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FTM, fix TMC2208 bug on E axis

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This commit is contained in:
narno2202 2025-12-26 11:06:07 +01:00
parent c45354a38c
commit e63e7ef4c7
2 changed files with 82 additions and 21 deletions
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97
Marlin/src/module/stepper.cpp
View file

@ -671,6 +671,7 @@ void Stepper::disable_all_steppers() {
#if ENABLED(FT_MOTION)
// We'll compare the updated DIR bits to the last set state
static AxisBits last_set_direction;
xyze_int_t Stepper::pending_hysteresis_steps ={0}; // Accumulated steps offset due to hysteresis delays
#endif
// Set a single axis direction based on the last set flags.
@ -1809,6 +1810,48 @@ void Stepper::isr() {
#define ISR_MULTI_STEPS 1
#endif
/**
* ========================================
* Hysteresis Macros for TMC Driver Safety
* ========================================
* When input shaping is active, direction changes can occur rapidly.
* This hysteresis prevents TMC2208/TMC2225/TMC5160 shutdown bugs (#16076)
* by increasing the step detection threshold, giving the driver time to
* stabilize phase currents.
*/
// Define hysteresis values based on driver type (64 units = ~0.5 step)
#if AXIS_DRIVER_TYPE_X(TMC2208) || AXIS_DRIVER_TYPE_X(TMC2208_STANDALONE) || \
AXIS_DRIVER_TYPE_X(TMC5160) || AXIS_DRIVER_TYPE_X(TMC5160_STANDALONE)
#define HYSTERESIS_X 64
#else
#define HYSTERESIS_X 0
#endif
#if AXIS_DRIVER_TYPE_Y(TMC2208) || AXIS_DRIVER_TYPE_Y(TMC2208_STANDALONE) || \
AXIS_DRIVER_TYPE_Y(TMC5160) || AXIS_DRIVER_TYPE_Y(TMC5160_STANDALONE)
#define HYSTERESIS_Y 64
#else
#define HYSTERESIS_Y 0
#endif
#if AXIS_DRIVER_TYPE_Z(TMC2208) || AXIS_DRIVER_TYPE_Z(TMC2208_STANDALONE) || \
AXIS_DRIVER_TYPE_Z(TMC5160) || AXIS_DRIVER_TYPE_Z(TMC5160_STANDALONE)
#define HYSTERESIS_Z 64
#else
#define HYSTERESIS_Z 0
#endif
#if HAS_E_DRIVER(TMC2208) || HAS_E_DRIVER(TMC2208_STANDALONE) || \
HAS_E_DRIVER(TMC5160) || HAS_E_DRIVER(TMC5160_STANDALONE)
#define HYSTERESIS_E 64
#else
#define HYSTERESIS_E 0
#endif
#define _HYSTERESIS(AXIS) HYSTERESIS_##AXIS
#define HYSTERESIS(AXIS) _HYSTERESIS(AXIS)
#if HAS_STANDARD_MOTION
/**
* This phase of the ISR should ONLY create the pulses for the steppers.
@ -1883,27 +1926,7 @@ void Stepper::isr() {
// the TMC2208 / TMC2225 shutdown bug (#16076), add a half step hysteresis
// in each direction. This results in the position being off by half an
// average half step during travel but correct at the end of each segment.
#if AXIS_DRIVER_TYPE_X(TMC2208) || AXIS_DRIVER_TYPE_X(TMC2208_STANDALONE) || \
AXIS_DRIVER_TYPE_X(TMC5160) || AXIS_DRIVER_TYPE_X(TMC5160_STANDALONE)
#define HYSTERESIS_X 64
#else
#define HYSTERESIS_X 0
#endif
#if AXIS_DRIVER_TYPE_Y(TMC2208) || AXIS_DRIVER_TYPE_Y(TMC2208_STANDALONE) || \
AXIS_DRIVER_TYPE_Y(TMC5160) || AXIS_DRIVER_TYPE_Y(TMC5160_STANDALONE)
#define HYSTERESIS_Y 64
#else
#define HYSTERESIS_Y 0
#endif
#if AXIS_DRIVER_TYPE_Z(TMC2208) || AXIS_DRIVER_TYPE_Z(TMC2208_STANDALONE) || \
AXIS_DRIVER_TYPE_Z(TMC5160) || AXIS_DRIVER_TYPE_Z(TMC5160_STANDALONE)
#define HYSTERESIS_Z 64
#else
#define HYSTERESIS_Z 0
#endif
#define _HYSTERESIS(AXIS) HYSTERESIS_##AXIS
#define HYSTERESIS(AXIS) _HYSTERESIS(AXIS)
#define PULSE_PREP_SHAPING(AXIS, DELTA_ERROR, DIVIDEND) do{ \
int16_t de = DELTA_ERROR + (DIVIDEND); \
const bool step_fwd = de >= (64 + HYSTERESIS(AXIS)), \
@ -3603,6 +3626,38 @@ void Stepper::report_positions() {
AxisBits &step_bits = ftMotion.stepping.step_bits; // Aliases for prettier code
AxisBits &dir_bits = ftMotion.stepping.dir_bits;
/**
* For axes with TMC drivers vulnerable to shutdown (TMC2208/2225/5160),
* apply hysteresis to direction changes, just like PULSE_PREP_SHAPING
* in the standard motion system.
*/
#if (HYSTERESIS_E > 0)
/**
* When a direction change is detected on E axis:
* 1. Update last_direction_bits
* 2. Accumulate step counter for the new direction
* 3. Apply WAIT_BEFORE only when accumulated steps >= HYSTERESIS threshold
* 4. Single-direction blocks pass through without suppression
*/
if (step_bits.E && (last_direction_bits.E != dir_bits.E)) {
// Direction change detected - UPDATE immediately to avoid re-accumulation
last_direction_bits.E = dir_bits.E;
if (++pending_hysteresis_steps.E >= HYSTERESIS_E) {
// Threshold reached - apply direction change with TMC protection
{ USING_TIMED_PULSE(); START_TIMED_PULSE(); AWAIT_LOW_PULSE(); }
DIR_WAIT_BEFORE();
pending_hysteresis_steps.E = 0;
} else {
step_bits.E = 0;
}
} else {
pending_hysteresis_steps.E = 0;
}
#endif
USING_TIMED_PULSE();
/**

6
Marlin/src/module/stepper.h
View file

@ -406,6 +406,12 @@ class Stepper {
static AxisBits axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
#endif
// FT_MOTION Hysteresis tracking for direction changes
#if ENABLED(FT_MOTION) && (HAS_E_DRIVER(TMC2208) || HAS_E_DRIVER(TMC2208_STANDALONE) || \
HAS_E_DRIVER(TMC5160) || HAS_E_DRIVER(TMC5160_STANDALONE))
static xyze_int_t pending_hysteresis_steps; // Accumulated steps offset due to hysteresis delays
#endif
static bool abort_current_block; // Signals to the stepper that current block should be aborted
// Motor locking for independent movement of multi-stepper axes