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TMC SPI Endstops and Improved Sensorless Homing (#14044)

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This commit is contained in:
teemuatlut
2019-08-05 06:22:58 +03:00
committed by Scott Lahteine
parent d493cafc4a
commit d4974ea719
9 changed files with 251 additions and 29 deletions
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53
Marlin/src/feature/tmc_util.h
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@ -140,6 +140,9 @@ class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
this->stored.homing_thrs = sgt_val;
#endif
}
#if ENABLED(SPI_ENDSTOPS)
bool test_stall_status();
#endif
#endif
#if HAS_LCD_MENU
@ -355,9 +358,22 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
* Defined here because of limitations with templates and headers.
*/
#if USE_SENSORLESS
// Track enabled status of stealthChop and only re-enable where applicable
struct sensorless_t { bool x, y, z, x2, y2, z2, z3; };
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
extern millis_t sg_guard_period;
constexpr uint16_t default_sg_guard_duration = 400;
struct slow_homing_t {
struct { uint32_t x, y; } acceleration;
#if HAS_CLASSIC_JERK
struct { float x, y; } jerk;
#endif
};
#endif
bool tmc_enable_stallguard(TMC2130Stepper &st);
void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
@ -366,7 +382,42 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
bool tmc_enable_stallguard(TMC2660Stepper);
void tmc_disable_stallguard(TMC2660Stepper, const bool);
#endif
#if ENABLED(SPI_ENDSTOPS)
template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() {
uint16_t sg_result = 0;
this->switchCSpin(LOW);
if (this->TMC_SW_SPI != nullptr) {
this->TMC_SW_SPI->transfer(TMC2130_n::DRV_STATUS_t::address);
this->TMC_SW_SPI->transfer16(0);
// We only care about the last 10 bits
sg_result = this->TMC_SW_SPI->transfer(0);
sg_result <<= 8;
sg_result |= this->TMC_SW_SPI->transfer(0);
}
else {
SPI.beginTransaction(SPISettings(16000000/8, MSBFIRST, SPI_MODE3));
// Read DRV_STATUS
SPI.transfer(TMC2130_n::DRV_STATUS_t::address);
SPI.transfer16(0);
// We only care about the last 10 bits
sg_result = SPI.transfer(0);
sg_result <<= 8;
sg_result |= SPI.transfer(0);
SPI.endTransaction();
}
this->switchCSpin(HIGH);
return (sg_result & 0x3FF) == 0;
}
#endif // SPI_ENDSTOPS
#endif // USE_SENSORLESS
#if TMC_HAS_SPI
void tmc_init_cs_pins();