##AXIS.DRV_STATUS() & 0b111111111; \ /* While in motion, accumulate sg values */ \
NUM++; \ sum_sg_X += stepperX.DRV_STATUS() & 0b111111111; \
} sum_sg_Y += stepperY.DRV_STATUS() & 0b111111111; \
sum_sg_Z += stepperZ.DRV_STATUS() & 0b111111111; \
/* The following function reports when the average of the sum_sg_E0 += stepperE0.DRV_STATUS() & 0b111111111; \
stallguard value changes significantly */ num_sg++; \
#define LULZBOT_TMC_STALLGUARD_REPORT_CHANGES(AXIS, SUM, NUM, THRESH) \
static uint8_t current_tail; \
static uint32_t SUM; \
static uint16_t NUM; \
static uint16_t last_avg; \
if(current_tail != planner.block_buffer_tail) { \
current_tail = planner.block_buffer_tail; \
uint16_t avg = SUM/NUM; \
if(abs(int(last_avg) - avg) > last_avg * THRESH) { \
SERIAL_ECHOLNPAIR("Detected changed in sg value:", avg - last_avg); \
} \ } \
SERIAL_ECHOLNPAIR(#AXIS " avg_sg: ", avg); \
last_avg = avg; \
SUM = 0; \
NUM = 0; \
} else if(planner.blocks_queued()) { \
/* While in motion, accumulate sg values */ \
SUM += stepper##AXIS.DRV_STATUS() & 0b111111111; \
NUM++; \
} }
#define LULZBOT_TMC_G0G1_STALLGUARD_REPORT \
LULZBOT_TMC_STALLGUARD_AVERAGE(E0, sg_sum_e, sg_num_e)
//#define LULZBOT_TMC_G0G1_STALLGUARD_REPORT
#define LULZBOT_TMC_M119_STALLGUARD_REPORT \ #define LULZBOT_TMC_M119_STALLGUARD_REPORT \
SERIAL_ECHOLNPGM("TMC2130 Status:"); \
LULZBOT_TMC_REPORT(X) \ LULZBOT_TMC_REPORT(X) \
LULZBOT_TMC_REPORT(Y) \ LULZBOT_TMC_REPORT(Y) \
LULZBOT_TMC_REPORT(Z) LULZBOT_TMC_REPORT(Z) \
LULZBOT_TMC_REPORT(E0)
#define LULZBOT_ENABLE_STALLGUARD(st) \
/* Enable stallguard by disabling steathchop */ \
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
#define LULZBOT_TMC2130_ADV { \ #define LULZBOT_TMC2130_ADV { \
/* Turn off stealhchop for extruder motor */ \ /* Turn off stealhchop for extruder motor */ \
stepperE0.coolstep_min_speed(1024UL * 1024UL - 1UL); \ LULZBOT_ENABLE_STALLGUARD(stepperE0) \
/* Set stallguard value for filament sensing */ \ /* Set stallguard value for filament sensing */ \
stepperE0.sg_stall_value(5); \ stepperE0.sg_stall_value(5); \
/* Turn off stealhchop for Z motor */ \
LULZBOT_ENABLE_STALLGUARD(stepperZ) \
/* Set stallguard value for Z sensing */ \
stepperZ.sg_stall_value(5); \
} }
#define LULZBOT_M914_DISABLES_STEALTHCHOP(st) \
LULZBOT_ENABLE_STALLGUARD(st)
#else #else
#define LULZBOT_TMC_M119_STALLGUARD_REPORT #define LULZBOT_TMC_M119_STALLGUARD_REPORT
#define LULZBOT_TMC_G0G1_STALLGUARD_REPORT #define LULZBOT_TMC_G0G1_STALLGUARD_REPORT
@ -1179,6 +1172,11 @@
#define LULZBOT_Z_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP #define LULZBOT_Z_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
#if defined(LULZBOT_SENSORLESS_PROBING)
#define LULZBOT_Z_MIN_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
#define LULZBOT_Z_MIN_PROBE_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
#endif
#define LULZBOT_X_HOME_BUMP_MM 0 #define LULZBOT_X_HOME_BUMP_MM 0
#define LULZBOT_Y_HOME_BUMP_MM 0 #define LULZBOT_Y_HOME_BUMP_MM 0

3
Marlin/Marlin_main.cpp
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@ -9933,9 +9933,10 @@ inline void gcode_M502() {
static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) { static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
SERIAL_CHAR(name); SERIAL_CHAR(name);
SERIAL_ECHOLNPAIR(" driver homing sensitivity set to ", st.sgt()); SERIAL_ECHOLNPAIR(" driver homing sensitivity set to ", LULZBOT_SIGN_EXTEND_SGT(st.sgt()));
} }
static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) { static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
LULZBOT_M914_DISABLES_STEALTHCHOP(st)
st.sgt(sgt_val); st.sgt(sgt_val);
tmc2130_get_sgt(st, name); tmc2130_get_sgt(st, name);
} }

4
Marlin/endstops.cpp
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@ -133,6 +133,8 @@ void Endstops::init() {
} // Endstops::init } // Endstops::init
LULZBOT_TMC_STALLGUARD_AVG_VARS
void Endstops::report_state() { void Endstops::report_state() {
if (endstop_hit_bits) { if (endstop_hit_bits) {
#if ENABLED(ULTRA_LCD) #if ENABLED(ULTRA_LCD)
@ -181,7 +183,7 @@ void Endstops::report_state() {
} }
#endif #endif
} }
LULZBOT_TMC_G0G1_STALLGUARD_REPORT LULZBOT_TMC_STALLGUARD_AVG_FUNC
} // Endstops::report_state } // Endstops::report_state
void Endstops::M119() { void Endstops::M119() {

17
Marlin/pins_EINSYRAMBO.h
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@ -38,11 +38,18 @@
#define Z_IS_TMC2130 #define Z_IS_TMC2130
#define E0_IS_TMC2130 #define E0_IS_TMC2130
#define BOARD_Z_THRES_PIN 57 // PF3 as defined in "fastio_1280.h" #if defined(LULZBOT_USE_EARLY_EINSY)
#define BOARD_X_DIAG_PIN 64 // PK2 as defined in "fastio_1280.h" #define BOARD_X_DIAG_PIN 40 // PG1 as defined in "fastio_1280.h"
#define BOARD_Y_DIAG_PIN 69 // PK7 as defined in "fastio_1280.h" #define BOARD_Y_DIAG_PIN 69 // PK7 as defined in "fastio_1280.h"
#define BOARD_Z_DIAG_PIN 68 // PK6 as defined in "fastio_1280.h" #define BOARD_Z_DIAG_PIN 68 // PK6 as defined in "fastio_1280.h"
#define BOARD_E0_DIAG_PIN 65 // PK3 as defined in "fastio_1280.h" #define BOARD_E0_DIAG_PIN 65 // PK3 as defined in "fastio_1280.h"
#else
#define BOARD_Z_THRES_PIN 57 // PF3 as defined in "fastio_1280.h"
#define BOARD_X_DIAG_PIN 64 // PK2 as defined in "fastio_1280.h"
#define BOARD_Y_DIAG_PIN 69 // PK7 as defined in "fastio_1280.h"
#define BOARD_Z_DIAG_PIN 68 // PK6 as defined in "fastio_1280.h"
#define BOARD_E0_DIAG_PIN 65 // PK3 as defined in "fastio_1280.h"
#endif
#define BOARD_X_MIN_PIN 12 #define BOARD_X_MIN_PIN 12
#define BOARD_Y_MIN_PIN 11 #define BOARD_Y_MIN_PIN 11
#define BOARD_Z_MIN_PIN 10 #define BOARD_Z_MIN_PIN 10

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