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@ -32,6 +32,10 @@ |
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#include "../libs/duration_t.h" |
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#include "../libs/duration_t.h" |
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#include "../gcode/gcode.h" |
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#include "../gcode/gcode.h" |
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#if ENABLED(TMC_DEBUG) |
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#include "../module/planner.h" |
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#endif |
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bool report_tmc_status = false; |
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bool report_tmc_status = false; |
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char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" }; |
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char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" }; |
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@ -51,7 +55,7 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", |
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}; |
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}; |
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#if ENABLED(HAVE_TMC2130) |
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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 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 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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static TMC_driver_data get_driver_data(TMC2130Stepper &st) { |
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constexpr uint32_t OTPW_bm = 0x4000000UL; |
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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 uint8_t OTPW_bp = 26; |
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@ -61,9 +65,9 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", |
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constexpr uint8_t DRIVER_ERROR_bp = 1; |
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constexpr uint8_t DRIVER_ERROR_bp = 1; |
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TMC_driver_data data; |
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TMC_driver_data data; |
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data.drv_status = st.DRV_STATUS(); |
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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_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_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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data.is_error = (st.status_response & DRIVER_ERROR_bm) >> DRIVER_ERROR_bp; |
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return data; |
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return data; |
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} |
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} |
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#endif |
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#endif |
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@ -84,35 +88,35 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", |
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constexpr uint8_t OT_bp = 1; |
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constexpr uint8_t OT_bp = 1; |
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TMC_driver_data data; |
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TMC_driver_data data; |
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data.drv_status = st.DRV_STATUS(); |
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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_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_ot = (data.drv_status & OT_bm) >> OT_bp; |
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data.is_error = st.drv_err(); |
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data.is_error = st.drv_err(); |
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return data; |
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return data; |
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} |
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} |
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#endif |
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#endif |
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template<typename TMC> |
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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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void 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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TMC_driver_data data = get_driver_data(st); |
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#if ENABLED(STOP_ON_ERROR) |
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#if ENABLED(STOP_ON_ERROR) |
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if (data.is_error) { |
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if (data.is_error) { |
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SERIAL_EOL(); |
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SERIAL_EOL(); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHO(" driver error detected:"); |
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SERIAL_ECHOPGM(" driver error detected:"); |
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if (data.is_ot) SERIAL_ECHO("\novertemperature"); |
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if (data.is_ot) SERIAL_ECHOPGM("\novertemperature"); |
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if (st.s2ga()) SERIAL_ECHO("\nshort to ground (coil A)"); |
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if (st.s2ga()) SERIAL_ECHOPGM("\nshort to ground (coil A)"); |
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if (st.s2gb()) SERIAL_ECHO("\nshort to ground (coil B)"); |
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if (st.s2gb()) SERIAL_ECHOPGM("\nshort to ground (coil B)"); |
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SERIAL_EOL(); |
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SERIAL_EOL(); |
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#if ENABLED(TMC_DEBUG) |
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#if ENABLED(TMC_DEBUG) |
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_M122(); |
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tmc_report_all(); |
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#endif |
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#endif |
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kill(PSTR("Driver error")); |
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kill(PSTR("Driver error")); |
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} |
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} |
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#endif |
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#endif |
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// Report if a warning was triggered
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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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if (data.is_otpw && otpw_cnt == 0) { |
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char timestamp[10]; |
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char timestamp[10]; |
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duration_t elapsed = print_job_timer.duration(); |
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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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const bool has_days = (elapsed.value > 60*60*24L); |
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@ -123,7 +127,7 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHOPGM(" driver overtemperature warning! ("); |
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SERIAL_ECHOPGM(" driver overtemperature warning! ("); |
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SERIAL_ECHO(st.getCurrent()); |
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SERIAL_ECHO(st.getCurrent()); |
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SERIAL_ECHOLN("mA)"); |
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SERIAL_ECHOLNPGM("mA)"); |
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} |
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} |
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#if CURRENT_STEP_DOWN > 0 |
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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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// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
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@ -140,23 +144,21 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", |
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otpw_cnt++; |
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otpw_cnt++; |
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st.flag_otpw = true; |
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st.flag_otpw = true; |
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} |
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} |
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else if (otpw_cnt>0) otpw_cnt--; |
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else if (otpw_cnt > 0) otpw_cnt--; |
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if (report_tmc_status) { |
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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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const uint32_t pwm_scale = get_pwm_scale(st); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHO(axisID); |
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SERIAL_ECHOPAIR(":", pwm_scale); |
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SERIAL_ECHOPAIR(":", pwm_scale); |
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SERIAL_ECHO(" |0b"); SERIAL_PRINT(get_status_response(st), BIN); |
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SERIAL_ECHOPGM(" |0b"); MYSERIAL0.print(get_status_response(st), BIN); |
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SERIAL_ECHO("| "); |
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SERIAL_ECHOPGM("| "); |
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if (data.is_error) SERIAL_ECHO('E'); |
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if (data.is_error) SERIAL_CHAR('E'); |
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else if (data.is_ot) SERIAL_ECHO('O'); |
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else if (data.is_ot) SERIAL_CHAR('O'); |
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else if (data.is_otpw) SERIAL_ECHO('W'); |
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else if (data.is_otpw) SERIAL_CHAR('W'); |
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else if (otpw_cnt>0) SERIAL_PRINT(otpw_cnt, DEC); |
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else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC); |
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else if (st.flag_otpw) SERIAL_ECHO('F'); |
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else if (st.flag_otpw) SERIAL_CHAR('F'); |
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SERIAL_ECHO("\t"); |
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SERIAL_CHAR('\t'); |
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} |
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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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#define HAS_HW_COMMS(ST) ENABLED(ST##_IS_TMC2130)|| (ENABLED(ST##_IS_TMC2208) && defined(ST##_HARDWARE_SERIAL)) |
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@ -167,47 +169,47 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", |
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next_cOT = millis() + 500; |
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next_cOT = millis() + 500; |
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#if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS) |
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#if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS) |
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static uint8_t x_otpw_cnt = 0; |
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static uint8_t x_otpw_cnt = 0; |
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x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt); |
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monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS) |
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#if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS) |
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static uint8_t y_otpw_cnt = 0; |
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static uint8_t y_otpw_cnt = 0; |
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y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt); |
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monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS) |
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#if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS) |
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static uint8_t z_otpw_cnt = 0; |
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static uint8_t z_otpw_cnt = 0; |
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z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt); |
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monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(X2) |
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#if HAS_HW_COMMS(X2) |
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static uint8_t x2_otpw_cnt = 0; |
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static uint8_t x2_otpw_cnt = 0; |
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x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt); |
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monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(Y2) |
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#if HAS_HW_COMMS(Y2) |
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static uint8_t y2_otpw_cnt = 0; |
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static uint8_t y2_otpw_cnt = 0; |
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y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt); |
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monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(Z2) |
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#if HAS_HW_COMMS(Z2) |
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static uint8_t z2_otpw_cnt = 0; |
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static uint8_t z2_otpw_cnt = 0; |
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z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt); |
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monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS) |
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#if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS) |
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static uint8_t e0_otpw_cnt = 0; |
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static uint8_t e0_otpw_cnt = 0; |
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e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt); |
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monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(E1) |
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#if HAS_HW_COMMS(E1) |
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static uint8_t e1_otpw_cnt = 0; |
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static uint8_t e1_otpw_cnt = 0; |
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e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt); |
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monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(E2) |
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#if HAS_HW_COMMS(E2) |
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static uint8_t e2_otpw_cnt = 0; |
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static uint8_t e2_otpw_cnt = 0; |
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e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt); |
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monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(E3) |
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#if HAS_HW_COMMS(E3) |
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static uint8_t e3_otpw_cnt = 0; |
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static uint8_t e3_otpw_cnt = 0; |
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e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt); |
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monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt); |
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#endif |
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#endif |
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#if HAS_HW_COMMS(E4) |
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#if HAS_HW_COMMS(E4) |
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static uint8_t e4_otpw_cnt = 0; |
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static uint8_t e4_otpw_cnt = 0; |
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e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt); |
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monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt); |
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#endif |
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#endif |
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if (report_tmc_status) SERIAL_EOL(); |
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if (report_tmc_status) SERIAL_EOL(); |
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@ -216,4 +218,349 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", |
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#endif // MONITOR_DRIVER_STATUS
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#endif // MONITOR_DRIVER_STATUS
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void _tmc_say_current(const char name[], const uint16_t curr) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOLNPAIR(" axis driver current: ", curr); |
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} |
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void _tmc_say_otpw(const char name[], const bool otpw) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: "); |
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serialprintPGM(otpw ? PSTR("true") : PSTR("false")); |
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SERIAL_EOL(); |
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} |
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void _tmc_say_otpw_cleared(const char name[]) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOLNPGM(" prewarn flag cleared"); |
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} |
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void _tmc_say_pwmthrs(const char name[], const uint32_t thrs) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOLNPAIR(" stealthChop max speed set to ", thrs); |
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} |
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void _tmc_say_sgt(const char name[], const uint32_t sgt) { |
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SERIAL_ECHO(name); |
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SERIAL_ECHOPGM(" driver homing sensitivity set to "); |
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MYSERIAL0.println(sgt, DEC); |
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} |
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#if ENABLED(TMC_DEBUG) |
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enum TMC_debug_enum { |
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TMC_CODES, |
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TMC_ENABLED, |
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TMC_CURRENT, |
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TMC_RMS_CURRENT, |
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TMC_MAX_CURRENT, |
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TMC_IRUN, |
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TMC_IHOLD, |
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TMC_CS_ACTUAL, |
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TMC_PWM_SCALE, |
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TMC_VSENSE, |
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TMC_STEALTHCHOP, |
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TMC_MICROSTEPS, |
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TMC_TSTEP, |
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TMC_TPWMTHRS, |
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TMC_TPWMTHRS_MMS, |
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TMC_OTPW, |
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TMC_OTPW_TRIGGERED, |
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TMC_TOFF, |
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TMC_TBL, |
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TMC_HEND, |
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TMC_HSTRT, |
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TMC_SGT |
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}; |
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enum TMC_drv_status_enum { |
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TMC_DRV_CODES, |
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TMC_STST, |
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TMC_OLB, |
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TMC_OLA, |
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TMC_S2GB, |
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TMC_S2GA, |
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|
|
|
|
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){ |
|
|
|
|
|
SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX); |
|
|
|
|
|
SERIAL_PRINT((drv_status >> B) & 0xF, HEX); |
|
|
|
|
|
SERIAL_CHAR(':'); |
|
|
|
|
|
} |
|
|
|
|
|
SERIAL_PRINT((drv_status >> 4) & 0xF, HEX); |
|
|
|
|
|
SERIAL_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: SERIAL_PRINT(st.PWM_SCALE(), DEC); break; |
|
|
|
|
|
case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break; |
|
|
|
|
|
case TMC_SGT: SERIAL_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_CHAR('X'); break; |
|
|
|
|
|
case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break; |
|
|
|
|
|
case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('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); MYSERIAL0.print(data); break; } |
|
|
|
|
|
case TMC_PWM_SCALE: SERIAL_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_CHAR('X'); break; |
|
|
|
|
|
case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('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_CHAR('X'); break; |
|
|
|
|
|
case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_T120: if (st.t120()) SERIAL_CHAR('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: MYSERIAL0.print(st.rms_current()); break; |
|
|
|
|
|
case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break; |
|
|
|
|
|
case TMC_IRUN: |
|
|
|
|
|
SERIAL_PRINT(st.irun(), DEC); |
|
|
|
|
|
SERIAL_ECHOPGM("/31"); |
|
|
|
|
|
break; |
|
|
|
|
|
case TMC_IHOLD: |
|
|
|
|
|
SERIAL_PRINT(st.ihold(), DEC); |
|
|
|
|
|
SERIAL_ECHOPGM("/31"); |
|
|
|
|
|
break; |
|
|
|
|
|
case TMC_CS_ACTUAL: |
|
|
|
|
|
SERIAL_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_CHAR('-'); |
|
|
|
|
|
} |
|
|
|
|
|
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: SERIAL_PRINT(st.toff(), DEC); break; |
|
|
|
|
|
case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break; |
|
|
|
|
|
case TMC_HEND: SERIAL_PRINT(st.hysterisis_end(), DEC); break; |
|
|
|
|
|
case TMC_HSTRT: SERIAL_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_CHAR('\t'); |
|
|
|
|
|
switch(i) { |
|
|
|
|
|
case TMC_DRV_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break; |
|
|
|
|
|
case TMC_STST: if (st.stst()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_OLB: if (st.olb()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_OLA: if (st.ola()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break; |
|
|
|
|
|
case TMC_DRV_CS_ACTUAL: SERIAL_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(); |
|
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
|
* M122 report functions |
|
|
|
|
|
*/ |
|
|
|
|
|
void tmc_set_report_status(const bool status) { |
|
|
|
|
|
if ((report_tmc_status = status)) |
|
|
|
|
|
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|"); |
|
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void tmc_report_all() { |
|
|
|
|
|
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM); }while(0) |
|
|
|
|
|
#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM); }while(0) |
|
|
|
|
|
TMC_REPORT("\t", TMC_CODES); |
|
|
|
|
|
TMC_REPORT("Enabled\t", TMC_ENABLED); |
|
|
|
|
|
TMC_REPORT("Set current", TMC_CURRENT); |
|
|
|
|
|
TMC_REPORT("RMS current", TMC_RMS_CURRENT); |
|
|
|
|
|
TMC_REPORT("MAX current", TMC_MAX_CURRENT); |
|
|
|
|
|
TMC_REPORT("Run current", TMC_IRUN); |
|
|
|
|
|
TMC_REPORT("Hold current", TMC_IHOLD); |
|
|
|
|
|
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL); |
|
|
|
|
|
TMC_REPORT("PWM scale", TMC_PWM_SCALE); |
|
|
|
|
|
TMC_REPORT("vsense\t", TMC_VSENSE); |
|
|
|
|
|
TMC_REPORT("stealthChop", TMC_STEALTHCHOP); |
|
|
|
|
|
TMC_REPORT("msteps\t", TMC_MICROSTEPS); |
|
|
|
|
|
TMC_REPORT("tstep\t", TMC_TSTEP); |
|
|
|
|
|
TMC_REPORT("pwm\nthreshold\t", TMC_TPWMTHRS); |
|
|
|
|
|
TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS); |
|
|
|
|
|
TMC_REPORT("OT prewarn", TMC_OTPW); |
|
|
|
|
|
TMC_REPORT("OT prewarn has\n" |
|
|
|
|
|
"been triggered", TMC_OTPW_TRIGGERED); |
|
|
|
|
|
TMC_REPORT("off time\t", TMC_TOFF); |
|
|
|
|
|
TMC_REPORT("blank time", TMC_TBL); |
|
|
|
|
|
TMC_REPORT("hysterisis\n-end\t", TMC_HEND); |
|
|
|
|
|
TMC_REPORT("-start\t", TMC_HSTRT); |
|
|
|
|
|
TMC_REPORT("Stallguard thrs", TMC_SGT); |
|
|
|
|
|
|
|
|
|
|
|
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES); |
|
|
|
|
|
#if ENABLED(HAVE_TMC2130) |
|
|
|
|
|
DRV_REPORT("stallguard\t", TMC_STALLGUARD); |
|
|
|
|
|
DRV_REPORT("sg_result\t", TMC_SG_RESULT); |
|
|
|
|
|
DRV_REPORT("fsactive\t", TMC_FSACTIVE); |
|
|
|
|
|
#endif |
|
|
|
|
|
DRV_REPORT("stst\t", TMC_STST); |
|
|
|
|
|
DRV_REPORT("olb\t", TMC_OLB); |
|
|
|
|
|
DRV_REPORT("ola\t", TMC_OLA); |
|
|
|
|
|
DRV_REPORT("s2gb\t", TMC_S2GB); |
|
|
|
|
|
DRV_REPORT("s2ga\t", TMC_S2GA); |
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DRV_REPORT("otpw\t", TMC_DRV_OTPW); |
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DRV_REPORT("ot\t", TMC_OT); |
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#if ENABLED(HAVE_TMC2208) |
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DRV_REPORT("157C\t", TMC_T157); |
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DRV_REPORT("150C\t", TMC_T150); |
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DRV_REPORT("143C\t", TMC_T143); |
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DRV_REPORT("120C\t", TMC_T120); |
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DRV_REPORT("s2vsa\t", TMC_S2VSA); |
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DRV_REPORT("s2vsb\t", TMC_S2VSB); |
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#endif |
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DRV_REPORT("Driver registers:", TMC_DRV_STATUS_HEX); |
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SERIAL_EOL(); |
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} |
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#endif // TMC_DEBUG
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#if ENABLED(SENSORLESS_HOMING) |
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void tmc_sensorless_homing(TMC2130Stepper &st, bool enable/*=true*/) { |
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#if ENABLED(STEALTHCHOP) |
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st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0); |
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st.stealthChop(!enable); |
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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 // HAS_TRINAMIC
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#endif // HAS_TRINAMIC
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Scott Lahteine
7 years ago
GitHub