From 99c237e05e5090d56ef22961b0af4b7858a4af47 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 28 Dec 2021 05:43:10 -0600 Subject: [PATCH] =?UTF-8?q?=F0=9F=9A=B8=20Refine=20stepper-driver-related?= =?UTF-8?q?=20G-codes=20(#23372)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/feature/tmc_util.h | 43 ++-------- Marlin/src/gcode/feature/L6470/M906.cpp | 86 +++++++++---------- Marlin/src/gcode/feature/trinamic/M569.cpp | 47 +++++----- Marlin/src/gcode/feature/trinamic/M906.cpp | 81 +++++++++-------- .../src/gcode/feature/trinamic/M911-M914.cpp | 83 ++++++++++++------ Marlin/src/gcode/gcode.cpp | 3 +- Marlin/src/gcode/gcode.h | 2 +- Marlin/src/module/stepper/trinamic.h | 6 -- 8 files changed, 171 insertions(+), 180 deletions(-) diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h index 1f7d5cf1a5..2da425170f 100644 --- a/Marlin/src/feature/tmc_util.h +++ b/Marlin/src/feature/tmc_util.h @@ -45,6 +45,12 @@ constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const u return 12650000UL * msteps / (256 * thrs * spmm); } +typedef struct { + uint8_t toff; + int8_t hend; + uint8_t hstrt; +} chopper_timing_t; + template class TMCStorage { protected: @@ -297,43 +303,6 @@ class TMCMarlin : public TMC266 sgt_max = 63; }; -template -void tmc_print_current(TMC &st) { - st.printLabel(); - SERIAL_ECHOLNPGM(" driver current: ", st.getMilliamps()); -} - -#if ENABLED(MONITOR_DRIVER_STATUS) - template - void tmc_report_otpw(TMC &st) { - st.printLabel(); - SERIAL_ECHOPGM(" temperature prewarn triggered: "); - serialprint_truefalse(st.getOTPW()); - SERIAL_EOL(); - } - template - void tmc_clear_otpw(TMC &st) { - st.clear_otpw(); - st.printLabel(); - SERIAL_ECHOLNPGM(" prewarn flag cleared"); - } -#endif -#if ENABLED(HYBRID_THRESHOLD) - template - void tmc_print_pwmthrs(TMC &st) { - st.printLabel(); - SERIAL_ECHOLNPGM(" stealthChop max speed: ", st.get_pwm_thrs()); - } -#endif -#if USE_SENSORLESS - template - void tmc_print_sgt(TMC &st) { - st.printLabel(); - SERIAL_ECHOPGM(" homing sensitivity: "); - SERIAL_PRINTLN(st.homing_threshold(), PrintBase::Dec); - } -#endif - void monitor_tmc_drivers(); void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true)); diff --git a/Marlin/src/gcode/feature/L6470/M906.cpp b/Marlin/src/gcode/feature/L6470/M906.cpp index d058ce5501..123144e78c 100644 --- a/Marlin/src/gcode/feature/L6470/M906.cpp +++ b/Marlin/src/gcode/feature/L6470/M906.cpp @@ -202,12 +202,11 @@ void L64XX_report_current(L64XX &motor, const L64XX_axis_t axis) { * On L6474 this sets the TVAL register (same address). * * I - select which driver(s) to change on multi-driver axis - * 0 - (default) all drivers on the axis or E0 - * 1 - monitor only X, Y, Z or E1 - * 2 - monitor only X2, Y2, Z2 or E2 - * 3 - monitor only Z3 or E3 - * 4 - monitor only Z4 or E4 - * 5 - monitor only E5 + * (default) all drivers on the axis + * 0 - monitor only the first XYZ... driver + * 1 - monitor only X2, Y2, Z2 + * 2 - monitor only Z3 + * 3 - monitor only Z4 * Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional) * L6474 - current in mA (4A max) * All others - 0-255 @@ -227,8 +226,10 @@ void GcodeSuite::M906() { uint8_t report_current = true; - #if HAS_L64XX - const uint8_t index = parser.byteval('I'); + #if AXIS_IS_L64XX(X2) || AXIS_IS_L64XX(Y2) || AXIS_IS_L64XX(Z2) || AXIS_IS_L64XX(Z3) || AXIS_IS_L64XX(Z4) + const int8_t index = parser.byteval('I', -1); + #else + constexpr int8_t index = -1; #endif LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) { @@ -243,20 +244,20 @@ void GcodeSuite::M906() { switch (i) { case X_AXIS: #if AXIS_IS_L64XX(X) - if (index == 0) L6470_SET_KVAL_HOLD(X); + if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(X); #endif #if AXIS_IS_L64XX(X2) - if (index == 1) L6470_SET_KVAL_HOLD(X2); + if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(X2); #endif break; #if HAS_Y_AXIS case Y_AXIS: #if AXIS_IS_L64XX(Y) - if (index == 0) L6470_SET_KVAL_HOLD(Y); + if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(Y); #endif #if AXIS_IS_L64XX(Y2) - if (index == 1) L6470_SET_KVAL_HOLD(Y2); + if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(Y2); #endif break; #endif @@ -264,50 +265,47 @@ void GcodeSuite::M906() { #if HAS_Z_AXIS case Z_AXIS: #if AXIS_IS_L64XX(Z) - if (index == 0) L6470_SET_KVAL_HOLD(Z); + if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(Z); #endif #if AXIS_IS_L64XX(Z2) - if (index == 1) L6470_SET_KVAL_HOLD(Z2); + if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(Z2); #endif #if AXIS_IS_L64XX(Z3) - if (index == 2) L6470_SET_KVAL_HOLD(Z3); + if (index < 0 || index == 2) L6470_SET_KVAL_HOLD(Z3); #endif #if AXIS_DRIVER_TYPE_Z4(L6470) - if (index == 3) L6470_SET_KVAL_HOLD(Z4); + if (index < 0 || index == 3) L6470_SET_KVAL_HOLD(Z4); #endif break; #endif #if E_STEPPERS case E_AXIS: { - const int8_t target_e_stepper = get_target_e_stepper_from_command(0); - if (target_e_stepper < 0) return; - switch (target_e_stepper) { - #if AXIS_IS_L64XX(E0) - case 0: L6470_SET_KVAL_HOLD(E0); break; - #endif - #if AXIS_IS_L64XX(E1) - case 1: L6470_SET_KVAL_HOLD(E1); break; - #endif - #if AXIS_IS_L64XX(E2) - case 2: L6470_SET_KVAL_HOLD(E2); break; - #endif - #if AXIS_IS_L64XX(E3) - case 3: L6470_SET_KVAL_HOLD(E3); break; - #endif - #if AXIS_IS_L64XX(E4) - case 4: L6470_SET_KVAL_HOLD(E4); break; - #endif - #if AXIS_IS_L64XX(E5) - case 5: L6470_SET_KVAL_HOLD(E5); break; - #endif - #if AXIS_IS_L64XX(E6) - case 6: L6470_SET_KVAL_HOLD(E6); break; - #endif - #if AXIS_IS_L64XX(E7) - case 7: L6470_SET_KVAL_HOLD(E7); break; - #endif - } + const int8_t eindex = get_target_e_stepper_from_command(-2); + #if AXIS_IS_L64XX(E0) + if (eindex < 0 || eindex == 0) L6470_SET_KVAL_HOLD(E0); + #endif + #if AXIS_IS_L64XX(E1) + if (eindex < 0 || eindex == 1) L6470_SET_KVAL_HOLD(E1); + #endif + #if AXIS_IS_L64XX(E2) + if (eindex < 0 || eindex == 2) L6470_SET_KVAL_HOLD(E2); + #endif + #if AXIS_IS_L64XX(E3) + if (eindex < 0 || eindex == 3) L6470_SET_KVAL_HOLD(E3); + #endif + #if AXIS_IS_L64XX(E4) + if (eindex < 0 || eindex == 4) L6470_SET_KVAL_HOLD(E4); + #endif + #if AXIS_IS_L64XX(E5) + if (eindex < 0 || eindex == 5) L6470_SET_KVAL_HOLD(E5); + #endif + #if AXIS_IS_L64XX(E6) + if (eindex < 0 || eindex == 6) L6470_SET_KVAL_HOLD(E6); + #endif + #if AXIS_IS_L64XX(E7) + if (eindex < 0 || eindex == 7) L6470_SET_KVAL_HOLD(E7); + #endif } break; #endif } diff --git a/Marlin/src/gcode/feature/trinamic/M569.cpp b/Marlin/src/gcode/feature/trinamic/M569.cpp index cb33d46d25..aa805647fe 100644 --- a/Marlin/src/gcode/feature/trinamic/M569.cpp +++ b/Marlin/src/gcode/feature/trinamic/M569.cpp @@ -40,35 +40,35 @@ void tmc_set_stealthChop(TMC &st, const bool enable) { st.refresh_stepping_mode(); } -static void set_stealth_status(const bool enable, const int8_t target_e_stepper) { +static void set_stealth_status(const bool enable, const int8_t eindex) { #define TMC_SET_STEALTH(Q) tmc_set_stealthChop(stepper##Q, enable) - #if X_HAS_STEALTHCHOP || Y_HAS_STEALTHCHOP || Z_HAS_STEALTHCHOP \ - || I_HAS_STEALTHCHOP || J_HAS_STEALTHCHOP || K_HAS_STEALTHCHOP \ - || X2_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP || Z3_HAS_STEALTHCHOP || Z4_HAS_STEALTHCHOP - const uint8_t index = parser.byteval('I'); + #if X2_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP || Z3_HAS_STEALTHCHOP || Z4_HAS_STEALTHCHOP + const int8_t index = parser.byteval('I', -1); + #else + constexpr int8_t index = -1; #endif LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) { switch (i) { case X_AXIS: - TERN_(X_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(X)); - TERN_(X2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(X2)); + TERN_(X_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_STEALTH(X)); + TERN_(X2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_STEALTH(X2)); break; #if HAS_Y_AXIS case Y_AXIS: - TERN_(Y_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(Y)); - TERN_(Y2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(Y2)); + TERN_(Y_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_STEALTH(Y)); + TERN_(Y2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_STEALTH(Y2)); break; #endif #if HAS_Z_AXIS case Z_AXIS: - TERN_(Z_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(Z)); - TERN_(Z2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(Z2)); - TERN_(Z3_HAS_STEALTHCHOP, if (index == 2) TMC_SET_STEALTH(Z3)); - TERN_(Z4_HAS_STEALTHCHOP, if (index == 3) TMC_SET_STEALTH(Z4)); + TERN_(Z_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_STEALTH(Z)); + TERN_(Z2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_STEALTH(Z2)); + TERN_(Z3_HAS_STEALTHCHOP, if (index < 0 || index == 2) TMC_SET_STEALTH(Z3)); + TERN_(Z4_HAS_STEALTHCHOP, if (index < 0 || index == 3) TMC_SET_STEALTH(Z4)); break; #endif @@ -84,17 +84,14 @@ static void set_stealth_status(const bool enable, const int8_t target_e_stepper) #if E_STEPPERS case E_AXIS: { - if (target_e_stepper < 0) return; - switch (target_e_stepper) { - TERN_(E0_HAS_STEALTHCHOP, case 0: TMC_SET_STEALTH(E0); break;) - TERN_(E1_HAS_STEALTHCHOP, case 1: TMC_SET_STEALTH(E1); break;) - TERN_(E2_HAS_STEALTHCHOP, case 2: TMC_SET_STEALTH(E2); break;) - TERN_(E3_HAS_STEALTHCHOP, case 3: TMC_SET_STEALTH(E3); break;) - TERN_(E4_HAS_STEALTHCHOP, case 4: TMC_SET_STEALTH(E4); break;) - TERN_(E5_HAS_STEALTHCHOP, case 5: TMC_SET_STEALTH(E5); break;) - TERN_(E6_HAS_STEALTHCHOP, case 6: TMC_SET_STEALTH(E6); break;) - TERN_(E7_HAS_STEALTHCHOP, case 7: TMC_SET_STEALTH(E7); break;) - } + TERN_(E0_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 0) TMC_SET_STEALTH(E0)); + TERN_(E1_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 1) TMC_SET_STEALTH(E1)); + TERN_(E2_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 2) TMC_SET_STEALTH(E2)); + TERN_(E3_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 3) TMC_SET_STEALTH(E3)); + TERN_(E4_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 4) TMC_SET_STEALTH(E4)); + TERN_(E5_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 5) TMC_SET_STEALTH(E5)); + TERN_(E6_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 6) TMC_SET_STEALTH(E6)); + TERN_(E7_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 7) TMC_SET_STEALTH(E7)); } break; #endif } @@ -133,7 +130,7 @@ static void say_stealth_status() { */ void GcodeSuite::M569() { if (parser.seen('S')) - set_stealth_status(parser.value_bool(), get_target_e_stepper_from_command(0)); + set_stealth_status(parser.value_bool(), get_target_e_stepper_from_command(-2)); else say_stealth_status(); } diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp index f28718c831..788389ed61 100644 --- a/Marlin/src/gcode/feature/trinamic/M906.cpp +++ b/Marlin/src/gcode/feature/trinamic/M906.cpp @@ -28,6 +28,12 @@ #include "../../../feature/tmc_util.h" #include "../../../module/stepper/indirection.h" +template +static void tmc_print_current(TMC &st) { + st.printLabel(); + SERIAL_ECHOLNPGM(" driver current: ", st.getMilliamps()); +} + /** * M906: Set motor current in milliamps. * @@ -48,8 +54,10 @@ void GcodeSuite::M906() { bool report = true; - #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K) - const uint8_t index = parser.byteval('I'); + #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) + const int8_t index = parser.byteval('I', -1); + #else + constexpr int8_t index = -1; #endif LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) { @@ -57,20 +65,20 @@ void GcodeSuite::M906() { switch (i) { case X_AXIS: #if AXIS_IS_TMC(X) - if (index == 0) TMC_SET_CURRENT(X); + if (index < 0 || index == 0) TMC_SET_CURRENT(X); #endif #if AXIS_IS_TMC(X2) - if (index == 1) TMC_SET_CURRENT(X2); + if (index < 0 || index == 1) TMC_SET_CURRENT(X2); #endif break; #if HAS_Y_AXIS case Y_AXIS: #if AXIS_IS_TMC(Y) - if (index == 0) TMC_SET_CURRENT(Y); + if (index < 0 || index == 0) TMC_SET_CURRENT(Y); #endif #if AXIS_IS_TMC(Y2) - if (index == 1) TMC_SET_CURRENT(Y2); + if (index < 0 || index == 1) TMC_SET_CURRENT(Y2); #endif break; #endif @@ -78,16 +86,16 @@ void GcodeSuite::M906() { #if HAS_Z_AXIS case Z_AXIS: #if AXIS_IS_TMC(Z) - if (index == 0) TMC_SET_CURRENT(Z); + if (index < 0 || index == 0) TMC_SET_CURRENT(Z); #endif #if AXIS_IS_TMC(Z2) - if (index == 1) TMC_SET_CURRENT(Z2); + if (index < 0 || index == 1) TMC_SET_CURRENT(Z2); #endif #if AXIS_IS_TMC(Z3) - if (index == 2) TMC_SET_CURRENT(Z3); + if (index < 0 || index == 2) TMC_SET_CURRENT(Z3); #endif #if AXIS_IS_TMC(Z4) - if (index == 3) TMC_SET_CURRENT(Z4); + if (index < 0 || index == 3) TMC_SET_CURRENT(Z4); #endif break; #endif @@ -104,34 +112,31 @@ void GcodeSuite::M906() { #if E_STEPPERS case E_AXIS: { - const int8_t target_e_stepper = get_target_e_stepper_from_command(0); - if (target_e_stepper < 0) return; - switch (target_e_stepper) { - #if AXIS_IS_TMC(E0) - case 0: TMC_SET_CURRENT(E0); break; - #endif - #if AXIS_IS_TMC(E1) - case 1: TMC_SET_CURRENT(E1); break; - #endif - #if AXIS_IS_TMC(E2) - case 2: TMC_SET_CURRENT(E2); break; - #endif - #if AXIS_IS_TMC(E3) - case 3: TMC_SET_CURRENT(E3); break; - #endif - #if AXIS_IS_TMC(E4) - case 4: TMC_SET_CURRENT(E4); break; - #endif - #if AXIS_IS_TMC(E5) - case 5: TMC_SET_CURRENT(E5); break; - #endif - #if AXIS_IS_TMC(E6) - case 6: TMC_SET_CURRENT(E6); break; - #endif - #if AXIS_IS_TMC(E7) - case 7: TMC_SET_CURRENT(E7); break; - #endif - } + const int8_t eindex = get_target_e_stepper_from_command(-2); + #if AXIS_IS_TMC(E0) + if (eindex < 0 || eindex == 0) TMC_SET_CURRENT(E0); + #endif + #if AXIS_IS_TMC(E1) + if (eindex < 0 || eindex == 1) TMC_SET_CURRENT(E1); + #endif + #if AXIS_IS_TMC(E2) + if (eindex < 0 || eindex == 2) TMC_SET_CURRENT(E2); + #endif + #if AXIS_IS_TMC(E3) + if (eindex < 0 || eindex == 3) TMC_SET_CURRENT(E3); + #endif + #if AXIS_IS_TMC(E4) + if (eindex < 0 || eindex == 4) TMC_SET_CURRENT(E4); + #endif + #if AXIS_IS_TMC(E5) + if (eindex < 0 || eindex == 5) TMC_SET_CURRENT(E5); + #endif + #if AXIS_IS_TMC(E6) + if (eindex < 0 || eindex == 6) TMC_SET_CURRENT(E6); + #endif + #if AXIS_IS_TMC(E7) + if (eindex < 0 || eindex == 7) TMC_SET_CURRENT(E7); + #endif } break; #endif } diff --git a/Marlin/src/gcode/feature/trinamic/M911-M914.cpp b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp index 3f83558fd4..37dd9479ab 100644 --- a/Marlin/src/gcode/feature/trinamic/M911-M914.cpp +++ b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp @@ -62,6 +62,21 @@ #error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160." #endif + template + static void tmc_report_otpw(TMC &st) { + st.printLabel(); + SERIAL_ECHOPGM(" temperature prewarn triggered: "); + serialprint_truefalse(st.getOTPW()); + SERIAL_EOL(); + } + + template + static void tmc_clear_otpw(TMC &st) { + st.clear_otpw(); + st.printLabel(); + SERIAL_ECHOLNPGM(" prewarn flag cleared"); + } + /** * M911: Report TMC stepper driver overtemperature pre-warn flag * This flag is held by the library, persisting until cleared by M912 @@ -223,11 +238,17 @@ #endif // MONITOR_DRIVER_STATUS -/** - * M913: Set HYBRID_THRESHOLD speed. - */ #if ENABLED(HYBRID_THRESHOLD) + template + static void tmc_print_pwmthrs(TMC &st) { + st.printLabel(); + SERIAL_ECHOLNPGM(" stealthChop max speed: ", st.get_pwm_thrs()); + } + + /** + * M913: Set HYBRID_THRESHOLD speed. + */ void GcodeSuite::M913() { #define TMC_SAY_PWMTHRS(A,Q) tmc_print_pwmthrs(stepper##Q) #define TMC_SET_PWMTHRS(A,Q) stepper##Q.set_pwm_thrs(value) @@ -235,19 +256,21 @@ #define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value) bool report = true; - #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K) - const uint8_t index = parser.byteval('I'); + #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) + const int8_t index = parser.byteval('I', -1); + #else + constexpr int8_t index = -1; #endif LOOP_LOGICAL_AXES(i) if (int32_t value = parser.longval(axis_codes[i])) { report = false; switch (i) { case X_AXIS: - TERN_(X_HAS_STEALTHCHOP, if (index < 2) TMC_SET_PWMTHRS(X,X)); - TERN_(X2_HAS_STEALTHCHOP, if (!(index & 1)) TMC_SET_PWMTHRS(X,X2)); + TERN_(X_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_PWMTHRS(X,X)); + TERN_(X2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(X,X2)); break; case Y_AXIS: - TERN_(Y_HAS_STEALTHCHOP, if (index < 2) TMC_SET_PWMTHRS(Y,Y)); - TERN_(Y2_HAS_STEALTHCHOP, if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2)); + TERN_(Y_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_PWMTHRS(Y,Y)); + TERN_(Y2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(Y,Y2)); break; #if I_HAS_STEALTHCHOP @@ -261,25 +284,22 @@ #endif case Z_AXIS: - TERN_(Z_HAS_STEALTHCHOP, if (index < 2) TMC_SET_PWMTHRS(Z,Z)); - TERN_(Z2_HAS_STEALTHCHOP, if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2)); - TERN_(Z3_HAS_STEALTHCHOP, if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3)); - TERN_(Z4_HAS_STEALTHCHOP, if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4)); + TERN_(Z_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_PWMTHRS(Z,Z)); + TERN_(Z2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(Z,Z2)); + TERN_(Z3_HAS_STEALTHCHOP, if (index < 0 || index == 2) TMC_SET_PWMTHRS(Z,Z3)); + TERN_(Z4_HAS_STEALTHCHOP, if (index < 0 || index == 3) TMC_SET_PWMTHRS(Z,Z4)); break; #if E_STEPPERS case E_AXIS: { - const int8_t target_e_stepper = get_target_e_stepper_from_command(0); - if (target_e_stepper < 0) return; - switch (target_e_stepper) { - TERN_(E0_HAS_STEALTHCHOP, case 0: TMC_SET_PWMTHRS_E(0); break;) - TERN_(E1_HAS_STEALTHCHOP, case 1: TMC_SET_PWMTHRS_E(1); break;) - TERN_(E2_HAS_STEALTHCHOP, case 2: TMC_SET_PWMTHRS_E(2); break;) - TERN_(E3_HAS_STEALTHCHOP, case 3: TMC_SET_PWMTHRS_E(3); break;) - TERN_(E4_HAS_STEALTHCHOP, case 4: TMC_SET_PWMTHRS_E(4); break;) - TERN_(E5_HAS_STEALTHCHOP, case 5: TMC_SET_PWMTHRS_E(5); break;) - TERN_(E6_HAS_STEALTHCHOP, case 6: TMC_SET_PWMTHRS_E(6); break;) - TERN_(E7_HAS_STEALTHCHOP, case 7: TMC_SET_PWMTHRS_E(7); break;) - } + const int8_t eindex = get_target_e_stepper_from_command(-2); + TERN_(E0_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 0) TMC_SET_PWMTHRS_E(0)); + TERN_(E1_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 1) TMC_SET_PWMTHRS_E(1)); + TERN_(E2_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 2) TMC_SET_PWMTHRS_E(2)); + TERN_(E3_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 3) TMC_SET_PWMTHRS_E(3)); + TERN_(E4_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 4) TMC_SET_PWMTHRS_E(4)); + TERN_(E5_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 5) TMC_SET_PWMTHRS_E(5)); + TERN_(E6_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 6) TMC_SET_PWMTHRS_E(6)); + TERN_(E7_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 7) TMC_SET_PWMTHRS_E(7)); } break; #endif // E_STEPPERS } @@ -407,11 +427,18 @@ #endif // HYBRID_THRESHOLD -/** - * M914: Set StallGuard sensitivity. - */ #if USE_SENSORLESS + template + static void tmc_print_sgt(TMC &st) { + st.printLabel(); + SERIAL_ECHOPGM(" homing sensitivity: "); + SERIAL_PRINTLN(st.homing_threshold(), PrintBase::Dec); + } + + /** + * M914: Set StallGuard sensitivity. + */ void GcodeSuite::M914() { bool report = true; diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index c05ac5494d..2f031b3b74 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -148,6 +148,7 @@ int8_t GcodeSuite::get_target_extruder_from_command() { int8_t GcodeSuite::get_target_e_stepper_from_command(const int8_t dval/*=-1*/) { const int8_t e = parser.intval('T', dval); if (WITHIN(e, 0, E_STEPPERS - 1)) return e; + if (dval == -2) return dval; SERIAL_ECHO_START(); SERIAL_CHAR('M'); SERIAL_ECHO(parser.codenum); @@ -159,7 +160,7 @@ int8_t GcodeSuite::get_target_e_stepper_from_command(const int8_t dval/*=-1*/) { } /** - * Set XYZIJKE destination and feedrate from the current GCode command + * Set XYZ...E destination and feedrate from the current GCode command * * - Set destination from included axis codes * - Set to current for missing axis codes diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h index bbfb31a3fe..262237d14c 100644 --- a/Marlin/src/gcode/gcode.h +++ b/Marlin/src/gcode/gcode.h @@ -284,7 +284,7 @@ * M871 - Print/reset/clear first layer temperature offset values. (Requires PTC_PROBE, PTC_BED, or PTC_HOTEND) * M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER) * M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE) - * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470) + * M906 - Set or get motor current in milliamps using axis codes XYZE, etc. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470) * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) * M908 - Control digital trimpot directly. (Requires HAS_MOTOR_CURRENT_DAC or DIGIPOTSS_PIN) * M909 - Print digipot/DAC current value. (Requires HAS_MOTOR_CURRENT_DAC) diff --git a/Marlin/src/module/stepper/trinamic.h b/Marlin/src/module/stepper/trinamic.h index 0a956a70b3..9ed9bdf407 100644 --- a/Marlin/src/module/stepper/trinamic.h +++ b/Marlin/src/module/stepper/trinamic.h @@ -74,12 +74,6 @@ #define TMC_CLASS_E(N) TMC_CLASS(E##N, E) #endif -typedef struct { - uint8_t toff; - int8_t hend; - uint8_t hstrt; -} chopper_timing_t; - #ifndef CHOPPER_TIMING_X #define CHOPPER_TIMING_X CHOPPER_TIMING #endif