motor setting and calibration

src/F11Handler.cpp

@@ -122,6 +122,7 @@ int F11Handler::execute(Command *command)
     }
     else
     {
+      delay(500);
       goodConsecutiveHomings = 0;
     }
   }

src/F12Handler.cpp

@@ -121,6 +121,7 @@ int F12Handler::execute(Command *command)
     }
     else
     {
+      delay(500);
       goodConsecutiveHomings = 0;
     }
   }

src/F13Handler.cpp

@@ -125,6 +125,7 @@ int F13Handler::execute(Command *command)
     }
     else
     {
+      delay(500);
       goodConsecutiveHomings = 0;
     }
   }

src/Movement.cpp

@@ -1124,7 +1124,35 @@ int Movement::calibrateAxis(int axis)
   int *axisStatus;
   long *axisStepsPerMm;
 
+  long stepDelay = 0;
+  unsigned long tickDelay = 0;
+  unsigned long nextTick = 0;
+  unsigned long lastTick = 0;
+
   // Prepare for movement
+  tickDelay = (1000.0 * 1000.0 / MOVEMENT_INTERRUPT_SPEED / speedHome[axis] / 2);
+  
+  stepDelay = 100000 / speedHome[axis] / 2;
+
+  Serial.print("R99");
+  Serial.print(" ");
+
+  Serial.print("tick delay");
+  Serial.print(" ");
+  Serial.print(tickDelay);
+  Serial.print(" ");
+
+  Serial.print("MOVEMENT_INTERRUPT_SPEED");
+  Serial.print(" ");
+  Serial.print(MOVEMENT_INTERRUPT_SPEED);
+  Serial.print(" ");
+
+  Serial.print("speedHome[axis]");
+  Serial.print(" ");
+  Serial.print(speedHome[axis]);
+  Serial.print(" ");
+
+  Serial.print("\r\n");
 
   storeEndStops();
   reportEndStops();
@@ -1206,7 +1234,6 @@ int Movement::calibrateAxis(int axis)
   // Move towards home
   calibAxis->enableMotor();
   
-  /**/
   //calibAxis->setDirectionHome();
   calibAxis->setDirectionAway();
 
@@ -1294,8 +1321,12 @@ int Movement::calibrateAxis(int axis)
 
       calibAxis->setStepAxis();
       
-
+      lastTick = calibrationTicks;
-      delayMicroseconds(100000 / speedHome[axis] / 2);
+      nextTick = calibrationTicks + tickDelay;
+      while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
+      {
+        delay(1);
+      }
 
       stepsCount++;
       if (stepsCount % (speedHome[axis] * 3) == 0)
@@ -1325,7 +1356,14 @@ int Movement::calibrateAxis(int axis)
       }
 
       calibAxis->resetMotorStep();
-      delayMicroseconds(100000 / speedHome[axis] / 2);
+
+      //delayMicroseconds(stepDelay);
+      lastTick = calibrationTicks;
+      nextTick = calibrationTicks + tickDelay;
+      while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
+      {
+        delay(1);
+      }
     }
     else
     {
@@ -1482,7 +1520,13 @@ int Movement::calibrateAxis(int axis)
 
       //checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
 
-      delayMicroseconds(100000 / speedHome[axis] / 2);
+      //delayMicroseconds(stepDelay);
+      lastTick = calibrationTicks;
+      nextTick = calibrationTicks + tickDelay;
+      while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
+      {
+        delay(1);
+      }
 
       if (stepsCount % (speedHome[axis] * 3) == 0)
       {
@@ -1498,7 +1542,14 @@ int Movement::calibrateAxis(int axis)
       }
 
       calibAxis->resetMotorStep();
-      delayMicroseconds(100000 / speedHome[axis] / 2);
+      //delayMicroseconds(stepDelay);
+      lastTick = calibrationTicks;
+      nextTick = calibrationTicks + tickDelay;
+      while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
+      {
+        delay(1);
+      }
+
     }
     else
     {
@@ -2046,10 +2097,10 @@ void Movement::handleMovementInterrupt(void)
   #endif
 
   // handle motor timing
-
   axisX.incrementTick();
   axisY.incrementTick();
   axisZ.incrementTick();
+  calibrationTicks++;
 
 }
 

src/Movement.h

@@ -88,6 +88,8 @@ private:
   int serialMessageNr = 0;
   int serialMessageDelay = 0;
 
+  unsigned long calibrationTicks = 0;
+
   void serialBufferSendNext();
   void serialBufferEmpty();
 

src/TMC2130.cpp

@@ -162,11 +162,19 @@ void loadTMC2130ParametersMotor(TMC2130_Basics *tb, int microsteps, int current,
   tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(1) << FB_TMC_CHOPCONF_TBL, FB_TMC_CHOPCONF_MASKS[FB_TMC_CHOPCONF_TBL] << FB_TMC_CHOPCONF_TBL);
   tb->set_GCONF(FB_TMC_GCONF_DIAG1_STALL, 1);
   tb->set_GCONF(FB_TMC_GCONF_DIAG1_ONSTATE, 1);
+
+  tb->write_REG(FB_TMC_REG_TCOOLTHRS, 0xFFFFF & FB_TMC_TCOOLTHRS_MASK);
+  tb->write_REG(FB_TMC_REG_THIGH, 0xFFFFF & FB_TMC_THIGH_MASK);
+  tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(5) << FB_TMC_COOLCONF_SEMIN, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEMIN] << FB_TMC_COOLCONF_SEMIN);
+  tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(15) << FB_TMC_COOLCONF_SEMAX, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEMAX] << FB_TMC_COOLCONF_SEMAX);
+
+  /* // 2020-05-15 copy of settings before experiments
   tb->write_REG(FB_TMC_REG_TCOOLTHRS, 0xFFFFF & FB_TMC_TCOOLTHRS_MASK);
   tb->write_REG(FB_TMC_REG_THIGH, 0 & FB_TMC_THIGH_MASK);
   tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(5) << FB_TMC_COOLCONF_SEMIN, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEMIN] << FB_TMC_COOLCONF_SEMIN);
   tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(2) << FB_TMC_COOLCONF_SEMAX, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEMAX] << FB_TMC_COOLCONF_SEMAX);
   tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(0b01) << FB_TMC_COOLCONF_SEDN, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEDN] << FB_TMC_COOLCONF_SEDN);
+  */
 
   delay(100);