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Fix TMC homing phase coils alignment (#18528)

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Co-authored-by: Fabio Santos <fabiosan@live.com>
This commit is contained in:
Giuliano Zaro 2020-07-07 00:32:33 +02:00 committed by GitHub
parent 6f14d2d37f
commit 9ee891c4a6
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 57 additions and 36 deletions
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22
Marlin/src/feature/tmc_util.cpp
View File

@ -480,6 +480,10 @@
TMC_GLOBAL_SCALER, TMC_GLOBAL_SCALER,
TMC_CS_ACTUAL, TMC_CS_ACTUAL,
TMC_PWM_SCALE, TMC_PWM_SCALE,
TMC_PWM_SCALE_SUM,
TMC_PWM_SCALE_AUTO,
TMC_PWM_OFS_AUTO,
TMC_PWM_GRAD_AUTO,
TMC_VSENSE, TMC_VSENSE,
TMC_STEALTHCHOP, TMC_STEALTHCHOP,
TMC_MICROSTEPS, TMC_MICROSTEPS,
@ -492,7 +496,8 @@
TMC_TBL, TMC_TBL,
TMC_HEND, TMC_HEND,
TMC_HSTRT, TMC_HSTRT,
TMC_SGT TMC_SGT,
TMC_MSCNT
}; };
enum TMC_drv_status_enum : char { enum TMC_drv_status_enum : char {
TMC_DRV_CODES, TMC_DRV_CODES,
@ -591,7 +596,10 @@
#if HAS_TMC220x #if HAS_TMC220x
static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) { static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch (i) { switch (i) {
case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break; case TMC_PWM_SCALE_SUM: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
case TMC_PWM_SCALE_AUTO: SERIAL_PRINT(st.pwm_scale_auto(), DEC); break;
case TMC_PWM_OFS_AUTO: SERIAL_PRINT(st.pwm_ofs_auto(), DEC); break;
case TMC_PWM_GRAD_AUTO: SERIAL_PRINT(st.pwm_grad_auto(), DEC); break;
case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break; case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break; case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break; case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break;
@ -680,6 +688,7 @@
case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break; case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break; case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;
case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break; case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;
case TMC_MSCNT: SERIAL_PRINT(st.get_microstep_counter(), DEC); break;
default: _tmc_status(st, i); break; default: _tmc_status(st, i); break;
} }
} }
@ -900,11 +909,20 @@
#if ENABLED(MONITOR_DRIVER_STATUS) #if ENABLED(MONITOR_DRIVER_STATUS)
TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED); TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED);
#endif #endif
#if HAS_TMC220x
TMC_REPORT("pwm scale sum", TMC_PWM_SCALE_SUM);
TMC_REPORT("pwm scale auto", TMC_PWM_SCALE_AUTO);
TMC_REPORT("pwm offset auto", TMC_PWM_OFS_AUTO);
TMC_REPORT("pwm grad auto", TMC_PWM_GRAD_AUTO);
#endif
TMC_REPORT("off time", TMC_TOFF); TMC_REPORT("off time", TMC_TOFF);
TMC_REPORT("blank time", TMC_TBL); TMC_REPORT("blank time", TMC_TBL);
TMC_REPORT("hysteresis\n -end\t", TMC_HEND); TMC_REPORT("hysteresis\n -end\t", TMC_HEND);
TMC_REPORT(" -start\t", TMC_HSTRT); TMC_REPORT(" -start\t", TMC_HSTRT);
TMC_REPORT("Stallguard thrs", TMC_SGT); TMC_REPORT("Stallguard thrs", TMC_SGT);
TMC_REPORT("uStep count", TMC_MSCNT);
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES); DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
#if HAS_TMCX1X0 || HAS_TMC220x #if HAS_TMCX1X0 || HAS_TMC220x
DRV_REPORT("sg_result", TMC_SG_RESULT); DRV_REPORT("sg_result", TMC_SG_RESULT);

71
Marlin/src/module/motion.cpp
View File

@ -1443,65 +1443,69 @@ void set_axis_not_trusted(const AxisEnum axis) {
TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis)); TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis));
} }
/** #ifdef TMC_HOME_PHASE
* Move the axis back to its home_phase if set and driver is capable (TMC) /**
* * Move the axis back to its home_phase if set and driver is capable (TMC)
* Improves homing repeatability by homing to stepper coil's nearest absolute *
* phase position. Trinamic drivers use a stepper phase table with 1024 values * Improves homing repeatability by homing to stepper coil's nearest absolute
* spanning 4 full steps with 256 positions each (ergo, 1024 positions). * phase position. Trinamic drivers use a stepper phase table with 1024 values
*/ * spanning 4 full steps with 256 positions each (ergo, 1024 positions).
void backout_to_tmc_homing_phase(const AxisEnum axis) { */
#ifdef TMC_HOME_PHASE void backout_to_tmc_homing_phase(const AxisEnum axis) {
const abc_long_t home_phase = TMC_HOME_PHASE; const xyz_long_t home_phase = TMC_HOME_PHASE;
// check if home phase is disabled for this axis. // check if home phase is disabled for this axis.
if (home_phase[axis] < 0) return; if (home_phase[axis] < 0) return;
int16_t axisMicrostepSize; int16_t phasePerUStep, // TMC µsteps(phase) per Marlin µsteps
int16_t phaseCurrent; phaseCurrent, // The TMC µsteps(phase) count of the current position
bool invertDir; effectorBackoutDir, // Direction in which the effector mm coordinates move away from endstop.
stepperBackoutDir; // Direction in which the TMC µstep count(phase) move away from endstop.
switch (axis) { switch (axis) {
#ifdef X_MICROSTEPS #ifdef X_MICROSTEPS
case X_AXIS: case X_AXIS:
axisMicrostepSize = 256 / (X_MICROSTEPS); phasePerUStep = 256 / (X_MICROSTEPS);
phaseCurrent = stepperX.get_microstep_counter(); phaseCurrent = stepperX.get_microstep_counter();
invertDir = INVERT_X_DIR; effectorBackoutDir = -X_HOME_DIR;
stepperBackoutDir = INVERT_X_DIR ? effectorBackoutDir : -effectorBackoutDir;
break; break;
#endif #endif
#ifdef Y_MICROSTEPS #ifdef Y_MICROSTEPS
case Y_AXIS: case Y_AXIS:
axisMicrostepSize = 256 / (Y_MICROSTEPS); phasePerUStep = 256 / (Y_MICROSTEPS);
phaseCurrent = stepperY.get_microstep_counter(); phaseCurrent = stepperY.get_microstep_counter();
invertDir = INVERT_Y_DIR; effectorBackoutDir = -Y_HOME_DIR;
stepperBackoutDir = INVERT_Y_DIR ? effectorBackoutDir : -effectorBackoutDir;
break; break;
#endif #endif
#ifdef Z_MICROSTEPS #ifdef Z_MICROSTEPS
case Z_AXIS: case Z_AXIS:
axisMicrostepSize = 256 / (Z_MICROSTEPS); phasePerUStep = 256 / (Z_MICROSTEPS);
phaseCurrent = stepperZ.get_microstep_counter(); phaseCurrent = stepperZ.get_microstep_counter();
invertDir = INVERT_Z_DIR; effectorBackoutDir = -Z_HOME_DIR;
stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir;
break; break;
#endif #endif
default: return; default: return;
} }
// Depending on invert dir measure the distance to nearest home phase. // Phase distance to nearest home phase position when moving in the backout direction from endstop(may be negative).
int16_t phaseDelta = (invertDir ? -1 : 1) * (home_phase[axis] - phaseCurrent); int16_t phaseDelta = (home_phase[axis] - phaseCurrent) * stepperBackoutDir;
// Check if home distance within endstop assumed repeatability noise of .05mm and warn. // Check if home distance within endstop assumed repeatability noise of .05mm and warn.
if (ABS(phaseDelta) * planner.steps_to_mm[axis] / axisMicrostepSize < 0.05f) if (ABS(phaseDelta) * planner.steps_to_mm[axis] / phasePerUStep < 0.05f)
DEBUG_ECHOLNPAIR("Selected home phase ", home_phase[axis], SERIAL_ECHOLNPAIR("Selected home phase ", home_phase[axis],
" too close to endstop trigger phase ", phaseCurrent, " too close to endstop trigger phase ", phaseCurrent,
". Pick a different phase for ", axis_codes[axis]); ". Pick a different phase for ", axis_codes[axis]);
// Skip to next if target position is behind current. So it only moves away from endstop. // Skip to next if target position is behind current. So it only moves away from endstop.
if (phaseDelta < 0) phaseDelta += 1024; if (phaseDelta < 0) phaseDelta += 1024;
// Get the integer µsteps to target. Unreachable phase? Consistently stop at the µstep before / after based on invertDir. // Convert TMC µsteps(phase) to whole Marlin µsteps to effector backout direction to mm
const float mmDelta = -(int16_t(phaseDelta / axisMicrostepSize) * planner.steps_to_mm[axis] * (Z_HOME_DIR)); const float mmDelta = int16_t(phaseDelta / phasePerUStep) * effectorBackoutDir * planner.steps_to_mm[axis];
// optional debug messages. // Optional debug messages
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR( DEBUG_ECHOLNPAIR(
"Endstop ", axis_codes[axis], " hit at Phase:", phaseCurrent, "Endstop ", axis_codes[axis], " hit at Phase:", phaseCurrent,
@ -1510,14 +1514,11 @@ void backout_to_tmc_homing_phase(const AxisEnum axis) {
} }
if (mmDelta != 0) { if (mmDelta != 0) {
// retrace by the amount computed in mmDelta. // Retrace by the amount computed in mmDelta.
do_homing_move(axis, mmDelta, get_homing_bump_feedrate(axis)); do_homing_move(axis, mmDelta, get_homing_bump_feedrate(axis));
} }
#else }
UNUSED(axis); #endif
#endif
}
/** /**
* Home an individual "raw axis" to its endstop. * Home an individual "raw axis" to its endstop.
@ -1748,8 +1749,10 @@ void homeaxis(const AxisEnum axis) {
} }
#endif #endif
// move back to homing phase if configured and capable #ifdef TMC_HOME_PHASE
backout_to_tmc_homing_phase(axis); // move back to homing phase if configured and capable
backout_to_tmc_homing_phase(axis);
#endif
#if IS_SCARA #if IS_SCARA