DIGIPOTSS in motter current array with PWM, stored to eeprom, and G34 tested
This commit is contained in:
InsanityAutomation
committed by
InsanityAutomation
InsanityAutomation
parent
88ce2c94f8
commit
af8be03165
@@ -22,31 +22,32 @@
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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#include "../../feature/z_stepper_align.h"
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#include "../gcode.h"
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#include "../../module/planner.h"
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#include "../../module/stepper.h"
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#include "../../module/motion.h"
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#include "../../module/probe.h"
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#if HAS_MULTI_HOTEND
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#include "../../module/tool_change.h"
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#endif
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#include "../../module/endstops.h"
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#if HAS_LEVELING
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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#include "../../feature/z_stepper_align.h"
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#if HAS_MULTI_HOTEND
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#include "../../module/tool_change.h"
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#endif
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#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
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#include "../../libs/least_squares_fit.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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/**
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* G34: Z-Stepper automatic alignment
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*
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@@ -491,59 +492,25 @@ void GcodeSuite::M422() {
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TEMPORARY_SOFT_ENDSTOP_STATE(false);
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TEMPORARY_BED_LEVELING_STATE(false);
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TemporaryGlobalEndstopsState unlock_z(false);
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#ifdef GANTRY_CALIBRATION_COMMANDS_PRE
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gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE));
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#endif
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// Store current motor settings, then apply reduced value
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#if DAC_STEPPER_CURRENT
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const float target_current = parserfloatval('S', GANTRY_CALIBRATION_CURRENT);
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const float previous_current = dac_amps(Z_AXIS, target_current);
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else
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const int16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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#endif
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#if HAS_DIGIPOTSS
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const uint32_t previous_current = motor_current_setting[Z_AXIS];
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stepper.digipot_current(Z_AXIS, target_current);
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#elif HAS_MOTOR_CURRENT_PWM
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const uint32_t previous_current = motor_current_setting[Z_AXIS];
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stepper.digipot_current(1, target_current);
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#if DAC_STEPPER_CURRENT
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dac_current_raw(Z_AXIS, target_current);
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#elif ENABLED(HAS_I2C_DIGIPOT)
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previous_current = dac_amps(Z_AXIS);
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digipot_i2c_set_current(Z_AXIS, target_current)
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#elif HAS_TRINAMIC_CONFIG
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static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
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#if AXIS_IS_TMC(Z)
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previous_current_arr[0] = stepperZ.getMilliamps();
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stepperZ.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z2)
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previous_current_arr[1] = stepperZ2.getMilliamps();
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stepperZ2.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z3)
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previous_current_arr[2] = stepperZ3.getMilliamps();
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stepperZ3.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z4)
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previous_current_arr[3] = stepperZ4.getMilliamps();
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stepperZ4.rms_current(target_current);
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#endif
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#endif
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed");
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY");
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// Move XY to safe position
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#ifdef GANTRY_CALIBRATION_SAFE_POSITION
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xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION;
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current_position[X_AXIS] = safe_pos[X_AXIS];
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current_position[Y_AXIS] = safe_pos[Y_AXIS];
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do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE);
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do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE));
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planner.synchronize();
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#endif
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Setting Z Pounce");
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const uint16_t move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT);
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// Move Z to pounce position
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@@ -553,9 +520,49 @@ void GcodeSuite::M422() {
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current_position[Z_AXIS] = (Z_MIN_POS + move_distance);
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#endif
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do_blocking_move_to(current_position, MMM_TO_MMS(HOMING_FEEDRATE_Z);
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do_blocking_move_to(current_position, MMM_TO_MMS(HOMING_FEEDRATE_Z));
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planner.synchronize();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Reducing Current");
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// Store current motor settings, then apply reduced value
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#if HAS_DIGIPOTSS
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
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stepper.digipot_current(Z_AXIS, target_current);
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#elif HAS_MOTOR_CURRENT_PWM
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
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stepper.digipot_current(1, target_current);
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#elif DAC_STEPPER_CURRENT
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const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT);
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const float previous_current = dac_amps(Z_AXIS, target_current);
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dac_current_raw(Z_AXIS, target_current);
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#elif ENABLED(HAS_I2C_DIGIPOT)
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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previous_current = dac_amps(Z_AXIS);
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digipot_i2c_set_current(Z_AXIS, target_current)
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#elif HAS_TRINAMIC_CONFIG
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const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
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static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
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#if AXIS_IS_TMC(Z)
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previous_current_arr[0] = stepperZ.getMilliamps();
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stepperZ.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z2)
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previous_current_arr[1] = stepperZ2.getMilliamps();
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stepperZ2.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z3)
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previous_current_arr[2] = stepperZ3.getMilliamps();
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stepperZ3.rms_current(target_current);
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#endif
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#if AXIS_IS_TMC(Z4)
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previous_current_arr[3] = stepperZ4.getMilliamps();
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stepperZ4.rms_current(target_current);
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#endif
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#endif
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move");
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// Do Final Z move to adjust
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#if GANTRY_CALIBRATION_DIRECTION == 1
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current_position[Z_AXIS] = (Z_MAX_POS + move_distance);
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@@ -563,9 +570,11 @@ void GcodeSuite::M422() {
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current_position[Z_AXIS] = (Z_MIN_POS - move_distance);
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#endif
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do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE);
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do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
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planner.synchronize();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Backoff");
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// Back off end plate, back to normal motion range
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#if GANTRY_CALIBRATION_DIRECTION == 1
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current_position[Z_AXIS] = (Z_MAX_POS - move_distance);
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@@ -573,34 +582,38 @@ void GcodeSuite::M422() {
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current_position[Z_AXIS] = (Z_MIN_POS + move_distance);
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#endif
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do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE);
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do_blocking_move_to(current_position, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE));
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planner.synchronize();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current");
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// Reset current to original values
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#if HAS_DIGIPOTSS
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stepper.digipot_current(Z_AXIS, previous_current);
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#elif HAS_MOTOR_CURRENT_PWM
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stepper.digipot_current(1, previous_current);
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#if DAC_STEPPER_CURRENT
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#elif DAC_STEPPER_CURRENT
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dac_current_raw(Z_AXIS, previous_current);
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#elif ENABLED(HAS_I2C_DIGIPOT)
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digipot_i2c_set_current(Z_AXIS, previous_current)
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#elif HAS_TRINAMIC_CONFIG
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static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
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#if AXIS_IS_TMC(Z)
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stepperZ.rms_current(previous_current_arr[0]);
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#endif
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#if AXIS_IS_TMC(Z2)
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stepperZ2.rms_current(previous_current_arr[1]);
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#endif
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#if AXIS_IS_TMC(Z3)
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stepperZ3.rms_current(previous_current_arr[2]);
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#endif
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#if AXIS_IS_TMC(Z4)
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stepperZ4.rms_current(previous_current_arr[3]);
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#endif
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stepperZ.rms_current(previous_current_arr[0]);
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#endif
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#if AXIS_IS_TMC(Z2)
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stepperZ2.rms_current(previous_current_arr[1]);
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#endif
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#if AXIS_IS_TMC(Z3)
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stepperZ3.rms_current(previous_current_arr[2]);
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#endif
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#if AXIS_IS_TMC(Z4)
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stepperZ4.rms_current(previous_current_arr[3]);
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#endif
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#endif
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
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#ifdef GANTRY_CALIBRATION_COMMANDS_POST
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gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
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#endif
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@@ -83,6 +83,10 @@ Stepper stepper; // Singleton
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#define BABYSTEPPING_EXTRA_DIR_WAIT
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#if HAS_MOTOR_CURRENT_PWM || HAS_DIGIPOTSS
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bool Stepper::initialized; // = false
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#endif
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#ifdef __AVR__
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#include "speed_lookuptable.h"
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#endif
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@@ -106,7 +110,7 @@ Stepper stepper; // Singleton
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#include "../feature/dac/dac_dac084s085.h"
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#endif
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#if HAS_MOTOR_CURRENT_SPI
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#if HAS_DIGIPOTSS
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#include <SPI.h>
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#endif
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@@ -138,12 +142,11 @@ Stepper stepper; // Singleton
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bool Stepper::separate_multi_axis = false;
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#endif
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#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
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bool Stepper::initialized; // = false
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uint32_t Stepper::motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load()
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#if HAS_MOTOR_CURRENT_SPI
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constexpr uint32_t Stepper::digipot_count[];
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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uint32_t Stepper::motor_current_setting[3]; // Initialized by settings.load()
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#elif HAS_DIGIPOTSS
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constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
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uint32_t Stepper::motor_current_setting[COUNT(digipot_count)]; // Initialized by settings.load()
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#endif
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// private:
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@@ -155,7 +158,7 @@ uint8_t Stepper::last_direction_bits, // = 0
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bool Stepper::abort_current_block;
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#if DISABLED(MIXING_EXTRUDER) && HAS_MULTI_EXTRUDER
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#if DISABLED(MIXING_EXTRUDER) && EXTRUDERS > 1
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uint8_t Stepper::last_moved_extruder = 0xFF;
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#endif
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@@ -191,7 +194,7 @@ uint32_t Stepper::advance_divisor = 0,
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Stepper::decelerate_after, // The count at which to start decelerating
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Stepper::step_event_count; // The total event count for the current block
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#if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
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#if EXTRUDERS > 1 || ENABLED(MIXING_EXTRUDER)
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uint8_t Stepper::stepper_extruder;
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#else
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constexpr uint8_t Stepper::stepper_extruder;
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@@ -357,11 +360,11 @@ xyze_int8_t Stepper::count_direction{0};
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#elif ENABLED(DUAL_X_CARRIAGE)
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#define X_APPLY_DIR(v,ALWAYS) do{ \
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if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(v); X2_DIR_WRITE(mirrored_duplication_mode ? !(v) : v); } \
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else if (last_moved_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
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else if (movement_extruder()) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
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}while(0)
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#define X_APPLY_STEP(v,ALWAYS) do{ \
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if (extruder_duplication_enabled || ALWAYS) { X_STEP_WRITE(v); X2_STEP_WRITE(v); } \
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else if (last_moved_extruder) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
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else if (movement_extruder()) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
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}while(0)
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#else
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#define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
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@@ -2131,7 +2134,7 @@ uint32_t Stepper::block_phase_isr() {
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MIXER_STEPPER_SETUP();
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#endif
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#if HAS_MULTI_EXTRUDER
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#if EXTRUDERS > 1
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stepper_extruder = current_block->extruder;
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#endif
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@@ -2156,7 +2159,7 @@ uint32_t Stepper::block_phase_isr() {
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|| TERN(MIXING_EXTRUDER, false, stepper_extruder != last_moved_extruder)
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) {
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last_direction_bits = current_block->direction_bits;
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#if HAS_MULTI_EXTRUDER
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#if EXTRUDERS > 1
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last_moved_extruder = stepper_extruder;
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#endif
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@@ -2590,7 +2593,7 @@ void Stepper::init() {
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set_directions();
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#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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initialized = true;
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digipot_init();
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#endif
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@@ -2930,10 +2933,10 @@ void Stepper::report_positions() {
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* Software-controlled Stepper Motor Current
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*/
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#if HAS_MOTOR_CURRENT_SPI
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#if HAS_DIGIPOTSS
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// From Arduino DigitalPotControl example
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void Stepper::set_digipot_value_spi(const int16_t address, const int16_t value) {
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void Stepper::digitalPotWrite(const int16_t address, const int16_t value) {
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WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip
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SPI.transfer(address); // Send the address and value via SPI
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SPI.transfer(value);
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@@ -2941,7 +2944,7 @@ void Stepper::report_positions() {
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//delay(10);
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}
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#endif // HAS_MOTOR_CURRENT_SPI
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#endif // HAS_DIGIPOTSS
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#if HAS_MOTOR_CURRENT_PWM
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@@ -2958,7 +2961,7 @@ void Stepper::report_positions() {
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#if ANY_PIN(MOTOR_CURRENT_PWM_E, MOTOR_CURRENT_PWM_E0, MOTOR_CURRENT_PWM_E1)
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case 2:
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#endif
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set_digipot_current(i, motor_current_setting[i]);
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digipot_current(i, motor_current_setting[i]);
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default: break;
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}
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}
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@@ -2968,23 +2971,23 @@ void Stepper::report_positions() {
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#if !MB(PRINTRBOARD_G2)
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#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) {
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void Stepper::digipot_current(const uint8_t driver, const int16_t current) {
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if (WITHIN(driver, 0, COUNT(motor_current_setting) - 1))
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motor_current_setting[driver] = current; // update motor_current_setting
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if (!initialized) return;
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#if HAS_MOTOR_CURRENT_SPI
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//SERIAL_ECHOLNPAIR("Digipotss current ", current);
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#if HAS_DIGIPOTSS
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SERIAL_ECHOLNPAIR("Digipotss current ", current);
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const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
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set_digipot_value_spi(digipot_ch[driver], current);
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digitalPotWrite(digipot_ch[driver], current);
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#elif HAS_MOTOR_CURRENT_PWM
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#define _WRITE_CURRENT_PWM(P) analogWrite(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
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switch (driver) {
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case 0:
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@@ -3020,13 +3023,15 @@ void Stepper::report_positions() {
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void Stepper::digipot_init() {
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#if HAS_MOTOR_CURRENT_SPI
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#if HAS_DIGIPOTSS
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SPI.begin();
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SET_OUTPUT(DIGIPOTSS_PIN);
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LOOP_L_N(i, COUNT(motor_current_setting))
|
||||
set_digipot_current(i, motor_current_setting[i]);
|
||||
LOOP_L_N(i, COUNT(motor_current_setting)) {
|
||||
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
|
||||
digipot_current(i, motor_current_setting[i]);
|
||||
}
|
||||
|
||||
#elif HAS_MOTOR_CURRENT_PWM
|
||||
|
||||
|
||||
+25
-22
@@ -245,25 +245,16 @@ class Stepper {
|
||||
static bool separate_multi_axis;
|
||||
#endif
|
||||
|
||||
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
|
||||
#if HAS_MOTOR_CURRENT_PWM
|
||||
#ifndef PWM_MOTOR_CURRENT
|
||||
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
|
||||
#endif
|
||||
#define MOTOR_CURRENT_COUNT 3
|
||||
#elif HAS_MOTOR_CURRENT_SPI
|
||||
static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
|
||||
#define MOTOR_CURRENT_COUNT COUNT(Stepper::digipot_count)
|
||||
#if HAS_MOTOR_CURRENT_PWM
|
||||
#ifndef PWM_MOTOR_CURRENT
|
||||
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
|
||||
#endif
|
||||
static bool initialized;
|
||||
static uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load()
|
||||
#endif
|
||||
|
||||
// Last-moved extruder, as set when the last movement was fetched from planner
|
||||
#if HAS_MULTI_EXTRUDER
|
||||
static uint8_t last_moved_extruder;
|
||||
#else
|
||||
static constexpr uint8_t last_moved_extruder = 0;
|
||||
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
|
||||
|
||||
private:
|
||||
@@ -275,6 +266,13 @@ class Stepper {
|
||||
|
||||
static bool abort_current_block; // Signals to the stepper that current block should be aborted
|
||||
|
||||
// Last-moved extruder, as set when the last movement was fetched from planner
|
||||
#if EXTRUDERS < 2
|
||||
static constexpr uint8_t last_moved_extruder = 0;
|
||||
#elif DISABLED(MIXING_EXTRUDER)
|
||||
static uint8_t last_moved_extruder;
|
||||
#endif
|
||||
|
||||
#if ENABLED(X_DUAL_ENDSTOPS)
|
||||
static bool locked_X_motor, locked_X2_motor;
|
||||
#endif
|
||||
@@ -310,7 +308,7 @@ class Stepper {
|
||||
decelerate_after, // The point from where we need to start decelerating
|
||||
step_event_count; // The total event count for the current block
|
||||
|
||||
#if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
|
||||
#if EXTRUDERS > 1 || ENABLED(MIXING_EXTRUDER)
|
||||
static uint8_t stepper_extruder;
|
||||
#else
|
||||
static constexpr uint8_t stepper_extruder = 0;
|
||||
@@ -457,15 +455,20 @@ class Stepper {
|
||||
// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
|
||||
FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
|
||||
|
||||
// The extruder associated to the last movement
|
||||
FORCE_INLINE static uint8_t movement_extruder() {
|
||||
return (EXTRUDERS > 1 && DISABLED(MIXING_EXTRUDER)) ? last_moved_extruder : 0;
|
||||
}
|
||||
|
||||
// Handle a triggered endstop
|
||||
static void endstop_triggered(const AxisEnum axis);
|
||||
|
||||
// Triggered position of an axis in steps
|
||||
static int32_t triggered_position(const AxisEnum axis);
|
||||
|
||||
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
|
||||
static void set_digipot_value_spi(const int16_t address, const int16_t value);
|
||||
static void set_digipot_current(const uint8_t driver, const int16_t current);
|
||||
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
|
||||
static void digitalPotWrite(const int16_t address, const int16_t value);
|
||||
static void digipot_current(const uint8_t driver, const int16_t current);
|
||||
#endif
|
||||
|
||||
#if HAS_MICROSTEPS
|
||||
@@ -588,7 +591,7 @@ class Stepper {
|
||||
static int32_t _eval_bezier_curve(const uint32_t curr_step);
|
||||
#endif
|
||||
|
||||
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
|
||||
#if HAS_MOTOR_CURRENT_PWM || HAS_DIGIPOTSS
|
||||
static void digipot_init();
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user