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82 lines
2.5 KiB
82 lines
2.5 KiB
/**
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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_UTIL_H_
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#define _TMC_UTIL_H_
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#include <TMC2130Stepper.h>
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#include "../inc/MarlinConfig.h"
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static bool report_tmc_status = false;
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const char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
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enum TMC_AxisEnum {
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TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2,
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TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4
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};
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template<typename TMC>
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void tmc_get_current(TMC &st, const char name[]);
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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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template<typename TMC>
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void tmc_report_otpw(TMC &st, const char name[]);
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template<typename TMC>
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void tmc_clear_otpw(TMC &st, const char name[]);
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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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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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template<typename TMC>
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void tmc_get_sgt(TMC &st, const char name[]);
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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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void _M122();
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void monitor_tmc_driver();
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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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* Defined here because of limitations with templates and headers.
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*/
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#if ENABLED(SENSORLESS_HOMING)
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template<typename TMC>
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void tmc_sensorless_homing(TMC &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
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#endif // _TMC_UTIL_H_
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