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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_CS_ACTUAL,
TMC_PWM_SCALE,
TMC_PWM_SCALE_SUM,
TMC_PWM_SCALE_AUTO,
TMC_PWM_OFS_AUTO,
TMC_PWM_GRAD_AUTO,
TMC_VSENSE,
TMC_STEALTHCHOP,
TMC_MICROSTEPS,
@ -492,7 +496,8 @@
TMC_TBL,
TMC_HEND,
TMC_HSTRT,
TMC_SGT
TMC_SGT,
TMC_MSCNT
};
enum TMC_drv_status_enum : char {
TMC_DRV_CODES,
@ -591,7 +596,10 @@
#if HAS_TMC220x
static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum 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_S2VSA: if (st.s2vsa()) 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_HEND: SERIAL_PRINT(st.hysteresis_end(), 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;
}
}
@ -900,11 +909,20 @@
#if ENABLED(MONITOR_DRIVER_STATUS)
TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED);
#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("blank time", TMC_TBL);
TMC_REPORT("hysteresis\n -end\t", TMC_HEND);
TMC_REPORT(" -start\t", TMC_HSTRT);
TMC_REPORT("Stallguard thrs", TMC_SGT);
TMC_REPORT("uStep count", TMC_MSCNT);
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
#if HAS_TMCX1X0 || HAS_TMC220x
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));
}
/**
* 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
* spanning 4 full steps with 256 positions each (ergo, 1024 positions).
*/
void backout_to_tmc_homing_phase(const AxisEnum axis) {
#ifdef TMC_HOME_PHASE
const abc_long_t home_phase = TMC_HOME_PHASE;
#ifdef TMC_HOME_PHASE
/**
* 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
* spanning 4 full steps with 256 positions each (ergo, 1024 positions).
*/
void backout_to_tmc_homing_phase(const AxisEnum axis) {
const xyz_long_t home_phase = TMC_HOME_PHASE;
// check if home phase is disabled for this axis.
if (home_phase[axis] < 0) return;
int16_t axisMicrostepSize;
int16_t phaseCurrent;
bool invertDir;
int16_t phasePerUStep, // TMC µsteps(phase) per Marlin µsteps
phaseCurrent, // The TMC µsteps(phase) count of the current position
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) {
#ifdef X_MICROSTEPS
case X_AXIS:
axisMicrostepSize = 256 / (X_MICROSTEPS);
phasePerUStep = 256 / (X_MICROSTEPS);
phaseCurrent = stepperX.get_microstep_counter();
invertDir = INVERT_X_DIR;
effectorBackoutDir = -X_HOME_DIR;
stepperBackoutDir = INVERT_X_DIR ? effectorBackoutDir : -effectorBackoutDir;
break;
#endif
#ifdef Y_MICROSTEPS
case Y_AXIS:
axisMicrostepSize = 256 / (Y_MICROSTEPS);
phasePerUStep = 256 / (Y_MICROSTEPS);
phaseCurrent = stepperY.get_microstep_counter();
invertDir = INVERT_Y_DIR;
effectorBackoutDir = -Y_HOME_DIR;
stepperBackoutDir = INVERT_Y_DIR ? effectorBackoutDir : -effectorBackoutDir;
break;
#endif
#ifdef Z_MICROSTEPS
case Z_AXIS:
axisMicrostepSize = 256 / (Z_MICROSTEPS);
phasePerUStep = 256 / (Z_MICROSTEPS);
phaseCurrent = stepperZ.get_microstep_counter();
invertDir = INVERT_Z_DIR;
effectorBackoutDir = -Z_HOME_DIR;
stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir;
break;
#endif
default: return;
}
// Depending on invert dir measure the distance to nearest home phase.
int16_t phaseDelta = (invertDir ? -1 : 1) * (home_phase[axis] - phaseCurrent);
// Phase distance to nearest home phase position when moving in the backout direction from endstop(may be negative).
int16_t phaseDelta = (home_phase[axis] - phaseCurrent) * stepperBackoutDir;
// Check if home distance within endstop assumed repeatability noise of .05mm and warn.
if (ABS(phaseDelta) * planner.steps_to_mm[axis] / axisMicrostepSize < 0.05f)
DEBUG_ECHOLNPAIR("Selected home phase ", home_phase[axis],
if (ABS(phaseDelta) * planner.steps_to_mm[axis] / phasePerUStep < 0.05f)
SERIAL_ECHOLNPAIR("Selected home phase ", home_phase[axis],
" too close to endstop trigger phase ", phaseCurrent,
". Pick a different phase for ", axis_codes[axis]);
// Skip to next if target position is behind current. So it only moves away from endstop.
if (phaseDelta < 0) phaseDelta += 1024;
// Get the integer µsteps to target. Unreachable phase? Consistently stop at the µstep before / after based on invertDir.
const float mmDelta = -(int16_t(phaseDelta / axisMicrostepSize) * planner.steps_to_mm[axis] * (Z_HOME_DIR));
// Convert TMC µsteps(phase) to whole Marlin µsteps to effector backout direction to mm
const float mmDelta = int16_t(phaseDelta / phasePerUStep) * effectorBackoutDir * planner.steps_to_mm[axis];
// optional debug messages.
// Optional debug messages
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR(
"Endstop ", axis_codes[axis], " hit at Phase:", phaseCurrent,
@ -1510,14 +1514,11 @@ void backout_to_tmc_homing_phase(const AxisEnum axis) {
}
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));
}
#else
UNUSED(axis);
#endif
}
}
#endif
/**
* Home an individual "raw axis" to its endstop.
@ -1748,8 +1749,10 @@ void homeaxis(const AxisEnum axis) {
}
#endif
// move back to homing phase if configured and capable
backout_to_tmc_homing_phase(axis);
#ifdef TMC_HOME_PHASE
// move back to homing phase if configured and capable
backout_to_tmc_homing_phase(axis);
#endif
#if IS_SCARA