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382 lines
12 KiB
382 lines
12 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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#include "../../../inc/MarlinConfig.h"
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#if HAS_TRINAMIC
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#include "../../gcode.h"
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#include "../../../feature/tmc_util.h"
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#include "../../../module/stepper_indirection.h"
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#include "../../../module/planner.h"
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#include "../../queue.h"
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#define M91x_USE(A) (ENABLED(A##_IS_TMC2130) || (ENABLED(A##_IS_TMC2208) && PIN_EXISTS(A##_SERIAL_RX)))
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#define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
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#define M91x_USE_X (ENABLED(IS_TRAMS) || M91x_USE(X))
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#define M91x_USE_Y (ENABLED(IS_TRAMS) || M91x_USE(Y))
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#define M91x_USE_Z (ENABLED(IS_TRAMS) || M91x_USE(Z))
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#define M91x_USE_E0 (ENABLED(IS_TRAMS) || M91x_USE_E(0))
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/**
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* M911: Report TMC stepper driver overtemperature pre-warn flag
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* This flag is held by the library, persisting until cleared by M912
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*/
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void GcodeSuite::M911() {
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#if M91x_USE_X
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tmc_report_otpw(stepperX, TMC_X);
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#endif
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#if M91x_USE(X2)
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tmc_report_otpw(stepperX2, TMC_X2);
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#endif
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#if M91x_USE_Y
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tmc_report_otpw(stepperY, TMC_Y);
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#endif
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#if M91x_USE(Y2)
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tmc_report_otpw(stepperY2, TMC_Y2);
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#endif
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#if M91x_USE_Z
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tmc_report_otpw(stepperZ, TMC_Z);
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#endif
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#if M91x_USE(Z2)
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tmc_report_otpw(stepperZ2, TMC_Z2);
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#endif
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#if M91x_USE_E0
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tmc_report_otpw(stepperE0, TMC_E0);
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#endif
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#if M91x_USE_E(1)
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tmc_report_otpw(stepperE1, TMC_E1);
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#endif
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#if M91x_USE_E(2)
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tmc_report_otpw(stepperE2, TMC_E2);
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#endif
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#if M91x_USE_E(3)
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tmc_report_otpw(stepperE3, TMC_E3);
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#endif
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#if M91x_USE_E(4)
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tmc_report_otpw(stepperE4, TMC_E4);
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#endif
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}
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/**
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* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
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* Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, and E[index].
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* If no axes are given, clear all.
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*
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* Examples:
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* M912 X ; clear X and X2
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* M912 X1 ; clear X1 only
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* M912 X2 ; clear X2 only
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* M912 X E ; clear X, X2, and all E
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* M912 E1 ; clear E1 only
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*/
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void GcodeSuite::M912() {
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const bool hasX = parser.seen(axis_codes[X_AXIS]),
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hasY = parser.seen(axis_codes[Y_AXIS]),
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hasZ = parser.seen(axis_codes[Z_AXIS]),
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hasE = parser.seen(axis_codes[E_AXIS]),
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hasNone = !hasX && !hasY && !hasZ && !hasE;
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#if M91x_USE_X || M91x_USE(X2)
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const uint8_t xval = parser.byteval(axis_codes[X_AXIS], 10);
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#if M91x_USE_X
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if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX, TMC_X);
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#endif
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#if M91x_USE(X2)
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if (hasNone || xval == 2 || (hasX && xval == 10)) tmc_clear_otpw(stepperX2, TMC_X2);
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#endif
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#endif
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#if M91x_USE_Y || M91x_USE(Y2)
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const uint8_t yval = parser.byteval(axis_codes[Y_AXIS], 10);
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#if M91x_USE_Y
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if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY, TMC_Y);
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#endif
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#if M91x_USE(Y2)
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if (hasNone || yval == 2 || (hasY && yval == 10)) tmc_clear_otpw(stepperY2, TMC_Y2);
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#endif
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#endif
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#if M91x_USE_Z || M91x_USE(Z2)
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const uint8_t zval = parser.byteval(axis_codes[Z_AXIS], 10);
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#if M91x_USE_Z
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if (hasNone || zval == 1 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ, TMC_Z);
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#endif
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#if M91x_USE(Z2)
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if (hasNone || zval == 2 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ2, TMC_Z2);
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#endif
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#endif
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#if M91x_USE_E0 || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4)
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const uint8_t eval = parser.byteval(axis_codes[E_AXIS], 10);
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#if M91x_USE_E0
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if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0, TMC_E0);
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#endif
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#if M91x_USE_E(1)
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if (hasNone || eval == 1 || (hasE && eval == 10)) tmc_clear_otpw(stepperE1, TMC_E1);
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#endif
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#if M91x_USE_E(2)
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if (hasNone || eval == 2 || (hasE && eval == 10)) tmc_clear_otpw(stepperE2, TMC_E2);
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#endif
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#if M91x_USE_E(3)
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if (hasNone || eval == 3 || (hasE && eval == 10)) tmc_clear_otpw(stepperE3, TMC_E3);
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#endif
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#if M91x_USE_E(4)
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if (hasNone || eval == 4 || (hasE && eval == 10)) tmc_clear_otpw(stepperE4, TMC_E4);
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#endif
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#endif
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}
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/**
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* M913: Set HYBRID_THRESHOLD speed.
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*/
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#if ENABLED(HYBRID_THRESHOLD)
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void GcodeSuite::M913() {
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#define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[_AXIS(A)])
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#define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.axis_steps_per_mm[_AXIS(A)])
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#define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
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#define TMC_SET_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, value, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
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bool report = true;
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const uint8_t index = parser.byteval('I');
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LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) {
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report = false;
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switch (i) {
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case X_AXIS:
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#if X_IS_TRINAMIC
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if (index == 0) TMC_SET_PWMTHRS(X,X);
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#endif
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#if X2_IS_TRINAMIC
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if (index == 1) TMC_SET_PWMTHRS(X,X2);
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#endif
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break;
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case Y_AXIS:
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#if Y_IS_TRINAMIC
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if (index == 0) TMC_SET_PWMTHRS(Y,Y);
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#endif
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#if Y2_IS_TRINAMIC
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if (index == 1) TMC_SET_PWMTHRS(Y,Y2);
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#endif
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break;
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case Z_AXIS:
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#if Z_IS_TRINAMIC
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if (index == 0) TMC_SET_PWMTHRS(Z,Z);
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#endif
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#if Z2_IS_TRINAMIC
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if (index == 1) TMC_SET_PWMTHRS(Z,Z2);
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#endif
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break;
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case E_AXIS: {
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if (get_target_extruder_from_command()) return;
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switch (target_extruder) {
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#if E0_IS_TRINAMIC
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case 0: TMC_SET_PWMTHRS_E(0); break;
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#endif
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#if E_STEPPERS > 1 && E1_IS_TRINAMIC
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case 1: TMC_SET_PWMTHRS_E(1); break;
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#endif
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#if E_STEPPERS > 2 && E2_IS_TRINAMIC
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case 2: TMC_SET_PWMTHRS_E(2); break;
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#endif
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#if E_STEPPERS > 3 && E3_IS_TRINAMIC
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case 3: TMC_SET_PWMTHRS_E(3); break;
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#endif
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#if E_STEPPERS > 4 && E4_IS_TRINAMIC
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case 4: TMC_SET_PWMTHRS_E(4); break;
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#endif
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}
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} break;
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}
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}
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if (report) LOOP_XYZE(i) switch (i) {
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case X_AXIS:
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#if X_IS_TRINAMIC
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TMC_SAY_PWMTHRS(X,X);
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#endif
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#if X2_IS_TRINAMIC
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TMC_SAY_PWMTHRS(X,X2);
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#endif
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break;
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case Y_AXIS:
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#if Y_IS_TRINAMIC
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TMC_SAY_PWMTHRS(Y,Y);
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#endif
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#if Y2_IS_TRINAMIC
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TMC_SAY_PWMTHRS(Y,Y2);
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#endif
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break;
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case Z_AXIS:
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#if Z_IS_TRINAMIC
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TMC_SAY_PWMTHRS(Z,Z);
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#endif
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#if Z2_IS_TRINAMIC
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TMC_SAY_PWMTHRS(Z,Z2);
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#endif
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break;
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case E_AXIS:
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#if E0_IS_TRINAMIC
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TMC_SAY_PWMTHRS_E(0);
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#endif
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#if E_STEPPERS > 1 && E1_IS_TRINAMIC
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TMC_SAY_PWMTHRS_E(1);
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#endif
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#if E_STEPPERS > 2 && E2_IS_TRINAMIC
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TMC_SAY_PWMTHRS_E(2);
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#endif
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#if E_STEPPERS > 3 && E3_IS_TRINAMIC
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TMC_SAY_PWMTHRS_E(3);
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#endif
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#if E_STEPPERS > 4 && E4_IS_TRINAMIC
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TMC_SAY_PWMTHRS_E(4);
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#endif
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break;
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}
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}
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#endif // HYBRID_THRESHOLD
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/**
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* M914: Set SENSORLESS_HOMING sensitivity.
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*/
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#if ENABLED(SENSORLESS_HOMING)
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void GcodeSuite::M914() {
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#define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
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#define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)
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bool report = true;
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const uint8_t index = parser.byteval('I');
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LOOP_XYZ(i) if (parser.seen(axis_codes[i])) {
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const int8_t value = (int8_t)constrain(parser.value_int(), -64, 63);
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report = false;
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switch (i) {
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#if X_SENSORLESS
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case X_AXIS:
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
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if (index == 0) TMC_SET_SGT(X);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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if (index == 1) TMC_SET_SGT(X2);
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#endif
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break;
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#endif
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#if Y_SENSORLESS
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case Y_AXIS:
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#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
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if (index == 0) TMC_SET_SGT(Y);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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if (index == 1) TMC_SET_SGT(Y2);
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#endif
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break;
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#endif
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#if Z_SENSORLESS
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case Z_AXIS:
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#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
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if (index == 0) TMC_SET_SGT(Z);
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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if (index == 1) TMC_SET_SGT(Z2);
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#endif
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break;
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#endif
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}
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}
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if (report) LOOP_XYZ(i) switch (i) {
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#if X_SENSORLESS
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case X_AXIS:
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SAY_SGT(X);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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TMC_SAY_SGT(X2);
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#endif
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break;
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#endif
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#if Y_SENSORLESS
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case Y_AXIS:
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#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SAY_SGT(Y);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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TMC_SAY_SGT(Y2);
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#endif
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break;
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#endif
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#if Z_SENSORLESS
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case Z_AXIS:
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#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SAY_SGT(Z);
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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TMC_SAY_SGT(Z2);
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#endif
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break;
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#endif
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}
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}
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#endif // SENSORLESS_HOMING
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/**
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* TMC Z axis calibration routine
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*/
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#if ENABLED(TMC_Z_CALIBRATION)
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void GcodeSuite::M915() {
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const uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT,
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_z = parser.seenval('Z') ? parser.value_linear_units() : CALIBRATION_EXTRA_HEIGHT;
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if (!TEST(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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#if Z_IS_TRINAMIC
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const uint16_t Z_current_1 = stepperZ.getCurrent();
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stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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#endif
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#if Z2_IS_TRINAMIC
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const uint16_t Z2_current_1 = stepperZ2.getCurrent();
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stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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#endif
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SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
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soft_endstops_enabled = false;
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do_blocking_move_to_z(Z_MAX_POS+_z);
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#if Z_IS_TRINAMIC
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stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
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#endif
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#if Z2_IS_TRINAMIC
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stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
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#endif
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do_blocking_move_to_z(Z_MAX_POS);
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soft_endstops_enabled = true;
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SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
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enqueue_and_echo_commands_P(PSTR("G28 Z"));
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}
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#endif
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#endif // HAS_TRINAMIC
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