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Prusa-Firmware-MMU
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homing changes to increase reliability

pull/195/head
Alex Voinea 2022-07-31 20:38:37 +03:00 committed by DRracer
parent 7002e3b0c7
commit 989b6e6191
4 changed files with 9 additions and 6 deletions
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4
src/config/config.h
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@ -168,6 +168,7 @@ static constexpr U_mm selectorSlotPositions[toolCount + 1] = {
};
static constexpr U_mm_s selectorFeedrate = 45._mm_s;
static constexpr U_mm_s selectorHomingFeedrate = 30._mm_s;
/// End: Selector configuration
/// Begin: Idler configuration
@ -179,7 +180,7 @@ static constexpr AxisConfig idler = {
.iHold = 23, /// 398mA
.stealth = false,
.stepsPerUnit = (200 * 16 / 360.),
.sg_thrs = 7,
.sg_thrs = 5,
};
/// Idler motion limits
@ -206,6 +207,7 @@ static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
static constexpr U_deg idlerParkPositionDelta = -IdlerSlotDistance + 5.0_deg / 2; ///@TODO verify
static constexpr U_deg_s idlerFeedrate = 300._deg_s;
static constexpr U_deg_s idlerHomingFeedrate = 265._deg_s;
/// End: Idler configuration
// TMC2130 setup

3
src/hal/tmc2130.cpp
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@ -8,7 +8,8 @@ namespace hal {
namespace tmc2130 {
bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, MotorMode mode) {
sg_filter_threshold = (1 << (8 - params.mRes));
// sg_filter_threshold = (1 << (8 - params.mRes));
sg_filter_threshold = 2;
gpio::Init(params.csPin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::high));
gpio::Init(params.sgPin, gpio::GPIO_InitTypeDef(gpio::Mode::input, gpio::Pull::up));

4
src/modules/idler.cpp
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@ -18,7 +18,7 @@ void Idler::PrepareMoveToPlannedSlot() {
}
void Idler::PlanHomingMoveForward() {
mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(config::idlerLimits.lenght * 2), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(config::idlerLimits.lenght * 2), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerHomingFeedrate));
dbg_logic_P(PSTR("Plan Homing Idler Forward"));
}
@ -26,7 +26,7 @@ void Idler::PlanHomingMoveBack() {
// we expect that we are at the front end of the axis, set the expected axis' position
mm::motion.SetPosition(mm::Idler, mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght));
axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>());
mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-config::idlerLimits.lenght * 2), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerFeedrate));
mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-config::idlerLimits.lenght * 2), mm::unitToAxisUnit<mm::I_speed_t>(config::idlerHomingFeedrate));
dbg_logic_P(PSTR("Plan Homing Idler Back"));
}

4
src/modules/selector.cpp
View File

@ -28,7 +28,7 @@ void Selector::PlanHomingMoveBack() {
// we expect that we are at the front end of the axis, set the expected axis' position
mm::motion.SetPosition(mm::Selector, 0);
axisStart = mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>());
mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorHomingFeedrate));
dbg_logic_P(PSTR("Plan Homing Selector Back"));
}
@ -101,7 +101,7 @@ bool Selector::Step() {
if (mi::idler.HomingValid()) {
// idler is ok, we can start homing the selector
state = HomeForward;
mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(-config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorFeedrate));
mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(-config::selectorLimits.lenght * 2), mm::unitToAxisUnit<mm::S_speed_t>(config::selectorHomingFeedrate));
}
return false;
case HomeForward: