teemuatlut
7 years ago
committed by
Scott Lahteine
Scott Lahteine
62 changed files with 4181 additions and 2047 deletions
@ -1,153 +0,0 @@ |
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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 ENABLED(HAVE_TMC2130) |
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#include "tmc2130.h" |
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#include "../Marlin.h" |
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#include "../module/stepper_indirection.h" |
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#include "../module/printcounter.h" |
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#include "../libs/duration_t.h" |
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#ifdef AUTOMATIC_CURRENT_CONTROL |
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bool auto_current_control = 0; |
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#endif |
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void automatic_current_control(TMC2130Stepper &st, String axisID) { |
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// Check otpw even if we don't use automatic control. Allows for flag inspection.
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const bool is_otpw = st.checkOT(); |
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// Report if a warning was triggered
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static bool previous_otpw = false; |
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if (is_otpw && !previous_otpw) { |
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char timestamp[10]; |
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duration_t elapsed = print_job_timer.duration(); |
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const bool has_days = (elapsed.value > 60*60*24L); |
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(void)elapsed.toDigital(timestamp, has_days); |
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SERIAL_ECHO(timestamp); |
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SERIAL_ECHOPGM(": "); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHOLNPGM(" driver overtemperature warning!"); |
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} |
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previous_otpw = is_otpw; |
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#if ENABLED(AUTOMATIC_CURRENT_CONTROL) && CURRENT_STEP > 0 |
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// Return if user has not enabled current control start with M906 S1.
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if (!auto_current_control) return; |
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/**
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* Decrease current if is_otpw is true. |
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* Bail out if driver is disabled. |
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* Increase current if OTPW has not been triggered yet. |
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*/ |
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uint16_t current = st.getCurrent(); |
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if (is_otpw) { |
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st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER); |
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#if ENABLED(REPORT_CURRENT_CHANGE) |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent()); |
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#endif |
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} |
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else if (!st.isEnabled()) |
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return; |
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else if (!is_otpw && !st.getOTPW()) { |
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current += CURRENT_STEP; |
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if (current <= AUTO_ADJUST_MAX) { |
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st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER); |
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#if ENABLED(REPORT_CURRENT_CHANGE) |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHOPAIR(" current increased to ", st.getCurrent()); |
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#endif |
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} |
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} |
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SERIAL_EOL(); |
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#endif |
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} |
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void tmc2130_checkOverTemp(void) { |
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static millis_t next_cOT = 0; |
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if (ELAPSED(millis(), next_cOT)) { |
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next_cOT = millis() + 5000; |
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#if ENABLED(X_IS_TMC2130) |
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automatic_current_control(stepperX, "X"); |
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#endif |
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#if ENABLED(Y_IS_TMC2130) |
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automatic_current_control(stepperY, "Y"); |
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#endif |
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#if ENABLED(Z_IS_TMC2130) |
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automatic_current_control(stepperZ, "Z"); |
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#endif |
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#if ENABLED(X2_IS_TMC2130) |
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automatic_current_control(stepperX2, "X2"); |
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#endif |
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#if ENABLED(Y2_IS_TMC2130) |
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automatic_current_control(stepperY2, "Y2"); |
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#endif |
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#if ENABLED(Z2_IS_TMC2130) |
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automatic_current_control(stepperZ2, "Z2"); |
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#endif |
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#if ENABLED(E0_IS_TMC2130) |
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automatic_current_control(stepperE0, "E0"); |
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#endif |
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#if ENABLED(E1_IS_TMC2130) |
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automatic_current_control(stepperE1, "E1"); |
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#endif |
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#if ENABLED(E2_IS_TMC2130) |
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automatic_current_control(stepperE2, "E2"); |
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#endif |
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#if ENABLED(E3_IS_TMC2130) |
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automatic_current_control(stepperE3, "E3"); |
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#endif |
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#if ENABLED(E4_IS_TMC2130) |
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automatic_current_control(stepperE4, "E4"); |
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#endif |
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} |
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} |
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/**
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* TMC2130 specific sensorless homing using stallGuard2. |
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* stallGuard2 only works when in spreadCycle mode. |
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* spreadCycle and stealthChop are mutually exclusive. |
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*/ |
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#if ENABLED(SENSORLESS_HOMING) |
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void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable/*=true*/) { |
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#if ENABLED(STEALTHCHOP) |
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if (enable) { |
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st.coolstep_min_speed(1024UL * 1024UL - 1UL); |
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st.stealthChop(0); |
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} |
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else { |
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st.coolstep_min_speed(0); |
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st.stealthChop(1); |
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} |
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#endif |
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st.diag1_stall(enable ? 1 : 0); |
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} |
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#endif // SENSORLESS_HOMING
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#endif // HAVE_TMC2130
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@ -1,38 +0,0 @@ |
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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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#ifndef _TMC2130_H_ |
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#define _TMC2130_H_ |
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#include <TMC2130Stepper.h> |
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#include "../inc/MarlinConfig.h" |
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extern bool auto_current_control; |
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void tmc2130_checkOverTemp(void); |
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#if ENABLED(SENSORLESS_HOMING) |
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void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true); |
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#endif |
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#endif // _TMC2130_H_
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@ -0,0 +1,39 @@ |
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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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#ifndef TMC_MACROS_H |
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#define TMC_MACROS_H |
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// Trinamic Stepper Drivers
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#define HAS_TRINAMIC (ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208) || ENABLED(IS_TRAMS)) |
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#define X_IS_TRINAMIC (ENABLED( X_IS_TMC2130) || ENABLED( X_IS_TMC2208) || ENABLED(IS_TRAMS)) |
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#define X2_IS_TRINAMIC (ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208)) |
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#define Y_IS_TRINAMIC (ENABLED( Y_IS_TMC2130) || ENABLED( Y_IS_TMC2208) || ENABLED(IS_TRAMS)) |
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#define Y2_IS_TRINAMIC (ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208)) |
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#define Z_IS_TRINAMIC (ENABLED( Z_IS_TMC2130) || ENABLED( Z_IS_TMC2208) || ENABLED(IS_TRAMS)) |
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#define Z2_IS_TRINAMIC (ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208)) |
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#define E0_IS_TRINAMIC (ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) || ENABLED(IS_TRAMS)) |
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#define E1_IS_TRINAMIC (ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208)) |
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#define E2_IS_TRINAMIC (ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208)) |
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#define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208)) |
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#define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208)) |
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#endif |
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@ -0,0 +1,266 @@ |
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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 "tmc_util.h" |
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#include "../Marlin.h" |
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#include "../module/stepper_indirection.h" |
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#include "../module/printcounter.h" |
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#include "../libs/duration_t.h" |
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#include "../gcode/gcode.h" |
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template<typename TMC> |
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void tmc_get_current(TMC &st, const char name[]) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOPGM(" axis driver current: "); |
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SERIAL_ECHOLN(st.getCurrent()); |
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} |
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template<typename TMC> |
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void tmc_set_current(TMC &st, const char name[], const int mA) { |
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER); |
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tmc_get_current(st, name); |
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} |
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template<typename TMC> |
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void tmc_report_otpw(TMC &st, const char name[]) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: "); |
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serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); |
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SERIAL_EOL(); |
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} |
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template<typename TMC> |
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void tmc_clear_otpw(TMC &st, const char name[]) { |
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st.clear_otpw(); |
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SERIAL_ECHO(name); |
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SERIAL_ECHOLNPGM(" prewarn flag cleared"); |
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} |
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template<typename TMC> |
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void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOPGM(" stealthChop max speed set to "); |
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SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm)); |
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} |
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template<typename TMC> |
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void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) { |
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st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm)); |
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tmc_get_pwmthrs(st, name, spmm); |
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} |
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template<typename TMC> |
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void tmc_get_sgt(TMC &st, const char name[]) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOPGM(" driver homing sensitivity set to "); |
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MYSERIAL.println(st.sgt(), DEC); |
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} |
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template<typename TMC> |
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void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) { |
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st.sgt(sgt_val); |
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tmc_get_sgt(st, name); |
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} |
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/*
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* Check for over temperature or short to ground error flags. |
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* Report and log warning of overtemperature condition. |
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* Reduce driver current in a persistent otpw condition. |
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* Keep track of otpw counter so we don't reduce current on a single instance, |
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* and so we don't repeatedly report warning before the condition is cleared. |
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*/ |
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#if ENABLED(MONITOR_DRIVER_STATUS) |
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struct TMC_driver_data { |
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uint32_t drv_status; |
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bool is_otpw; |
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bool is_ot; |
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bool is_error; |
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}; |
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#if ENABLED(HAVE_TMC2130) |
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static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); } |
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static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response&0xF; } |
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static TMC_driver_data get_driver_data(TMC2130Stepper &st) { |
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constexpr uint32_t OTPW_bm = 0x4000000UL; |
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constexpr uint8_t OTPW_bp = 26; |
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constexpr uint32_t OT_bm = 0x2000000UL; |
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constexpr uint8_t OT_bp = 25; |
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constexpr uint8_t DRIVER_ERROR_bm = 0x2UL; |
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constexpr uint8_t DRIVER_ERROR_bp = 1; |
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TMC_driver_data data; |
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data.drv_status = st.DRV_STATUS(); |
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data.is_otpw = (data.drv_status & OTPW_bm)>>OTPW_bp; |
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data.is_ot = (data.drv_status & OT_bm)>>OT_bp; |
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data.is_error = (st.status_response & DRIVER_ERROR_bm)>>DRIVER_ERROR_bp; |
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return data; |
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} |
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#endif |
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#if ENABLED(HAVE_TMC2208) |
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static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); } |
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static uint8_t get_status_response(TMC2208Stepper &st) { |
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uint32_t drv_status = st.DRV_STATUS(); |
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uint8_t gstat = st.GSTAT(); |
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uint8_t response = 0; |
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response |= (drv_status >> (31-3)) & 0b1000; |
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response |= gstat & 0b11; |
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return response; |
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} |
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static TMC_driver_data get_driver_data(TMC2208Stepper &st) { |
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constexpr uint32_t OTPW_bm = 0b1ul; |
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constexpr uint8_t OTPW_bp = 0; |
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constexpr uint32_t OT_bm = 0b10ul; |
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constexpr uint8_t OT_bp = 1; |
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TMC_driver_data data; |
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data.drv_status = st.DRV_STATUS(); |
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data.is_otpw = (data.drv_status & OTPW_bm)>>OTPW_bp; |
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data.is_ot = (data.drv_status & OT_bm)>>OT_bp; |
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data.is_error = st.drv_err(); |
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return data; |
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} |
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#endif |
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template<typename TMC> |
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uint8_t monitor_tmc_driver(TMC &st, const char axisID, uint8_t otpw_cnt) { |
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TMC_driver_data data = get_driver_data(st); |
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#if ENABLED(STOP_ON_ERROR) |
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if (data.is_error) { |
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SERIAL_EOL(); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHO(" driver error detected:"); |
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if (data.is_ot) SERIAL_ECHO("\novertemperature"); |
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if (st.s2ga()) SERIAL_ECHO("\nshort to ground (coil A)"); |
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if (st.s2gb()) SERIAL_ECHO("\nshort to ground (coil B)"); |
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SERIAL_EOL(); |
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#if ENABLED(TMC_DEBUG) |
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_M122(); |
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#endif |
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kill(PSTR("Driver error")); |
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} |
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#endif |
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// Report if a warning was triggered
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if (data.is_otpw && otpw_cnt==0) { |
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char timestamp[10]; |
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duration_t elapsed = print_job_timer.duration(); |
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const bool has_days = (elapsed.value > 60*60*24L); |
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(void)elapsed.toDigital(timestamp, has_days); |
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SERIAL_EOL(); |
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SERIAL_ECHO(timestamp); |
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SERIAL_ECHOPGM(": "); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHOPGM(" driver overtemperature warning! ("); |
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SERIAL_ECHO(st.getCurrent()); |
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SERIAL_ECHOLN("mA)"); |
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} |
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#if CURRENT_STEP_DOWN > 0 |
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// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
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if (data.is_otpw && !st.isEnabled() && otpw_cnt > 4) { |
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st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER); |
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#if ENABLED(REPORT_CURRENT_CHANGE) |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent()); |
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#endif |
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} |
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#endif |
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if (data.is_otpw) { |
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otpw_cnt++; |
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st.flag_otpw = true; |
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} |
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else if (otpw_cnt>0) otpw_cnt--; |
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if (report_tmc_status) { |
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const uint32_t pwm_scale = get_pwm_scale(st); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHOPAIR(":", pwm_scale); |
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SERIAL_ECHO(" |0b"); MYSERIAL.print(get_status_response(st), BIN); |
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SERIAL_ECHO("| "); |
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if (data.is_error) SERIAL_ECHO('E'); |
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else if (data.is_ot) SERIAL_ECHO('O'); |
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else if (data.is_otpw) SERIAL_ECHO('W'); |
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else if (otpw_cnt>0) MYSERIAL.print(otpw_cnt, DEC); |
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else if (st.flag_otpw) SERIAL_ECHO('F'); |
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SERIAL_ECHO("\t"); |
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} |
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return otpw_cnt; |
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} |
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|
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#define HAS_HW_COMMS(ST) ENABLED(ST##_IS_TMC2130)|| (ENABLED(ST##_IS_TMC2208) && defined(ST##_HARDWARE_SERIAL)) |
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|
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void monitor_tmc_driver() { |
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static millis_t next_cOT = 0; |
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if (ELAPSED(millis(), next_cOT)) { |
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next_cOT = millis() + 500; |
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#if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS) |
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static uint8_t x_otpw_cnt = 0; |
|||
x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS) |
|||
static uint8_t y_otpw_cnt = 0; |
|||
y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS) |
|||
static uint8_t z_otpw_cnt = 0; |
|||
z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(X2) |
|||
static uint8_t x2_otpw_cnt = 0; |
|||
x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(Y2) |
|||
static uint8_t y2_otpw_cnt = 0; |
|||
y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(Z2) |
|||
static uint8_t z2_otpw_cnt = 0; |
|||
z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS) |
|||
static uint8_t e0_otpw_cnt = 0; |
|||
e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(E1) |
|||
static uint8_t e1_otpw_cnt = 0; |
|||
e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(E2) |
|||
static uint8_t e2_otpw_cnt = 0; |
|||
e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(E3) |
|||
static uint8_t e3_otpw_cnt = 0; |
|||
e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt); |
|||
#endif |
|||
#if HAS_HW_COMMS(E4) |
|||
static uint8_t e4_otpw_cnt = 0; |
|||
e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt); |
|||
#endif |
|||
|
|||
if (report_tmc_status) SERIAL_EOL(); |
|||
} |
|||
} |
|||
|
|||
#endif // MONITOR_DRIVER_STATUS
|
|||
|
|||
#endif // HAS_TRINAMIC
|
|||
@ -0,0 +1,82 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#ifndef _TMC_UTIL_H_ |
|||
#define _TMC_UTIL_H_ |
|||
|
|||
#include <TMC2130Stepper.h> |
|||
|
|||
#include "../inc/MarlinConfig.h" |
|||
|
|||
static bool report_tmc_status = false; |
|||
const char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" }; |
|||
enum TMC_AxisEnum { |
|||
TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2, |
|||
TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 |
|||
}; |
|||
|
|||
template<typename TMC> |
|||
void tmc_get_current(TMC &st, const char name[]); |
|||
template<typename TMC> |
|||
void tmc_set_current(TMC &st, const char name[], const int mA); |
|||
template<typename TMC> |
|||
void tmc_report_otpw(TMC &st, const char name[]); |
|||
template<typename TMC> |
|||
void tmc_clear_otpw(TMC &st, const char name[]); |
|||
template<typename TMC> |
|||
void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm); |
|||
template<typename TMC> |
|||
void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm); |
|||
template<typename TMC> |
|||
void tmc_get_sgt(TMC &st, const char name[]); |
|||
template<typename TMC> |
|||
void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val); |
|||
|
|||
void _M122(); |
|||
void monitor_tmc_driver(); |
|||
|
|||
/**
|
|||
* TMC2130 specific sensorless homing using stallGuard2. |
|||
* stallGuard2 only works when in spreadCycle mode. |
|||
* spreadCycle and stealthChop are mutually exclusive. |
|||
* |
|||
* Defined here because of limitations with templates and headers. |
|||
*/ |
|||
#if ENABLED(SENSORLESS_HOMING) |
|||
template<typename TMC> |
|||
void tmc_sensorless_homing(TMC &st, bool enable=true) { |
|||
#if ENABLED(STEALTHCHOP) |
|||
if (enable) { |
|||
st.coolstep_min_speed(1024UL * 1024UL - 1UL); |
|||
st.stealthChop(0); |
|||
} |
|||
else { |
|||
st.coolstep_min_speed(0); |
|||
st.stealthChop(1); |
|||
} |
|||
#endif |
|||
|
|||
st.diag1_stall(enable ? 1 : 0); |
|||
} |
|||
#endif |
|||
|
|||
#endif // _TMC_UTIL_H_
|
|||
@ -0,0 +1,342 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "../../../inc/MarlinConfig.h" |
|||
|
|||
#if ENABLED(TMC_DEBUG) |
|||
|
|||
#include "../../gcode.h" |
|||
#include "../../../feature/tmc_util.h" |
|||
#include "../../../module/stepper_indirection.h" |
|||
#include "../../../module/planner.h" |
|||
|
|||
enum TMC_debug_enum { |
|||
TMC_CODES, |
|||
TMC_ENABLED, |
|||
TMC_CURRENT, |
|||
TMC_RMS_CURRENT, |
|||
TMC_MAX_CURRENT, |
|||
TMC_IRUN, |
|||
TMC_IHOLD, |
|||
TMC_CS_ACTUAL, |
|||
TMC_PWM_SCALE, |
|||
TMC_VSENSE, |
|||
TMC_STEALTHCHOP, |
|||
TMC_MICROSTEPS, |
|||
TMC_TSTEP, |
|||
TMC_TPWMTHRS, |
|||
TMC_TPWMTHRS_MMS, |
|||
TMC_OTPW, |
|||
TMC_OTPW_TRIGGERED, |
|||
TMC_TOFF, |
|||
TMC_TBL, |
|||
TMC_HEND, |
|||
TMC_HSTRT, |
|||
TMC_SGT |
|||
}; |
|||
enum TMC_drv_status_enum { |
|||
TMC_DRV_CODES, |
|||
TMC_STST, |
|||
TMC_OLB, |
|||
TMC_OLA, |
|||
TMC_S2GB, |
|||
TMC_S2GA, |
|||
TMC_DRV_OTPW, |
|||
TMC_OT, |
|||
TMC_STALLGUARD, |
|||
TMC_DRV_CS_ACTUAL, |
|||
TMC_FSACTIVE, |
|||
TMC_SG_RESULT, |
|||
TMC_DRV_STATUS_HEX, |
|||
TMC_T157, |
|||
TMC_T150, |
|||
TMC_T143, |
|||
TMC_T120, |
|||
TMC_STEALTH, |
|||
TMC_S2VSB, |
|||
TMC_S2VSA |
|||
}; |
|||
static void drv_status_print_hex(const char name[], const uint32_t drv_status) { |
|||
SERIAL_ECHO(name); |
|||
SERIAL_ECHOPGM(" = 0x"); |
|||
for(int B=24; B>=8; B-=8){ |
|||
MYSERIAL.print((drv_status>>(B+4))&0xF, HEX); |
|||
MYSERIAL.print((drv_status>>B)&0xF, HEX); |
|||
MYSERIAL.print(':'); |
|||
} |
|||
MYSERIAL.print((drv_status>>4)&0xF, HEX); |
|||
MYSERIAL.print((drv_status)&0xF, HEX); |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
#if ENABLED(HAVE_TMC2130) |
|||
static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) { |
|||
switch(i) { |
|||
case TMC_PWM_SCALE: MYSERIAL.print(st.PWM_SCALE(), DEC); break; |
|||
case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break; |
|||
case TMC_SGT: MYSERIAL.print(st.sgt(), DEC); break; |
|||
case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break; |
|||
default: break; |
|||
} |
|||
} |
|||
static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) { |
|||
switch(i) { |
|||
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_SG_RESULT: MYSERIAL.print(st.sg_result(), DEC); break; |
|||
case TMC_FSACTIVE: if (st.fsactive()) SERIAL_ECHOPGM("X"); break; |
|||
default: break; |
|||
} |
|||
} |
|||
#endif |
|||
#if ENABLED(HAVE_TMC2208) |
|||
static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) { |
|||
switch(i) { |
|||
case TMC_TSTEP: |
|||
{ |
|||
uint32_t data = 0; |
|||
st.TSTEP(&data); |
|||
MYSERIAL.print(data); |
|||
break; |
|||
} |
|||
case TMC_PWM_SCALE: MYSERIAL.print(st.pwm_scale_sum(), DEC); break; |
|||
case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break; |
|||
case TMC_S2VSA: if (st.s2vsa()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_S2VSB: if (st.s2vsb()) SERIAL_ECHOPGM("X"); break; |
|||
default: break; |
|||
} |
|||
} |
|||
static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) { |
|||
switch(i) { |
|||
case TMC_T157: if (st.t157()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_T150: if (st.t150()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_T143: if (st.t143()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_T120: if (st.t120()) SERIAL_ECHOPGM("X"); break; |
|||
default: break; |
|||
} |
|||
} |
|||
#endif |
|||
template <typename TMC> |
|||
static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) { |
|||
SERIAL_ECHO('\t'); |
|||
switch(i) { |
|||
case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break; |
|||
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break; |
|||
case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break; |
|||
case TMC_RMS_CURRENT: MYSERIAL.print(st.rms_current()); break; |
|||
case TMC_MAX_CURRENT: MYSERIAL.print((float)st.rms_current()*1.41, 0); break; |
|||
case TMC_IRUN: |
|||
MYSERIAL.print(st.irun(), DEC); |
|||
SERIAL_ECHOPGM("/31"); |
|||
break; |
|||
case TMC_IHOLD: |
|||
MYSERIAL.print(st.ihold(), DEC); |
|||
SERIAL_ECHOPGM("/31"); |
|||
break; |
|||
case TMC_CS_ACTUAL: |
|||
MYSERIAL.print(st.cs_actual(), DEC); |
|||
SERIAL_ECHOPGM("/31"); |
|||
break; |
|||
|
|||
case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break; |
|||
|
|||
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break; |
|||
case TMC_TPWMTHRS: |
|||
{ |
|||
uint32_t tpwmthrs_val = st.TPWMTHRS(); |
|||
SERIAL_ECHO(tpwmthrs_val); |
|||
} |
|||
break; |
|||
case TMC_TPWMTHRS_MMS: |
|||
{ |
|||
uint32_t tpwmthrs_val = st.TPWMTHRS(); |
|||
tpwmthrs_val ? SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm)) : SERIAL_ECHO('-'); |
|||
} |
|||
break; |
|||
case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break; |
|||
case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break; |
|||
case TMC_TOFF: MYSERIAL.print(st.toff(), DEC); break; |
|||
case TMC_TBL: MYSERIAL.print(st.blank_time(), DEC); break; |
|||
case TMC_HEND: MYSERIAL.print(st.hysterisis_end(), DEC); break; |
|||
case TMC_HSTRT: MYSERIAL.print(st.hysterisis_start(), DEC); break; |
|||
default: tmc_status(st, i); break; |
|||
} |
|||
} |
|||
template <typename TMC> |
|||
static void tmc_parse_drv_status(TMC &st, TMC_AxisEnum axis, const TMC_drv_status_enum i) { |
|||
SERIAL_ECHOPGM("\t"); |
|||
switch(i) { |
|||
case TMC_DRV_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break; |
|||
case TMC_STST: if (st.stst()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_OLB: if (st.olb()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_OLA: if (st.ola()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_S2GB: if (st.s2gb()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_S2GA: if (st.s2ga()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_OT: if (st.ot()) SERIAL_ECHOPGM("X"); break; |
|||
case TMC_DRV_CS_ACTUAL: MYSERIAL.print(st.cs_actual(), DEC); break; |
|||
case TMC_DRV_STATUS_HEX:drv_status_print_hex(extended_axis_codes[axis], st.DRV_STATUS()); break; |
|||
default: tmc_parse_drv_status(st, i); break; |
|||
} |
|||
} |
|||
|
|||
static void tmc_debug_loop(const TMC_debug_enum i) { |
|||
#if X_IS_TRINAMIC |
|||
tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]); |
|||
#endif |
|||
#if X2_IS_TRINAMIC |
|||
tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]); |
|||
#endif |
|||
|
|||
#if Y_IS_TRINAMIC |
|||
tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]); |
|||
#endif |
|||
#if Y2_IS_TRINAMIC |
|||
tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]); |
|||
#endif |
|||
|
|||
#if Z_IS_TRINAMIC |
|||
tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]); |
|||
#endif |
|||
#if Z2_IS_TRINAMIC |
|||
tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]); |
|||
#endif |
|||
|
|||
#if E0_IS_TRINAMIC |
|||
tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]); |
|||
#endif |
|||
#if E1_IS_TRINAMIC |
|||
tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS+1]); |
|||
#endif |
|||
#if E2_IS_TRINAMIC |
|||
tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS+2]); |
|||
#endif |
|||
#if E3_IS_TRINAMIC |
|||
tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS+3]); |
|||
#endif |
|||
#if E4_IS_TRINAMIC |
|||
tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS+4]); |
|||
#endif |
|||
|
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
static void drv_status_loop(const TMC_drv_status_enum i) { |
|||
#if X_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperX, TMC_X, i); |
|||
#endif |
|||
#if X2_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperX2, TMC_X2, i); |
|||
#endif |
|||
|
|||
#if Y_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperY, TMC_Y, i); |
|||
#endif |
|||
#if Y2_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperY2, TMC_Y2, i); |
|||
#endif |
|||
|
|||
#if Z_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperZ, TMC_Z, i); |
|||
#endif |
|||
#if Z2_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperZ2, TMC_Z2, i); |
|||
#endif |
|||
|
|||
#if E0_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperE0, TMC_E0, i); |
|||
#endif |
|||
#if E1_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperE1, TMC_E1, i); |
|||
#endif |
|||
#if E2_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperE2, TMC_E2, i); |
|||
#endif |
|||
#if E3_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperE3, TMC_E3, i); |
|||
#endif |
|||
#if E4_IS_TRINAMIC |
|||
tmc_parse_drv_status(stepperE4, TMC_E4, i); |
|||
#endif |
|||
|
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
void _M122() { |
|||
if (parser.seen('S')) { |
|||
if (parser.value_bool()) { |
|||
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|"); |
|||
report_tmc_status = true; |
|||
} else |
|||
report_tmc_status = false; |
|||
} else { |
|||
SERIAL_ECHOPGM("\t"); tmc_debug_loop(TMC_CODES); |
|||
SERIAL_ECHOPGM("Enabled\t"); tmc_debug_loop(TMC_ENABLED); |
|||
SERIAL_ECHOPGM("Set current"); tmc_debug_loop(TMC_CURRENT); |
|||
SERIAL_ECHOPGM("RMS current"); tmc_debug_loop(TMC_RMS_CURRENT); |
|||
SERIAL_ECHOPGM("MAX current"); tmc_debug_loop(TMC_MAX_CURRENT); |
|||
SERIAL_ECHOPGM("Run current"); tmc_debug_loop(TMC_IRUN); |
|||
SERIAL_ECHOPGM("Hold current"); tmc_debug_loop(TMC_IHOLD); |
|||
SERIAL_ECHOPGM("CS actual\t"); tmc_debug_loop(TMC_CS_ACTUAL); |
|||
SERIAL_ECHOPGM("PWM scale"); tmc_debug_loop(TMC_PWM_SCALE); |
|||
SERIAL_ECHOPGM("vsense\t"); tmc_debug_loop(TMC_VSENSE); |
|||
SERIAL_ECHOPGM("stealthChop"); tmc_debug_loop(TMC_STEALTHCHOP); |
|||
SERIAL_ECHOPGM("msteps\t"); tmc_debug_loop(TMC_MICROSTEPS); |
|||
SERIAL_ECHOPGM("tstep\t"); tmc_debug_loop(TMC_TSTEP); |
|||
SERIAL_ECHOPGM("pwm\nthreshold\t"); tmc_debug_loop(TMC_TPWMTHRS); |
|||
SERIAL_ECHOPGM("[mm/s]\t"); tmc_debug_loop(TMC_TPWMTHRS_MMS); |
|||
SERIAL_ECHOPGM("OT prewarn"); tmc_debug_loop(TMC_OTPW); |
|||
SERIAL_ECHOPGM("OT prewarn has\nbeen triggered"); tmc_debug_loop(TMC_OTPW_TRIGGERED); |
|||
SERIAL_ECHOPGM("off time\t"); tmc_debug_loop(TMC_TOFF); |
|||
SERIAL_ECHOPGM("blank time"); tmc_debug_loop(TMC_TBL); |
|||
SERIAL_ECHOPGM("hysterisis\n-end\t"); tmc_debug_loop(TMC_HEND); |
|||
SERIAL_ECHOPGM("-start\t"); tmc_debug_loop(TMC_HSTRT); |
|||
SERIAL_ECHOPGM("Stallguard thrs"); tmc_debug_loop(TMC_SGT); |
|||
|
|||
SERIAL_ECHOPGM("DRVSTATUS"); drv_status_loop(TMC_DRV_CODES); |
|||
#if ENABLED(HAVE_TMC2130) |
|||
SERIAL_ECHOPGM("stallguard\t"); drv_status_loop(TMC_STALLGUARD); |
|||
SERIAL_ECHOPGM("sg_result\t"); drv_status_loop(TMC_SG_RESULT); |
|||
SERIAL_ECHOPGM("fsactive\t"); drv_status_loop(TMC_FSACTIVE); |
|||
#endif |
|||
SERIAL_ECHOPGM("stst\t"); drv_status_loop(TMC_STST); |
|||
SERIAL_ECHOPGM("olb\t"); drv_status_loop(TMC_OLB); |
|||
SERIAL_ECHOPGM("ola\t"); drv_status_loop(TMC_OLA); |
|||
SERIAL_ECHOPGM("s2gb\t"); drv_status_loop(TMC_S2GB); |
|||
SERIAL_ECHOPGM("s2ga\t"); drv_status_loop(TMC_S2GA); |
|||
SERIAL_ECHOPGM("otpw\t"); drv_status_loop(TMC_DRV_OTPW); |
|||
SERIAL_ECHOPGM("ot\t"); drv_status_loop(TMC_OT); |
|||
#if ENABLED(HAVE_TMC2208) |
|||
SERIAL_ECHOPGM("157C\t"); drv_status_loop(TMC_T157); |
|||
SERIAL_ECHOPGM("150C\t"); drv_status_loop(TMC_T150); |
|||
SERIAL_ECHOPGM("143C\t"); drv_status_loop(TMC_T143); |
|||
SERIAL_ECHOPGM("120C\t"); drv_status_loop(TMC_T120); |
|||
SERIAL_ECHOPGM("s2vsa\t"); drv_status_loop(TMC_S2VSA); |
|||
SERIAL_ECHOPGM("s2vsb\t"); drv_status_loop(TMC_S2VSB); |
|||
#endif |
|||
SERIAL_ECHOLNPGM("Driver registers:");drv_status_loop(TMC_DRV_STATUS_HEX); |
|||
} |
|||
} |
|||
|
|||
// We need to call M122 from monitor_tmc_driver() as well but GcodeSuite::M122 is private.
|
|||
inline void GcodeSuite::M122() { _M122(); } |
|||
|
|||
#endif // TMC_DEBUG
|
|||
@ -1,155 +0,0 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "../../../inc/MarlinConfig.h" |
|||
|
|||
#if ENABLED(HAVE_TMC2130) |
|||
|
|||
#include "../../gcode.h" |
|||
#include "../../../feature/tmc2130.h" |
|||
#include "../../../module/stepper_indirection.h" |
|||
|
|||
inline void tmc2130_report_otpw(TMC2130Stepper &st, const char name) { |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOPGM(" axis temperature prewarn triggered: "); |
|||
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
/**
|
|||
* M911: Report TMC2130 stepper driver overtemperature pre-warn flag |
|||
* The flag is held by the library and persist until manually cleared by M912 |
|||
*/ |
|||
void GcodeSuite::M911() { |
|||
const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'), |
|||
reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE); |
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X'); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y'); |
|||
#endif |
|||
#if ENABLED(Z_IS_TMC2130) |
|||
if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z'); |
|||
#endif |
|||
#if ENABLED(E0_IS_TMC2130) |
|||
if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E'); |
|||
#endif |
|||
} |
|||
|
|||
inline void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) { |
|||
st.clear_otpw(); |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOLNPGM(" prewarn flag cleared"); |
|||
} |
|||
|
|||
/**
|
|||
* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library |
|||
*/ |
|||
void GcodeSuite::M912() { |
|||
const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'), |
|||
clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE); |
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X'); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y'); |
|||
#endif |
|||
#if ENABLED(Z_IS_TMC2130) |
|||
if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z'); |
|||
#endif |
|||
#if ENABLED(E0_IS_TMC2130) |
|||
if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E'); |
|||
#endif |
|||
} |
|||
|
|||
#if ENABLED(HYBRID_THRESHOLD) |
|||
|
|||
#include "../../../module/planner.h" |
|||
|
|||
inline void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) { |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOPGM(" stealthChop max speed set to "); |
|||
SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm)); |
|||
} |
|||
inline void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) { |
|||
st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm)); |
|||
tmc2130_get_pwmthrs(st, name, spmm); |
|||
} |
|||
|
|||
/**
|
|||
* M913: Set HYBRID_THRESHOLD speed. |
|||
*/ |
|||
void GcodeSuite::M913() { |
|||
uint16_t values[XYZE]; |
|||
LOOP_XYZE(i) |
|||
values[i] = parser.intval(axis_codes[i]); |
|||
|
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]); |
|||
else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]); |
|||
else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]); |
|||
#endif |
|||
#if ENABLED(Z_IS_TMC2130) |
|||
if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]); |
|||
else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]); |
|||
#endif |
|||
#if ENABLED(E0_IS_TMC2130) |
|||
if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); |
|||
else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]); |
|||
#endif |
|||
} |
|||
|
|||
#endif // HYBRID_THRESHOLD
|
|||
|
|||
#if ENABLED(SENSORLESS_HOMING) |
|||
|
|||
inline void tmc2130_get_sgt(TMC2130Stepper &st, const char name) { |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOPGM(" driver homing sensitivity set to "); |
|||
SERIAL_ECHOLN(st.sgt()); |
|||
} |
|||
inline void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) { |
|||
st.sgt(sgt_val); |
|||
tmc2130_get_sgt(st, name); |
|||
} |
|||
|
|||
/**
|
|||
* M914: Set SENSORLESS_HOMING sensitivity. |
|||
*/ |
|||
void GcodeSuite::M914() { |
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int()); |
|||
else tmc2130_get_sgt(stepperX, 'X'); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int()); |
|||
else tmc2130_get_sgt(stepperY, 'Y'); |
|||
#endif |
|||
} |
|||
|
|||
#endif // SENSORLESS_HOMING
|
|||
|
|||
#endif // HAVE_TMC2130
|
|||
@ -0,0 +1,195 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "../../../inc/MarlinConfig.h" |
|||
|
|||
#if HAS_TRINAMIC |
|||
|
|||
#include "../../gcode.h" |
|||
#include "../../../feature/tmc_util.h" |
|||
#include "../../../module/stepper_indirection.h" |
|||
#include "../../../module/planner.h" |
|||
|
|||
/**
|
|||
* M911: Report TMC stepper driver overtemperature pre-warn flag |
|||
* The flag is held by the library and persist until manually cleared by M912 |
|||
*/ |
|||
inline void GcodeSuite::M911() { |
|||
#if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS) |
|||
tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX)) || ENABLED(IS_TRAMS) |
|||
tmc_report_otpw(stepperY, extended_axis_codes[TMC_Y]); |
|||
#endif |
|||
#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX)) || ENABLED(IS_TRAMS) |
|||
tmc_report_otpw(stepperZ, extended_axis_codes[TMC_Z]); |
|||
#endif |
|||
#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX)) || ENABLED(IS_TRAMS) |
|||
tmc_report_otpw(stepperE0, extended_axis_codes[TMC_E0]); |
|||
#endif |
|||
} |
|||
|
|||
/**
|
|||
* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library |
|||
*/ |
|||
inline void GcodeSuite::M912() { |
|||
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]), |
|||
clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE); |
|||
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) |
|||
if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]); |
|||
#endif |
|||
#if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) |
|||
if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]); |
|||
#endif |
|||
|
|||
#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX)) |
|||
if (clearY || clearAll) tmc_clear_otpw(stepperY, extended_axis_codes[TMC_Y]); |
|||
#endif |
|||
|
|||
#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX)) |
|||
if (clearZ || clearAll) tmc_clear_otpw(stepperZ, extended_axis_codes[TMC_Z]); |
|||
#endif |
|||
|
|||
#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX)) |
|||
if (clearE || clearAll) tmc_clear_otpw(stepperE0, extended_axis_codes[TMC_E0]); |
|||
#endif |
|||
} |
|||
|
|||
/**
|
|||
* M913: Set HYBRID_THRESHOLD speed. |
|||
*/ |
|||
#if ENABLED(HYBRID_THRESHOLD) |
|||
inline void GcodeSuite::M913() { |
|||
uint16_t values[XYZE]; |
|||
LOOP_XYZE(i) |
|||
values[i] = parser.intval(axis_codes[i]); |
|||
|
|||
#if X_IS_TRINAMIC |
|||
if (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]); |
|||
else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]); |
|||
#endif |
|||
#if X2_IS_TRINAMIC |
|||
if (values[X_AXIS]) tmc_set_pwmthrs(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]); |
|||
else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]); |
|||
#endif |
|||
|
|||
#if Y_IS_TRINAMIC |
|||
if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]); |
|||
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]); |
|||
#endif |
|||
#if Y2_IS_TRINAMIC |
|||
if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]); |
|||
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]); |
|||
#endif |
|||
|
|||
#if Z_IS_TRINAMIC |
|||
if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]); |
|||
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]); |
|||
#endif |
|||
#if Z2_IS_TRINAMIC |
|||
if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]); |
|||
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]); |
|||
#endif |
|||
|
|||
#if E0_IS_TRINAMIC |
|||
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); |
|||
else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]); |
|||
#endif |
|||
#if E1_IS_TRINAMIC |
|||
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); |
|||
else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]); |
|||
#endif |
|||
#if E2_IS_TRINAMIC |
|||
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); |
|||
else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]); |
|||
#endif |
|||
#if E3_IS_TRINAMIC |
|||
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); |
|||
else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]); |
|||
#endif |
|||
#if E4_IS_TRINAMIC |
|||
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); |
|||
else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]); |
|||
#endif |
|||
} |
|||
#endif // HYBRID_THRESHOLD
|
|||
|
|||
/**
|
|||
* M914: Set SENSORLESS_HOMING sensitivity. |
|||
*/ |
|||
#if ENABLED(SENSORLESS_HOMING) |
|||
inline void GcodeSuite::M914() { |
|||
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) |
|||
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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/**
|
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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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|
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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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|
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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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|
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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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|
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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; |
|||
|
|||
SERIAL_ECHOLNPGM("\nHoming Z because we lost steps"); |
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home_z_safely(); |
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} |
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#endif |
|||
|
|||
#endif // HAS_TRINAMIC
|
|||
Loading…
Reference in new issue