Configure TMC interpolation per driver (#19828)
This commit is contained in:
ManuelMcLure
GitHub
parent
ec596315bd
commit
4fccb92e07
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@ -2261,14 +2261,20 @@
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#if HAS_TRINAMIC_CONFIG
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#define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current
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#define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256
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/**
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* Interpolate microsteps to 256
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* Override for each driver with <driver>_INTERPOLATE settings below
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*/
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#define INTERPOLATE true
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#if AXIS_IS_TMC(X)
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#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
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#define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing
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#define X_MICROSTEPS 16 // 0..256
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#define X_MICROSTEPS 16 // 0..256
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#define X_RSENSE 0.11
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#define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...
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#define X_CHAIN_POS -1 // -1..0: Not chained. 1: MCU MOSI connected. 2: Next in chain, ...
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//#define X_INTERPOLATE true // Enable to override 'INTERPOLATE' for the X axis
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#endif
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#if AXIS_IS_TMC(X2)
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@ -2277,6 +2283,7 @@
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#define X2_MICROSTEPS 16
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#define X2_RSENSE 0.11
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#define X2_CHAIN_POS -1
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//#define X2_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(Y)
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@ -2285,6 +2292,7 @@
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#define Y_MICROSTEPS 16
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#define Y_RSENSE 0.11
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#define Y_CHAIN_POS -1
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//#define Y_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(Y2)
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@ -2293,6 +2301,7 @@
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#define Y2_MICROSTEPS 16
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#define Y2_RSENSE 0.11
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#define Y2_CHAIN_POS -1
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//#define Y2_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(Z)
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@ -2301,6 +2310,7 @@
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#define Z_MICROSTEPS 16
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#define Z_RSENSE 0.11
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#define Z_CHAIN_POS -1
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//#define Z_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(Z2)
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@ -2309,6 +2319,7 @@
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#define Z2_MICROSTEPS 16
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#define Z2_RSENSE 0.11
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#define Z2_CHAIN_POS -1
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//#define Z2_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(Z3)
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@ -2317,6 +2328,7 @@
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#define Z3_MICROSTEPS 16
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#define Z3_RSENSE 0.11
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#define Z3_CHAIN_POS -1
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//#define Z3_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(Z4)
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@ -2325,6 +2337,7 @@
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#define Z4_MICROSTEPS 16
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#define Z4_RSENSE 0.11
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#define Z4_CHAIN_POS -1
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//#define Z4_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(E0)
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@ -2332,6 +2345,7 @@
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#define E0_MICROSTEPS 16
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#define E0_RSENSE 0.11
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#define E0_CHAIN_POS -1
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//#define E0_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(E1)
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@ -2339,6 +2353,7 @@
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#define E1_MICROSTEPS 16
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#define E1_RSENSE 0.11
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#define E1_CHAIN_POS -1
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//#define E1_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(E2)
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@ -2346,6 +2361,7 @@
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#define E2_MICROSTEPS 16
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#define E2_RSENSE 0.11
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#define E2_CHAIN_POS -1
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//#define E2_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(E3)
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@ -2353,6 +2369,7 @@
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#define E3_MICROSTEPS 16
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#define E3_RSENSE 0.11
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#define E3_CHAIN_POS -1
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//#define E3_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(E4)
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@ -2360,6 +2377,7 @@
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#define E4_MICROSTEPS 16
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#define E4_RSENSE 0.11
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#define E4_CHAIN_POS -1
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//#define E4_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(E5)
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@ -2367,6 +2385,7 @@
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#define E5_MICROSTEPS 16
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#define E5_RSENSE 0.11
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#define E5_CHAIN_POS -1
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//#define E5_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(E6)
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@ -2374,6 +2393,7 @@
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#define E6_MICROSTEPS 16
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#define E6_RSENSE 0.11
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#define E6_CHAIN_POS -1
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//#define E6_INTERPOLATE true
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#endif
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#if AXIS_IS_TMC(E7)
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@ -2381,6 +2401,7 @@
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#define E7_MICROSTEPS 16
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#define E7_RSENSE 0.11
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#define E7_CHAIN_POS -1
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//#define E7_INTERPOLATE true
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#endif
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/**
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@ -497,7 +497,8 @@
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TMC_HEND,
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TMC_HSTRT,
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TMC_SGT,
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TMC_MSCNT
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TMC_MSCNT,
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TMC_INTERPOLATE
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};
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enum TMC_drv_status_enum : char {
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TMC_DRV_CODES,
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@ -553,6 +554,7 @@
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case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
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case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
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case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break;
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case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
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default: break;
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}
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}
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@ -588,6 +590,7 @@
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SERIAL_ECHOPGM("/256");
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}
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break;
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case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
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default: break;
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}
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}
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@ -603,6 +606,7 @@
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case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break;
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case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break;
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case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break;
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case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
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default: break;
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}
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}
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@ -644,6 +648,12 @@
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#if HAS_DRIVER(TMC2660)
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static void _tmc_parse_drv_status(TMC2660Stepper, const TMC_drv_status_enum) { }
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static void _tmc_status(TMC2660Stepper &st, const TMC_debug_enum i) {
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switch (i) {
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case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
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default: break;
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}
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}
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#endif
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template <typename TMC>
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@ -902,6 +912,7 @@
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#endif
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TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
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TMC_REPORT("msteps\t", TMC_MICROSTEPS);
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TMC_REPORT("interp\t", TMC_INTERPOLATE);
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TMC_REPORT("tstep\t", TMC_TSTEP);
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TMC_REPORT("PWM thresh.", TMC_TPWMTHRS);
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TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);
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@ -1608,6 +1608,54 @@
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#define Y_SPI_SENSORLESS Y_SENSORLESS
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#define Z_SPI_SENSORLESS Z_SENSORLESS
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#endif
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#ifndef X_INTERPOLATE
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#define X_INTERPOLATE INTERPOLATE
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#endif
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#ifndef X2_INTERPOLATE
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#define X2_INTERPOLATE INTERPOLATE
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#endif
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#ifndef Y_INTERPOLATE
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#define Y_INTERPOLATE INTERPOLATE
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#endif
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#ifndef Y2_INTERPOLATE
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#define Y2_INTERPOLATE INTERPOLATE
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#endif
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#ifndef Z_INTERPOLATE
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#define Z_INTERPOLATE INTERPOLATE
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#endif
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#ifndef Z2_INTERPOLATE
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#define Z2_INTERPOLATE INTERPOLATE
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#endif
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#ifndef Z3_INTERPOLATE
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#define Z3_INTERPOLATE INTERPOLATE
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#endif
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#ifndef Z4_INTERPOLATE
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#define Z4_INTERPOLATE INTERPOLATE
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#endif
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#ifndef E0_INTERPOLATE
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#define E0_INTERPOLATE INTERPOLATE
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#endif
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#ifndef E1_INTERPOLATE
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#define E1_INTERPOLATE INTERPOLATE
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#endif
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#ifndef E2_INTERPOLATE
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#define E2_INTERPOLATE INTERPOLATE
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#endif
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#ifndef E3_INTERPOLATE
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#define E3_INTERPOLATE INTERPOLATE
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#endif
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#ifndef E4_INTERPOLATE
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#define E4_INTERPOLATE INTERPOLATE
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#endif
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#ifndef E5_INTERPOLATE
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#define E5_INTERPOLATE INTERPOLATE
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#endif
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#ifndef E6_INTERPOLATE
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#define E6_INTERPOLATE INTERPOLATE
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#endif
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#ifndef E7_INTERPOLATE
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#define E7_INTERPOLATE INTERPOLATE
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#endif
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#endif
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#if (HAS_E_DRIVER(TMC2660) \
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@ -36,7 +36,7 @@
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#include <SPI.h>
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enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST)
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#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST, ST##_INTERPOLATE)
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// IC = TMC model number
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// ST = Stepper object letter
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@ -131,13 +131,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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#if HAS_DRIVER(TMC2130)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
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void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
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st.begin();
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 0b01;
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chopconf.toff = chop_init.toff;
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chopconf.intpol = INTERPOLATE;
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chopconf.intpol = interpolate;
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chopconf.hend = chop_init.hend + 3;
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chopconf.hstrt = chop_init.hstrt - 1;
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TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
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@ -166,13 +166,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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#if HAS_DRIVER(TMC2160)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
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void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
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st.begin();
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 0b01;
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chopconf.toff = chop_init.toff;
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chopconf.intpol = INTERPOLATE;
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chopconf.intpol = interpolate;
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chopconf.hend = chop_init.hend + 3;
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chopconf.hstrt = chop_init.hstrt - 1;
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TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
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@ -484,7 +484,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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#if HAS_DRIVER(TMC2208)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
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void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
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TMC2208_n::GCONF_t gconf{0};
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gconf.pdn_disable = true; // Use UART
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gconf.mstep_reg_select = true; // Select microsteps with UART
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@ -496,7 +496,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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TMC2208_n::CHOPCONF_t chopconf{0};
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chopconf.tbl = 0b01; // blank_time = 24
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chopconf.toff = chop_init.toff;
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chopconf.intpol = INTERPOLATE;
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chopconf.intpol = interpolate;
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chopconf.hend = chop_init.hend + 3;
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chopconf.hstrt = chop_init.hstrt - 1;
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TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
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@ -526,7 +526,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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#if HAS_DRIVER(TMC2209)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
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void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
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TMC2208_n::GCONF_t gconf{0};
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gconf.pdn_disable = true; // Use UART
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gconf.mstep_reg_select = true; // Select microsteps with UART
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@ -538,7 +538,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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TMC2208_n::CHOPCONF_t chopconf{0};
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chopconf.tbl = 0b01; // blank_time = 24
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chopconf.toff = chop_init.toff;
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chopconf.intpol = INTERPOLATE;
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chopconf.intpol = interpolate;
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chopconf.hend = chop_init.hend + 3;
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chopconf.hstrt = chop_init.hstrt - 1;
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TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
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@ -568,7 +568,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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#if HAS_DRIVER(TMC2660)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool, const chopper_timing_t &chop_init) {
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void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool, const chopper_timing_t &chop_init, const bool interpolate) {
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st.begin();
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TMC2660_n::CHOPCONF_t chopconf{0};
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@ -582,7 +582,7 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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st.rms_current(mA);
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st.microsteps(microsteps);
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TERN_(SQUARE_WAVE_STEPPING, st.dedge(true));
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st.intpol(INTERPOLATE);
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st.intpol(interpolate);
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st.diss2g(true); // Disable short to ground protection. Too many false readings?
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TERN_(TMC_DEBUG, st.rdsel(0b01));
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}
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@ -590,13 +590,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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#if HAS_DRIVER(TMC5130)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
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void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
|
||||
st.begin();
|
||||
|
||||
CHOPCONF_t chopconf{0};
|
||||
chopconf.tbl = 0b01;
|
||||
chopconf.toff = chop_init.toff;
|
||||
chopconf.intpol = INTERPOLATE;
|
||||
chopconf.intpol = interpolate;
|
||||
chopconf.hend = chop_init.hend + 3;
|
||||
chopconf.hstrt = chop_init.hstrt - 1;
|
||||
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
|
||||
|
|
@ -625,13 +625,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
|
|||
|
||||
#if HAS_DRIVER(TMC5160)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init) {
|
||||
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
|
||||
st.begin();
|
||||
|
||||
CHOPCONF_t chopconf{0};
|
||||
chopconf.tbl = 0b01;
|
||||
chopconf.toff = chop_init.toff;
|
||||
chopconf.intpol = INTERPOLATE;
|
||||
chopconf.intpol = interpolate;
|
||||
chopconf.hend = chop_init.hend + 3;
|
||||
chopconf.hstrt = chop_init.hstrt - 1;
|
||||
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
|
||||
|
|
|
|||
Loading…
Reference in a new issue