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Experimental hybrid COOLSTEP and STEALTHCHOP mode.

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- Added code for averaging TSTEPs during moves and displaying them
  with M119 (for tuning purposes).
- Added experimental mode that uses STEALTHCHOP during slow moves,
  and COOLSTEP during faster moves.
master
Marcio Teixeira 8 years ago
parent 5af33c0263
commit b42162f2d6
1 changed files with 45 additions and 15 deletions
Show Stats Download Patch File Download Diff File

60
Marlin/Conditionals_LulzBot.h
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@ -13,7 +13,7 @@
* got disabled.
*/
#define LULZBOT_FW_VERSION ".40" // Change this with each update
#define LULZBOT_FW_VERSION ".41" // Change this with each update
#if ( \
!defined(LULZBOT_Gladiola_Mini) && \
@ -150,6 +150,9 @@
#define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_USE_Z_BELT
#define LULZBOT_USE_SERIES_Z_MOTORS
#define LULZBOT_USE_32_MICROSTEPS_ON_Z
#define LULZBOT_USE_TMC_COOLSTEP
#define LULZBOT_USE_TMC_STEALTHCHOP
#define LULZBOT_BAUDRATE 250000
#define LULZBOT_PRINTCOUNTER
#define LULZBOT_UUID "1b8d32d3-0596-4335-8cd4-f3741a095087"
@ -168,6 +171,9 @@
#define LULZBOT_SENSORLESS_HOMING
#define LULZBOT_USE_Z_BELT
#define LULZBOT_USE_SERIES_Z_MOTORS
#define LULZBOT_USE_32_MICROSTEPS_ON_Z
#define LULZBOT_USE_TMC_COOLSTEP
#define LULZBOT_USE_TMC_STEALTHCHOP
#define LULZBOT_BAUDRATE 250000
#define LULZBOT_PRINTCOUNTER
#define LULZBOT_UUID "1b8d32d3-0596-4335-8cd4-f3741a095087"
@ -1240,9 +1246,22 @@
#define LULZBOT_COOLSTEP_DISABLED 1024UL * 1024UL - 1UL
#if defined(LULZBOT_USE_TMC_COOLSTEP)
#if defined(LULZBOT_USE_TMC_COOLSTEP) && defined(LULZBOT_USE_TMC_STEALTHCHOP)
// If both using COOLSTEP and STEALTHCHOP, then set a transition velocity
#define LULZBOT_COOLSTEP_MIN 200UL
#define LULZBOT_STEALTHCHOP
#elif defined(LULZBOT_USE_TMC_COOLSTEP) && !defined(LULZBOT_USE_TMC_STEALTHCHOP)
// Enable COOLSTEP for all velocities
#define LULZBOT_COOLSTEP_MIN 1UL
#elif !defined(LULZBOT_USE_TMC_COOLSTEP) && defined(LULZBOT_USE_TMC_STEALTHCHOP)
// Disable COOLSTEP for all velocities
#define LULZBOT_COOLSTEP_MIN LULZBOT_COOLSTEP_DISABLED
#define LULZBOT_STEALTHCHOP
#else
// Disable COOLSTEP for all velocities
#define LULZBOT_COOLSTEP_MIN LULZBOT_COOLSTEP_DISABLED
#endif
@ -1261,7 +1280,6 @@
st.sg_min(1); \
st.sg_max(10);
#define LULZBOT_TMC_REPORT(AXIS) \
{ \
uint32_t DRVSTATUS = stepper##AXIS.DRV_STATUS(); \
@ -1303,6 +1321,8 @@
} else { \
SERIAL_ECHOPGM(" stealth"); \
} \
SERIAL_ECHOPGM(" tstep_avg:"); \
SERIAL_ECHO(sum_tstep_##AXIS/num_sg); \
if(!drv_enn) SERIAL_ECHOPGM(" en"); \
if(stst) SERIAL_ECHOPGM(" st"); \
if(olb) SERIAL_ECHOPGM(" olb"); \
@ -1321,7 +1341,8 @@
stallguard values during a planner move */
#define LULZBOT_TMC_STALLGUARD_AVG_VARS \
static uint8_t current_tail, tally_freq = 10; \
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_sg_X = 0, sum_sg_Y = 0, sum_sg_Z = 0, sum_sg_E0 = 0, num_sg = 0; \
static uint32_t sum_tstep_X = 0, sum_tstep_Y = 0, sum_tstep_Z = 0, sum_tstep_E0 = 0;
#define LULZBOT_TMC_STALLGUARD_AVG_FUNC \
if(--tally_freq == 0) { \
@ -1330,13 +1351,18 @@
/* Reset accumulators at the start of each movement */ \
if(current_tail != planner.block_buffer_tail) { \
current_tail = planner.block_buffer_tail; \
sum_sg_X = sum_sg_Y = sum_sg_Z = sum_sg_E0 = num_sg = 0; \
sum_sg_X = sum_sg_Y = sum_sg_Z = sum_sg_E0 = 0; \
sum_tstep_X = sum_tstep_Y = sum_tstep_Z = sum_tstep_E0 = num_sg = 0; \
} \
/* While in motion, accumulate sg values */ \
sum_sg_X += stepperX.DRV_STATUS() & 0b111111111; \
sum_sg_Y += stepperY.DRV_STATUS() & 0b111111111; \
sum_sg_Z += stepperZ.DRV_STATUS() & 0b111111111; \
sum_sg_E0 += stepperE0.DRV_STATUS() & 0b111111111; \
sum_tstep_X += stepperX.TSTEP(); \
sum_tstep_Y += stepperY.TSTEP(); \
sum_tstep_Z += stepperZ.TSTEP(); \
sum_tstep_E0 += stepperE0.TSTEP(); \
sum_sg_X += stepperX.DRV_STATUS() & 0b111111111; \
sum_sg_Y += stepperY.DRV_STATUS() & 0b111111111; \
sum_sg_Z += stepperZ.DRV_STATUS() & 0b111111111; \
sum_sg_E0 += stepperE0.DRV_STATUS() & 0b111111111; \
num_sg++; \
} \
}
@ -1401,8 +1427,9 @@
stepperZ.hend(LULZBOT_Z_HEND); /* HEND = [0..15] */ \
stepperZ.tbl(LULZBOT_Z_TBL); /* TBL = [0..3] */ \
/* Set Z homing sensitivity */ \
stepperZ.sg_stall_value(LULZBOT_Z_HOMING_SENSITIVITY);
stepperZ.sg_stall_value(LULZBOT_Z_HOMING_SENSITIVITY); \
/* Always disable STEALHCHOP on E0 */ \
LULZBOT_ENABLE_STALLGUARD(stepperE0)
#define LULZBOT_TMC2130_ADV { \
LULZBOT_MOTOR_INIT_XY \
@ -1465,8 +1492,6 @@
// stallguard is never cleared.
//#define LULZBOT_ENDSTOP_INTERRUPTS_FEATURE
//#define LULZBOT_STEALTHCHOP
#undef LULZBOT_ENDSTOPS_ALWAYS_ON_DEFAULT
// According to Jason at UltiMachine, setting the lower the
@ -1625,8 +1650,13 @@
#define LULZBOT_Z_MICROSTEPS 16
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT) && !defined(LULZBOT_USE_Z_GEARBOX)
#define LULZBOT_Z_STEPS 201
#define LULZBOT_Z_MICROSTEPS 32
#if defined(LULZBOT_USE_32_MICROSTEPS_ON_Z)
#define LULZBOT_Z_STEPS 201
#define LULZBOT_Z_MICROSTEPS 32
#else
#define LULZBOT_Z_STEPS 100.5
#define LULZBOT_Z_MICROSTEPS 16
#endif
#define LULZBOT_DEFAULT_MAX_FEEDRATE {300, 300, 300, 40} // (mm/sec)
#define LULZBOT_DEFAULT_MAX_ACCELERATION {9000,9000,200,1000}

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