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196 lines
8.4 KiB
196 lines
8.4 KiB
7 years ago
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../../inc/MarlinConfig.h"
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#if HAS_TRINAMIC
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#include "../../gcode.h"
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#include "../../../feature/tmc_util.h"
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#include "../../../module/stepper_indirection.h"
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#include "../../../module/planner.h"
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/**
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* M911: Report TMC stepper driver overtemperature pre-warn flag
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* The flag is held by the library and persist until manually cleared by M912
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*/
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inline void GcodeSuite::M911() {
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#if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]);
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#endif
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#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperY, extended_axis_codes[TMC_Y]);
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#endif
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#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperZ, extended_axis_codes[TMC_Z]);
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#endif
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#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperE0, extended_axis_codes[TMC_E0]);
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#endif
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}
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/**
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* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
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*/
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inline void GcodeSuite::M912() {
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const bool clearX = parser.seen(axis_codes[X_AXIS]), clearY = parser.seen(axis_codes[Y_AXIS]), clearZ = parser.seen(axis_codes[Z_AXIS]), clearE = parser.seen(axis_codes[E_AXIS]),
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clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
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if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
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#endif
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#if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
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if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
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#endif
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#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX))
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if (clearY || clearAll) tmc_clear_otpw(stepperY, extended_axis_codes[TMC_Y]);
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#endif
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#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX))
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if (clearZ || clearAll) tmc_clear_otpw(stepperZ, extended_axis_codes[TMC_Z]);
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#endif
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#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX))
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if (clearE || clearAll) tmc_clear_otpw(stepperE0, extended_axis_codes[TMC_E0]);
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#endif
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}
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/**
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* M913: Set HYBRID_THRESHOLD speed.
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*/
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#if ENABLED(HYBRID_THRESHOLD)
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inline void GcodeSuite::M913() {
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uint16_t values[XYZE];
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LOOP_XYZE(i)
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values[i] = parser.intval(axis_codes[i]);
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#if X_IS_TRINAMIC
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if (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
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else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if X2_IS_TRINAMIC
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if (values[X_AXIS]) tmc_set_pwmthrs(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
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else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if Y_IS_TRINAMIC
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if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
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else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if Y2_IS_TRINAMIC
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if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
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else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if Z_IS_TRINAMIC
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if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
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else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if Z2_IS_TRINAMIC
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if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
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else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if E0_IS_TRINAMIC
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if (values[E_AXIS]) tmc_set_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
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else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]);
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#endif
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#if E1_IS_TRINAMIC
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if (values[E_AXIS]) tmc_set_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
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else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]);
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#endif
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#if E2_IS_TRINAMIC
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if (values[E_AXIS]) tmc_set_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
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else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]);
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#endif
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#if E3_IS_TRINAMIC
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if (values[E_AXIS]) tmc_set_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
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else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]);
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#endif
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#if E4_IS_TRINAMIC
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if (values[E_AXIS]) tmc_set_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
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else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]);
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#endif
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}
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#endif // HYBRID_THRESHOLD
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/**
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* M914: Set SENSORLESS_HOMING sensitivity.
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*/
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#if ENABLED(SENSORLESS_HOMING)
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inline void GcodeSuite::M914() {
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
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if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int());
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else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX2, extended_axis_codes[TMC_X2], parser.value_int());
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else tmc_get_sgt(stepperX2, extended_axis_codes[TMC_X2]);
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#endif
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#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
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if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY, extended_axis_codes[TMC_Y], parser.value_int());
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else tmc_get_sgt(stepperY, extended_axis_codes[TMC_Y]);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY2, extended_axis_codes[TMC_Y2], parser.value_int());
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else tmc_get_sgt(stepperY2, extended_axis_codes[TMC_Y2]);
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#endif
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}
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#endif // SENSORLESS_HOMING
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/**
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* TMC Z axis calibration routine
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*/
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#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC)
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inline void GcodeSuite::M915() {
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uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT;
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uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT;
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if (!axis_known_position[Z_AXIS]) {
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SERIAL_ECHOLNPGM("\nPlease home Z axis first");
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return;
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}
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uint16_t Z_current_1 = stepperZ.getCurrent();
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uint16_t Z2_current_1 = stepperZ.getCurrent();
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stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
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soft_endstops_enabled = false;
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do_blocking_move_to_z(Z_MAX_POS+_z);
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stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
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stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
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do_blocking_move_to_z(Z_MAX_POS);
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soft_endstops_enabled = true;
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SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
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home_z_safely();
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}
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#endif
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#endif // HAS_TRINAMIC
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