Coolstep for TMC2130, 2209, 5130, 5160 (#16790)

MarlinFirmware · Feb 9, 2020 · 8947622 · 8947622
1 parent f0cbc85
commit 8947622
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Showing 25 changed files with 473 additions and 86 deletions.
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -674,11 +674,6 @@
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988
 //#define Z_DRIVER_TYPE  A4988
-//#define X2_DRIVER_TYPE A4988
-//#define Y2_DRIVER_TYPE A4988
-//#define Z2_DRIVER_TYPE A4988
-//#define Z3_DRIVER_TYPE A4988
-//#define Z4_DRIVER_TYPE A4988
 //#define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988

diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -2275,6 +2275,166 @@
   #define E6_HYBRID_THRESHOLD     30
   #define E7_HYBRID_THRESHOLD     30
 
+  /**
+   * CoolStep. Currently supported for TMC2130, TMC2209, TMC5130 and TMC5160 only.
+   * This mode allows for cooler steppers and energy savings.
+   * The driver will switch to coolStep when stepper speed is over COOLSTEP_THRESHOLD mm/s.
+   *
+   * If SG_RESULT goes below COOLSTEP_LOWER_LOAD_THRESHOLD * 32 stepper current will be increased.
+   * Set to 0 to disable CoolStep.
+   *
+   * If SG_RESULT goes above (COOLSTEP_LOWER_LOAD_THRESHOLD + COOLSTEP_UPPER_LOAD_THRESHOLD + 1) * 32
+   * stepper current will be decreased.
+   *
+   * SEUP sets the increase step width. Value range is 0..3 and computed as 2^SEUP.
+   * SEDN sets the decrease delay. Value range is 0..3, 0 being the slowest.
+   * SEIMIN sets the lower current limit. 0: 1/2 of IRUN, 1:1/4 of IRUN
+   */
+
+  #if AXIS_HAS_COOLSTEP(X)
+    #define X_COOLSTEP_SPEED_THRESHOLD        5
+    #define X_COOLSTEP_LOWER_LOAD_THRESHOLD   7
+    #define X_COOLSTEP_UPPER_LOAD_THRESHOLD   0
+    #define X_COOLSTEP_SEUP                   2
+    #define X_COOLSTEP_SEDN                   0
+    #define X_COOLSTEP_SEIMIN                 1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(X2)
+    #define X2_COOLSTEP_SPEED_THRESHOLD       5
+    #define X2_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define X2_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define X2_COOLSTEP_SEUP                  2
+    #define X2_COOLSTEP_SEDN                  0
+    #define X2_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(Y)
+    #define Y_COOLSTEP_SPEED_THRESHOLD        5
+    #define Y_COOLSTEP_LOWER_LOAD_THRESHOLD   7
+    #define Y_COOLSTEP_UPPER_LOAD_THRESHOLD   0
+    #define Y_COOLSTEP_SEUP                   2
+    #define Y_COOLSTEP_SEDN                   0
+    #define Y_COOLSTEP_SEIMIN                 1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(Y2)
+    #define Y2_COOLSTEP_SPEED_THRESHOLD       5
+    #define Y2_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define Y2_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define Y2_COOLSTEP_SEUP                  2
+    #define Y2_COOLSTEP_SEDN                  0
+    #define Y2_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(Z)
+    #define Z_COOLSTEP_SPEED_THRESHOLD        5
+    #define Z_COOLSTEP_LOWER_LOAD_THRESHOLD   7
+    #define Z_COOLSTEP_UPPER_LOAD_THRESHOLD   0
+    #define Z_COOLSTEP_SEUP                   2
+    #define Z_COOLSTEP_SEDN                   0
+    #define Z_COOLSTEP_SEIMIN                 1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(Z2)
+    #define Z2_COOLSTEP_SPEED_THRESHOLD       5
+    #define Z2_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define Z2_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define Z2_COOLSTEP_SEUP                  2
+    #define Z2_COOLSTEP_SEDN                  0
+    #define Z2_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(Z3)
+    #define Z3_COOLSTEP_SPEED_THRESHOLD       5
+    #define Z3_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define Z3_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define Z3_COOLSTEP_SEUP                  2
+    #define Z3_COOLSTEP_SEDN                  0
+    #define Z3_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(Z4)
+    #define Z4_COOLSTEP_SPEED_THRESHOLD       5
+    #define Z4_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define Z4_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define Z4_COOLSTEP_SEUP                  2
+    #define Z4_COOLSTEP_SEDN                  0
+    #define Z4_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(E0)
+    #define E0_COOLSTEP_SPEED_THRESHOLD       5
+    #define E0_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define E0_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define E0_COOLSTEP_SEUP                  2
+    #define E0_COOLSTEP_SEDN                  0
+    #define E0_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(E1)
+    #define E1_COOLSTEP_SPEED_THRESHOLD       5
+    #define E1_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define E1_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define E1_COOLSTEP_SEUP                  2
+    #define E1_COOLSTEP_SEDN                  0
+    #define E1_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(E2)
+    #define E2_COOLSTEP_SPEED_THRESHOLD       5
+    #define E2_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define E2_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define E2_COOLSTEP_SEUP                  2
+    #define E2_COOLSTEP_SEDN                  0
+    #define E2_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(E3)
+    #define E3_COOLSTEP_SPEED_THRESHOLD       5
+    #define E3_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define E3_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define E3_COOLSTEP_SEUP                  2
+    #define E3_COOLSTEP_SEDN                  0
+    #define E3_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(E4)
+    #define E4_COOLSTEP_SPEED_THRESHOLD       5
+    #define E4_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define E4_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define E4_COOLSTEP_SEUP                  2
+    #define E4_COOLSTEP_SEDN                  0
+    #define E4_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(E5)
+    #define E5_COOLSTEP_SPEED_THRESHOLD       5
+    #define E5_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define E5_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define E5_COOLSTEP_SEUP                  2
+    #define E5_COOLSTEP_SEDN                  0
+    #define E5_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(E6)
+    #define E6_COOLSTEP_SPEED_THRESHOLD       5
+    #define E6_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define E6_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define E6_COOLSTEP_SEUP                  2
+    #define E6_COOLSTEP_SEDN                  0
+    #define E6_COOLSTEP_SEIMIN                1
+  #endif
+
+  #if AXIS_HAS_COOLSTEP(E7)
+    #define E7_COOLSTEP_SPEED_THRESHOLD       5
+    #define E7_COOLSTEP_LOWER_LOAD_THRESHOLD  7
+    #define E7_COOLSTEP_UPPER_LOAD_THRESHOLD  0
+    #define E7_COOLSTEP_SEUP                  2
+    #define E7_COOLSTEP_SEDN                  0
+    #define E7_COOLSTEP_SEIMIN                1
+  #endif
+
   /**
    * Use StallGuard2 to home / probe X, Y, Z.
    *

diff --git a/Marlin/src/HAL/HAL_AVR/inc/SanityCheck.h b/Marlin/src/HAL/HAL_AVR/inc/SanityCheck.h
@@ -60,6 +60,6 @@
   #error "TMCStepper includes SoftwareSerial.h which is incompatible with ENDSTOP_INTERRUPTS_FEATURE. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
 #endif
 
-#if TMC_HAS_SW_SERIAL && ENABLED(MONITOR_DRIVER_STATUS)
+#if HAS_TMC_SW_SERIAL && ENABLED(MONITOR_DRIVER_STATUS)
   #error "MONITOR_DRIVER_STATUS causes performance issues when used with SoftwareSerial-connected drivers. Disable MONITOR_DRIVER_STATUS or use hardware serial to continue."
 #endif
diff --git a/Marlin/src/HAL/HAL_DUE/inc/SanityCheck.h b/Marlin/src/HAL/HAL_DUE/inc/SanityCheck.h
@@ -56,6 +56,6 @@
   #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
 
-#if TMC_HAS_SW_SERIAL
+#if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on this platform."
 #endif
diff --git a/Marlin/src/HAL/HAL_ESP32/inc/SanityCheck.h b/Marlin/src/HAL/HAL_ESP32/inc/SanityCheck.h
@@ -29,7 +29,7 @@
   #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
 
-#if TMC_HAS_SW_SERIAL
+#if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on this platform."
 #endif
 

diff --git a/Marlin/src/HAL/HAL_LINUX/inc/SanityCheck.h b/Marlin/src/HAL/HAL_LINUX/inc/SanityCheck.h
@@ -34,6 +34,6 @@
   #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
 
-#if TMC_HAS_SW_SERIAL
+#if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on this platform."
 #endif
diff --git a/Marlin/src/HAL/HAL_SAMD51/inc/SanityCheck.h b/Marlin/src/HAL/HAL_SAMD51/inc/SanityCheck.h
@@ -47,6 +47,6 @@
   #warning "Did you activate the SmartEEPROM? See https://github.com/GMagician/SAMD51-SmartEEprom-Activator"
 #endif
 
-#if TMC_HAS_SW_SERIAL
+#if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on this platform."
 #endif
diff --git a/Marlin/src/HAL/HAL_STM32/HAL.cpp b/Marlin/src/HAL/HAL_STM32/HAL.cpp
@@ -28,7 +28,7 @@
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"
 
-#if TMC_HAS_SW_SERIAL
+#if HAS_TMC_SW_SERIAL
   #include "SoftwareSerial.h"
 #endif
 
@@ -87,7 +87,7 @@ void HAL_init() {
   while (!LL_PWR_IsActiveFlag_BRR());
   #endif // EEPROM_EMULATED_SRAM
 
-  #if TMC_HAS_SW_SERIAL
+  #if HAS_TMC_SW_SERIAL
     SoftwareSerial::setInterruptPriority(SWSERIAL_TIMER_IRQ_PRIO, 0);
   #endif
 }

diff --git a/Marlin/src/HAL/HAL_STM32F1/inc/SanityCheck.h b/Marlin/src/HAL/HAL_STM32F1/inc/SanityCheck.h
@@ -37,7 +37,7 @@
   #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
 
-#if !defined(HAVE_SW_SERIAL) && TMC_HAS_SW_SERIAL
+#if !defined(HAVE_SW_SERIAL) && HAS_TMC_SW_SERIAL
   #warning "With TMC2208/9 consider using SoftwareSerialM with HAVE_SW_SERIAL and appropriate SS_TIMER."
   #error "Missing SoftwareSerial implementation."
 #endif
diff --git a/Marlin/src/HAL/HAL_STM32_F4_F7/inc/SanityCheck.h b/Marlin/src/HAL/HAL_STM32_F4_F7/inc/SanityCheck.h
@@ -36,6 +36,6 @@
   #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
 
-#if TMC_HAS_SW_SERIAL
+#if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on this platform."
 #endif
diff --git a/Marlin/src/HAL/HAL_TEENSY31_32/inc/SanityCheck.h b/Marlin/src/HAL/HAL_TEENSY31_32/inc/SanityCheck.h
@@ -33,6 +33,6 @@
   #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
 
-#if TMC_HAS_SW_SERIAL
+#if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on this platform."
 #endif
diff --git a/Marlin/src/HAL/HAL_TEENSY35_36/inc/SanityCheck.h b/Marlin/src/HAL/HAL_TEENSY35_36/inc/SanityCheck.h
@@ -33,6 +33,6 @@
   #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
 
-#if TMC_HAS_SW_SERIAL
+#if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on this platform."
 #endif
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -892,7 +892,7 @@ void setup() {
   SERIAL_ECHOLNPGM("start");
   SERIAL_ECHO_START();
 
-  #if TMC_HAS_SPI
+  #if HAS_TMC_SPI
     #if DISABLED(TMC_USE_SW_SPI)
       SPI.begin();
     #endif

diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h
@@ -52,7 +52,7 @@
 #define _TMC5160_STANDALONE 0x5160B
 
 #define _DRIVER_ID(V) _CAT(_, V)
-#define _AXIS_DRIVER_TYPE(A,T) (_DRIVER_ID(A##_DRIVER_TYPE) == _CAT(_, T))
+#define _AXIS_DRIVER_TYPE(A,T) (_DRIVER_ID(A##_DRIVER_TYPE) == _DRIVER_ID(T))
 
 #define AXIS_DRIVER_TYPE_X(T) _AXIS_DRIVER_TYPE(X,T)
 #define AXIS_DRIVER_TYPE_Y(T) _AXIS_DRIVER_TYPE(Y,T)
@@ -148,19 +148,32 @@
                                    || AXIS_DRIVER_TYPE(A,TMC5130) \
                                    || AXIS_DRIVER_TYPE(A,TMC5160) )
 
+#define AXIS_HAS_SG_RESULT(A)    (    AXIS_DRIVER_TYPE(A,TMC2130) \
+                                   || AXIS_DRIVER_TYPE(A,TMC2160) \
+                                   || AXIS_DRIVER_TYPE(A,TMC2208) \
+                                   || AXIS_DRIVER_TYPE(A,TMC2209) )
+
+#define AXIS_HAS_COOLSTEP(A)     (    AXIS_DRIVER_TYPE(A,TMC2130) \
+                                   || AXIS_DRIVER_TYPE(A,TMC2209) \
+                                   || AXIS_DRIVER_TYPE(A,TMC5130) \
+                                   || AXIS_DRIVER_TYPE(A,TMC5160) )
+
+#define _OR_EAH(N,T)    || AXIS_HAS_##T(E##N)
+#define E_AXIS_HAS(T)   (0 RREPEAT2(E_STEPPERS, _OR_EAH, T))
+
 #define ANY_AXIS_HAS(T) (    AXIS_HAS_##T(X)  || AXIS_HAS_##T(X2) \
                           || AXIS_HAS_##T(Y)  || AXIS_HAS_##T(Y2) \
                           || AXIS_HAS_##T(Z)  || AXIS_HAS_##T(Z2) \
-                          || AXIS_HAS_##T(Z3) \
-                          || AXIS_HAS_##T(E0) || AXIS_HAS_##T(E1) \
-                          || AXIS_HAS_##T(E2) || AXIS_HAS_##T(E3) \
-                          || AXIS_HAS_##T(E4) || AXIS_HAS_##T(E5) \
-                          || AXIS_HAS_##T(E6) || AXIS_HAS_##T(E7) )
+                          || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) \
+                          || E_AXIS_HAS(T) )
 
 #define HAS_STEALTHCHOP    ANY_AXIS_HAS(STEALTHCHOP)
 #define HAS_STALLGUARD     ANY_AXIS_HAS(STALLGUARD)
-#define TMC_HAS_SPI        ANY_AXIS_HAS(SPI)
-#define TMC_HAS_SW_SERIAL  ANY_AXIS_HAS(SW_SERIAL)
+#define HAS_SG_RESULT      ANY_AXIS_HAS(SG_RESULT)
+#define HAS_COOLSTEP       ANY_AXIS_HAS(COOLSTEP)
+#define HAS_TMC_UART       ANY_AXIS_HAS(UART)
+#define HAS_TMC_SPI        ANY_AXIS_HAS(SPI)
+#define HAS_TMC_SW_SERIAL  ANY_AXIS_HAS(SW_SERIAL)
 
 //
 // Stretching 'drivers.h' to include LPC/SAMD51 SD options

diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
@@ -629,6 +629,15 @@
         default: break;
       }
     }
+
+    #if HAS_DRIVER(TMC2209)
+      static void _tmc_parse_drv_status(TMC2209Stepper &st, const TMC_drv_status_enum i) {
+        switch (i) {
+          case TMC_SG_RESULT: SERIAL_PRINT(st.SG_RESULT(), DEC); break;
+          default:            _tmc_parse_drv_status(static_cast<TMC2208Stepper &>(st), i); break;
+        }
+      }
+    #endif
   #endif
 
   #if HAS_DRIVER(TMC2660)
@@ -891,24 +900,24 @@
     TMC_REPORT("stealthChop",        TMC_STEALTHCHOP);
     TMC_REPORT("msteps\t",           TMC_MICROSTEPS);
     TMC_REPORT("tstep\t",            TMC_TSTEP);
-    TMC_REPORT("pwm\nthreshold",     TMC_TPWMTHRS);
+    TMC_REPORT("PWM thresh.",        TMC_TPWMTHRS);
     TMC_REPORT("[mm/s]\t",           TMC_TPWMTHRS_MMS);
     TMC_REPORT("OT prewarn",         TMC_OTPW);
     #if ENABLED(MONITOR_DRIVER_STATUS)
-      TMC_REPORT("OT prewarn has\n"
-                 "been triggered",   TMC_OTPW_TRIGGERED);
+      TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED);
     #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("hysteresis\n -end\t", TMC_HEND);
+    TMC_REPORT(" -start\t",          TMC_HSTRT);
     TMC_REPORT("Stallguard thrs",    TMC_SGT);
-
     DRV_REPORT("DRVSTATUS",          TMC_DRV_CODES);
-    #if HAS_TMCX1X0
-      DRV_REPORT("stallguard\t",     TMC_STALLGUARD);
+    #if HAS_TMCX1X0 || HAS_TMC220x
       DRV_REPORT("sg_result",        TMC_SG_RESULT);
-      DRV_REPORT("fsactive\t",       TMC_FSACTIVE);
+    #endif
+    #if HAS_TMCX1X0
+      DRV_REPORT("stallguard",       TMC_STALLGUARD);
+      DRV_REPORT("fsactive",         TMC_FSACTIVE);
     #endif
     DRV_REPORT("stst\t",             TMC_STST);
     DRV_REPORT("olb\t",              TMC_OLB);
@@ -1103,7 +1112,7 @@
 
 #endif // USE_SENSORLESS
 
-#if TMC_HAS_SPI
+#if HAS_TMC_SPI
   #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
   void tmc_init_cs_pins() {
     #if AXIS_HAS_SPI(X)
@@ -1155,7 +1164,7 @@
       SET_CS_PIN(E7);
     #endif
   }
-#endif // TMC_HAS_SPI
+#endif // HAS_TMC_SPI
 
 template<typename TMC>
 static bool test_connection(TMC &st) {