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DIGIPOTSS in motter current array with PWM, stored to eeprom, and G34 tested

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This commit is contained in:
InsanityAutomation
2020-08-09 16:43:08 -04:00
committed by InsanityAutomation
parent ccb2c3bb85
commit 47c6f8a98b
6 changed files with 130 additions and 84 deletions
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Marlin/src/gcode/calibrate/G34_M422.cpp
+78 -65
View File
@@ -22,31 +22,32 @@
#include "../../inc/MarlinConfig.h"
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#include "../../feature/z_stepper_align.h"
#include "../gcode.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"
#include "../../module/motion.h"
#include "../../module/probe.h"
#if HAS_MULTI_HOTEND
#include "../../module/tool_change.h"
#endif
#include "../../module/endstops.h"
#if HAS_LEVELING
#include "../../feature/bedlevel/bedlevel.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#include "../../feature/z_stepper_align.h"
#if HAS_MULTI_HOTEND
#include "../../module/tool_change.h"
#endif
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
#include "../../libs/least_squares_fit.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
/**
* G34: Z-Stepper automatic alignment
*
@@ -491,59 +492,25 @@ void GcodeSuite::M422() {
TEMPORARY_SOFT_ENDSTOP_STATE(false);
TEMPORARY_BED_LEVELING_STATE(false);
TemporaryGlobalEndstopsState unlock_z(false);
#ifdef GANTRY_CALIBRATION_COMMANDS_PRE
gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE));
#endif
// Store current motor settings, then apply reduced value
#if DAC_STEPPER_CURRENT
const float target_current = parserfloatval('S', GANTRY_CALIBRATION_CURRENT);
const float previous_current = dac_amps(Z_AXIS, target_current);
else
const int16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
#endif
#if HAS_DIGIPOTSS
const uint32_t previous_current = motor_current_setting[Z_AXIS];
stepper.digipot_current(Z_AXIS, target_current);
#elif HAS_MOTOR_CURRENT_PWM
const uint32_t previous_current = motor_current_setting[Z_AXIS];
stepper.digipot_current(1, target_current);
#if DAC_STEPPER_CURRENT
dac_current_raw(Z_AXIS, target_current);
#elif ENABLED(HAS_I2C_DIGIPOT)
previous_current = dac_amps(Z_AXIS);
digipot_i2c_set_current(Z_AXIS, target_current)
#elif HAS_TRINAMIC_CONFIG
static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
#if AXIS_IS_TMC(Z)
previous_current_arr[0] = stepperZ.getMilliamps();
stepperZ.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z2)
previous_current_arr[1] = stepperZ2.getMilliamps();
stepperZ2.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z3)
previous_current_arr[2] = stepperZ3.getMilliamps();
stepperZ3.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z4)
previous_current_arr[3] = stepperZ4.getMilliamps();
stepperZ4.rms_current(target_current);
#endif
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY");
// Move XY to safe position
#ifdef GANTRY_CALIBRATION_SAFE_POSITION
xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION;
current_position[X_AXIS] = safe_pos[X_AXIS];
current_position[Y_AXIS] = safe_pos[Y_AXIS];
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE);
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE));
planner.synchronize();
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Setting Z Pounce");
const uint16_t move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT);
// Move Z to pounce position
@@ -553,9 +520,49 @@ void GcodeSuite::M422() {
current_position[Z_AXIS] = (Z_MIN_POS + move_distance);
#endif
do_blocking_move_to(current_position, MMM_TO_MMS(HOMING_FEEDRATE_Z);
do_blocking_move_to(current_position, MMM_TO_MMS(HOMING_FEEDRATE_Z));
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Reducing Current");
// Store current motor settings, then apply reduced value
#if HAS_DIGIPOTSS
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
stepper.digipot_current(Z_AXIS, target_current);
#elif HAS_MOTOR_CURRENT_PWM
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
stepper.digipot_current(1, target_current);
#elif DAC_STEPPER_CURRENT
const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT);
const float previous_current = dac_amps(Z_AXIS, target_current);
dac_current_raw(Z_AXIS, target_current);
#elif ENABLED(HAS_I2C_DIGIPOT)
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
previous_current = dac_amps(Z_AXIS);
digipot_i2c_set_current(Z_AXIS, target_current)
#elif HAS_TRINAMIC_CONFIG
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
#if AXIS_IS_TMC(Z)
previous_current_arr[0] = stepperZ.getMilliamps();
stepperZ.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z2)
previous_current_arr[1] = stepperZ2.getMilliamps();
stepperZ2.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z3)
previous_current_arr[2] = stepperZ3.getMilliamps();
stepperZ3.rms_current(target_current);
#endif
#if AXIS_IS_TMC(Z4)
previous_current_arr[3] = stepperZ4.getMilliamps();
stepperZ4.rms_current(target_current);
#endif
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move");
// Do Final Z move to adjust
#if GANTRY_CALIBRATION_DIRECTION == 1
current_position[Z_AXIS] = (Z_MAX_POS + move_distance);
@@ -563,9 +570,11 @@ void GcodeSuite::M422() {
current_position[Z_AXIS] = (Z_MIN_POS - move_distance);
#endif
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE);
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Backoff");
// Back off end plate, back to normal motion range
#if GANTRY_CALIBRATION_DIRECTION == 1
current_position[Z_AXIS] = (Z_MAX_POS - move_distance);
@@ -573,34 +582,38 @@ void GcodeSuite::M422() {
current_position[Z_AXIS] = (Z_MIN_POS + move_distance);
#endif
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE);
do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current");
// Reset current to original values
#if HAS_DIGIPOTSS
stepper.digipot_current(Z_AXIS, previous_current);
#elif HAS_MOTOR_CURRENT_PWM
stepper.digipot_current(1, previous_current);
#if DAC_STEPPER_CURRENT
#elif DAC_STEPPER_CURRENT
dac_current_raw(Z_AXIS, previous_current);
#elif ENABLED(HAS_I2C_DIGIPOT)
digipot_i2c_set_current(Z_AXIS, previous_current)
#elif HAS_TRINAMIC_CONFIG
static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
#if AXIS_IS_TMC(Z)
stepperZ.rms_current(previous_current_arr[0]);
#endif
#if AXIS_IS_TMC(Z2)
stepperZ2.rms_current(previous_current_arr[1]);
#endif
#if AXIS_IS_TMC(Z3)
stepperZ3.rms_current(previous_current_arr[2]);
#endif
#if AXIS_IS_TMC(Z4)
stepperZ4.rms_current(previous_current_arr[3]);
#endif
stepperZ.rms_current(previous_current_arr[0]);
#endif
#if AXIS_IS_TMC(Z2)
stepperZ2.rms_current(previous_current_arr[1]);
#endif
#if AXIS_IS_TMC(Z3)
stepperZ3.rms_current(previous_current_arr[2]);
#endif
#if AXIS_IS_TMC(Z4)
stepperZ4.rms_current(previous_current_arr[3]);
#endif
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
#ifdef GANTRY_CALIBRATION_COMMANDS_POST
gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
#endif
Marlin/src/gcode/gcode.cpp
+1 -1
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@@ -335,7 +335,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
case 33: G33(); break; // G33: Delta Auto-Calibration
#endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#if ANY(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
case 34: G34(); break; // G34: Z Stepper automatic alignment using probe
#endif
Marlin/src/lcd/menu/menu_motion.cpp
+1 -1
View File
@@ -341,7 +341,7 @@ void menu_motion() {
//
// Auto Z-Align
//
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#if ANY(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
GCODES_ITEM(MSG_AUTO_Z_ALIGN, PSTR("G34"));
#endif
Marlin/src/module/settings.cpp
+32 -5
View File
@@ -37,7 +37,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V81"
#define EEPROM_VERSION "V82"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@@ -366,7 +366,11 @@ typedef struct SettingsDataStruct {
//
// HAS_MOTOR_CURRENT_PWM
//
uint32_t motor_current_setting[3]; // M907 X Z E
#if HAS_DIGIPOTSS
uint32_t motor_current_setting[COUNT(stepper.motor_current_setting)];
#else
uint32_t motor_current_setting[3]; // M907 X Z E
#endif
//
// CNC_COORDINATE_SYSTEMS
@@ -1278,7 +1282,7 @@ void MarlinSettings::postprocess() {
{
_FIELD_TEST(motor_current_setting);
#if HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_PWM || HAS_DIGIPOTSS
EEPROM_WRITE(stepper.motor_current_setting);
#else
const uint32_t no_current[3] = { 0 };
@@ -2111,13 +2115,19 @@ void MarlinSettings::postprocess() {
// Motor Current PWM
//
{
uint32_t motor_current_setting[3];
SERIAL_ECHOLN("DIGIPOTS Loading");
#if HAS_DIGIPOTSS
uint32_t motor_current_setting[] = DIGIPOT_MOTOR_CURRENT;
#else
uint32_t motor_current_setting[3]; // M907 X Z E
#endif
_FIELD_TEST(motor_current_setting);
EEPROM_READ(motor_current_setting);
#if HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_PWM || HAS_DIGIPOTSS
if (!validating)
COPY(stepper.motor_current_setting, motor_current_setting);
#endif
SERIAL_ECHOLN("DIGIPOTS Loaded");
}
//
@@ -2797,6 +2807,16 @@ void MarlinSettings::reset() {
stepper.digipot_current(q, (stepper.motor_current_setting[q] = tmp_motor_current_setting[q]));
#endif
//
// DIGIPOTS
//
SERIAL_ECHOLN("Writing Digipot");
#if HAS_DIGIPOTSS
static constexpr uint32_t tmp_motor_current_setting[] = DIGIPOT_MOTOR_CURRENT;
LOOP_L_N(q, COUNT(tmp_motor_current_setting))
stepper.digipot_current(q, tmp_motor_current_setting[q]);
#endif
SERIAL_ECHOLN("Digipot Written");
//
// CNC Coordinate System
//
@@ -3704,6 +3724,13 @@ void MarlinSettings::reset() {
, SP_Z_STR, stepper.motor_current_setting[1]
, SP_E_STR, stepper.motor_current_setting[2]
);
#elif HASDIGIPOTSS
CONFIG_ECHO_HEADING("Stepper motor currents:");
CONFIG_ECHO_START();
LOOP_L_N(q, COUNT(stepper.motor_current_setting)) {
SERIAL_ECHOPAIR_P( "M907 ", axis_codes[q]);
SERIAL_ECHOLN_P(stepper.motor_current_setting[q]);
}
#endif
/**
Marlin/src/module/stepper.cpp
+12 -10
View File
@@ -83,7 +83,7 @@ Stepper stepper; // Singleton
#define BABYSTEPPING_EXTRA_DIR_WAIT
#if HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_PWM || HAS_DIGIPOTSS
bool Stepper::initialized; // = false
#endif
@@ -144,6 +144,9 @@ Stepper stepper; // Singleton
#if HAS_MOTOR_CURRENT_PWM
uint32_t Stepper::motor_current_setting[3]; // Initialized by settings.load()
#elif HAS_DIGIPOTSS
constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
uint32_t Stepper::motor_current_setting[COUNT(digipot_count)]; // Initialized by settings.load()
#endif
// private:
@@ -2591,7 +2594,7 @@ void Stepper::init() {
set_directions();
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
TERN_(HAS_MOTOR_CURRENT_PWM, initialized = true);
initialized = true;
digipot_init();
#endif
}
@@ -2971,18 +2974,19 @@ void Stepper::report_positions() {
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
void Stepper::digipot_current(const uint8_t driver, const int16_t current) {
if (WITHIN(driver, 0, COUNT(motor_current_setting) - 1))
motor_current_setting[driver] = current; // update motor_current_setting
if (!initialized) return;
#if HAS_DIGIPOTSS
SERIAL_ECHOLNPAIR("Digipotss current ", current);
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
#elif HAS_MOTOR_CURRENT_PWM
if (!initialized) return;
if (WITHIN(driver, 0, COUNT(motor_current_setting) - 1))
motor_current_setting[driver] = current; // update motor_current_setting
#define _WRITE_CURRENT_PWM(P) analogWrite(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
switch (driver) {
@@ -3021,14 +3025,12 @@ void Stepper::report_positions() {
#if HAS_DIGIPOTSS
static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
LOOP_L_N(i, COUNT(digipot_motor_current)) {
LOOP_L_N(i, COUNT(motor_current_setting)) {
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
digipot_current(i, digipot_motor_current[i]);
digipot_current(i, motor_current_setting[i]);
}
#elif HAS_MOTOR_CURRENT_PWM
Marlin/src/module/stepper.h
+6 -2
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@@ -249,8 +249,12 @@ class Stepper {
#ifndef PWM_MOTOR_CURRENT
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
#endif
static uint32_t motor_current_setting[3];
static bool initialized;
static uint32_t motor_current_setting[3];
#elif HAS_DIGIPOTSS
static bool initialized;
static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
static uint32_t motor_current_setting[COUNT(digipot_count)]; // Initialized by settings.load()
#endif
// Last-moved extruder, as set when the last movement was fetched from planner
@@ -582,7 +586,7 @@ class Stepper {
static int32_t _eval_bezier_curve(const uint32_t curr_step);
#endif
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_PWM || HAS_DIGIPOTSS
static void digipot_init();
#endif