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Updates to TMC support

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This commit is contained in:
Scott Lahteine
2018-01-09 19:05:37 -06:00
parent d1ce0bc071
commit 3df0d62725
11 changed files with 811 additions and 742 deletions
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14
Marlin/Conditionals_post.h
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@@ -635,6 +635,20 @@
#define HAS_E4_MICROSTEPS (PIN_EXISTS(E4_MS1)) #define HAS_E4_MICROSTEPS (PIN_EXISTS(E4_MS1))
#define HAS_SOLENOID_4 (PIN_EXISTS(SOL4)) #define HAS_SOLENOID_4 (PIN_EXISTS(SOL4))
// Trinamic Stepper Drivers
#define HAS_TRINAMIC (ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208) || ENABLED(IS_TRAMS))
#define X_IS_TRINAMIC (ENABLED( X_IS_TMC2130) || ENABLED( X_IS_TMC2208) || ENABLED(IS_TRAMS))
#define X2_IS_TRINAMIC (ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208))
#define Y_IS_TRINAMIC (ENABLED( Y_IS_TMC2130) || ENABLED( Y_IS_TMC2208) || ENABLED(IS_TRAMS))
#define Y2_IS_TRINAMIC (ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208))
#define Z_IS_TRINAMIC (ENABLED( Z_IS_TMC2130) || ENABLED( Z_IS_TMC2208) || ENABLED(IS_TRAMS))
#define Z2_IS_TRINAMIC (ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208))
#define E0_IS_TRINAMIC (ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) || ENABLED(IS_TRAMS))
#define E1_IS_TRINAMIC (ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208))
#define E2_IS_TRINAMIC (ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208))
#define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208))
#define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
// Endstops and bed probe // Endstops and bed probe
#define HAS_X_MIN (PIN_EXISTS(X_MIN) && !IS_X2_ENDSTOP(X,MIN) && !IS_Y2_ENDSTOP(X,MIN) && !IS_Z2_OR_PROBE(X,MIN)) #define HAS_X_MIN (PIN_EXISTS(X_MIN) && !IS_X2_ENDSTOP(X,MIN) && !IS_Y2_ENDSTOP(X,MIN) && !IS_Z2_OR_PROBE(X,MIN))
#define HAS_X_MAX (PIN_EXISTS(X_MAX) && !IS_X2_ENDSTOP(X,MAX) && !IS_Y2_ENDSTOP(X,MAX) && !IS_Z2_OR_PROBE(X,MAX)) #define HAS_X_MAX (PIN_EXISTS(X_MAX) && !IS_X2_ENDSTOP(X,MAX) && !IS_Y2_ENDSTOP(X,MAX) && !IS_Z2_OR_PROBE(X,MAX))

2
Marlin/I2CPositionEncoder.h
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@@ -97,8 +97,6 @@
#define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT) #define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT)
#define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0) #define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0)
extern const char axis_codes[XYZE];
typedef union { typedef union {
volatile int32_t val = 0; volatile int32_t val = 0;
uint8_t bval[4]; uint8_t bval[4];

2
Marlin/Marlin.h
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@@ -59,6 +59,8 @@ void idle(
void manage_inactivity(bool ignore_stepper_queue = false); void manage_inactivity(bool ignore_stepper_queue = false);
extern const char axis_codes[XYZE];
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
extern bool extruder_duplication_enabled; extern bool extruder_duplication_enabled;
#endif #endif

1
Marlin/MarlinConfig.h
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@@ -29,7 +29,6 @@
#include "Version.h" #include "Version.h"
#include "Configuration.h" #include "Configuration.h"
#include "Conditionals_LCD.h" #include "Conditionals_LCD.h"
#include "tmc_macros.h"
#include "Configuration_adv.h" #include "Configuration_adv.h"
#include "pins.h" #include "pins.h"
#ifndef USBCON #ifndef USBCON

710
Marlin/Marlin_main.cpp
View File

@@ -305,6 +305,10 @@
#include <SPI.h> #include <SPI.h>
#endif #endif
#if HAS_TRINAMIC
#include "tmc_util.h"
#endif
#if ENABLED(DAC_STEPPER_CURRENT) #if ENABLED(DAC_STEPPER_CURRENT)
#include "stepper_dac.h" #include "stepper_dac.h"
#endif #endif
@@ -2864,29 +2868,6 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
#endif #endif
} }
/**
* TMC2130 specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
* spreadCycle and stealthChop are mutually exclusive.
*/
#if ENABLED(SENSORLESS_HOMING)
template<typename TMC>
void tmc_sensorless_homing(TMC &st, bool enable=true) {
#if ENABLED(STEALTHCHOP)
if (enable) {
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
st.stealthChop(0);
}
else {
st.coolstep_min_speed(0);
st.stealthChop(1);
}
#endif
st.diag1_stall(enable ? 1 : 0);
}
#endif
/** /**
* Home an individual "raw axis" to its endstop. * Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and * This applies to XYZ on Cartesian and Core robots, and
@@ -10305,379 +10286,14 @@ inline void gcode_M502() {
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
#if HAS_TRINAMIC #if HAS_TRINAMIC
static bool report_tmc_status = false;
const char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
enum TMC_AxisEnum {
TMC_X,
TMC_X2,
TMC_Y,
TMC_Y2,
TMC_Z,
TMC_Z2,
TMC_E0,
TMC_E1,
TMC_E2,
TMC_E3,
TMC_E4
};
#if ENABLED(TMC_DEBUG) #if ENABLED(TMC_DEBUG)
enum TMC_debug_enum {
TMC_CODES,
TMC_ENABLED,
TMC_CURRENT,
TMC_RMS_CURRENT,
TMC_MAX_CURRENT,
TMC_IRUN,
TMC_IHOLD,
TMC_CS_ACTUAL,
TMC_PWM_SCALE,
TMC_VSENSE,
TMC_STEALTHCHOP,
TMC_MICROSTEPS,
TMC_TSTEP,
TMC_TPWMTHRS,
TMC_TPWMTHRS_MMS,
TMC_OTPW,
TMC_OTPW_TRIGGERED,
TMC_TOFF,
TMC_TBL,
TMC_HEND,
TMC_HSTRT,
TMC_SGT
};
enum TMC_drv_status_enum {
TMC_DRV_CODES,
TMC_STST,
TMC_OLB,
TMC_OLA,
TMC_S2GB,
TMC_S2GA,
TMC_DRV_OTPW,
TMC_OT,
TMC_STALLGUARD,
TMC_DRV_CS_ACTUAL,
TMC_FSACTIVE,
TMC_SG_RESULT,
TMC_DRV_STATUS_HEX,
TMC_T157,
TMC_T150,
TMC_T143,
TMC_T120,
TMC_STEALTH,
TMC_S2VSB,
TMC_S2VSA
};
static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" = 0x");
for(int B=24; B>=8; B-=8){
MYSERIAL.print((drv_status>>(B+4))&0xF, HEX);
MYSERIAL.print((drv_status>>B)&0xF, HEX);
MYSERIAL.print(':');
}
MYSERIAL.print((drv_status>>4)&0xF, HEX);
MYSERIAL.print((drv_status)&0xF, HEX);
SERIAL_EOL();
}
#if ENABLED(HAVE_TMC2130)
static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
switch(i) {
case TMC_PWM_SCALE: MYSERIAL.print(st.PWM_SCALE(), DEC); break;
case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
case TMC_SGT: MYSERIAL.print(st.sgt(), DEC); break;
case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
default: break;
}
}
static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
switch(i) {
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_ECHOPGM("X"); break;
case TMC_SG_RESULT: MYSERIAL.print(st.sg_result(), DEC); break;
case TMC_FSACTIVE: if (st.fsactive()) SERIAL_ECHOPGM("X"); break;
default: break;
}
}
#endif
#if ENABLED(HAVE_TMC2208)
static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch(i) {
case TMC_TSTEP:
{
uint32_t data = 0;
st.TSTEP(&data);
MYSERIAL.print(data);
break;
}
case TMC_PWM_SCALE: MYSERIAL.print(st.pwm_scale_sum(), DEC); break;
case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_ECHOPGM("X"); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_ECHOPGM("X"); break;
default: break;
}
}
static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
switch(i) {
case TMC_T157: if (st.t157()) SERIAL_ECHOPGM("X"); break;
case TMC_T150: if (st.t150()) SERIAL_ECHOPGM("X"); break;
case TMC_T143: if (st.t143()) SERIAL_ECHOPGM("X"); break;
case TMC_T120: if (st.t120()) SERIAL_ECHOPGM("X"); break;
default: break;
}
}
#endif
template <typename TMC>
static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
SERIAL_ECHO('\t');
switch(i) {
case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
case TMC_RMS_CURRENT: MYSERIAL.print(st.rms_current()); break;
case TMC_MAX_CURRENT: MYSERIAL.print((float)st.rms_current()*1.41, 0); break;
case TMC_IRUN:
MYSERIAL.print(st.irun(), DEC);
SERIAL_ECHOPGM("/31");
break;
case TMC_IHOLD:
MYSERIAL.print(st.ihold(), DEC);
SERIAL_ECHOPGM("/31");
break;
case TMC_CS_ACTUAL:
MYSERIAL.print(st.cs_actual(), DEC);
SERIAL_ECHOPGM("/31");
break;
case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
case TMC_TPWMTHRS:
{
uint32_t tpwmthrs_val = st.TPWMTHRS();
SERIAL_ECHO(tpwmthrs_val);
}
break;
case TMC_TPWMTHRS_MMS:
{
uint32_t tpwmthrs_val = st.TPWMTHRS();
tpwmthrs_val ? SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm)) : SERIAL_ECHO('-');
}
break;
case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
case TMC_TOFF: MYSERIAL.print(st.toff(), DEC); break;
case TMC_TBL: MYSERIAL.print(st.blank_time(), DEC); break;
case TMC_HEND: MYSERIAL.print(st.hysterisis_end(), DEC); break;
case TMC_HSTRT: MYSERIAL.print(st.hysterisis_start(), DEC); break;
default: tmc_status(st, i); break;
}
}
template <typename TMC>
static void tmc_parse_drv_status(TMC &st, TMC_AxisEnum axis, const TMC_drv_status_enum i) {
SERIAL_ECHOPGM("\t");
switch(i) {
case TMC_DRV_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
case TMC_STST: if (st.stst()) SERIAL_ECHOPGM("X"); break;
case TMC_OLB: if (st.olb()) SERIAL_ECHOPGM("X"); break;
case TMC_OLA: if (st.ola()) SERIAL_ECHOPGM("X"); break;
case TMC_S2GB: if (st.s2gb()) SERIAL_ECHOPGM("X"); break;
case TMC_S2GA: if (st.s2ga()) SERIAL_ECHOPGM("X"); break;
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_ECHOPGM("X"); break;
case TMC_OT: if (st.ot()) SERIAL_ECHOPGM("X"); break;
case TMC_DRV_CS_ACTUAL: MYSERIAL.print(st.cs_actual(), DEC); break;
case TMC_DRV_STATUS_HEX:drv_status_print_hex(extended_axis_codes[axis], st.DRV_STATUS()); break;
default: tmc_parse_drv_status(st, i); break;
}
}
static void tmc_debug_loop(const TMC_debug_enum i) {
#if X_IS_TRINAMIC
tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if X2_IS_TRINAMIC
tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if Y_IS_TRINAMIC
tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if Y2_IS_TRINAMIC
tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if Z_IS_TRINAMIC
tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if Z2_IS_TRINAMIC
tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if E0_IS_TRINAMIC
tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if E1_IS_TRINAMIC
tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS+1]);
#endif
#if E2_IS_TRINAMIC
tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS+2]);
#endif
#if E3_IS_TRINAMIC
tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS+3]);
#endif
#if E4_IS_TRINAMIC
tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS+4]);
#endif
SERIAL_EOL();
}
static void drv_status_loop(const TMC_drv_status_enum i) {
#if X_IS_TRINAMIC
tmc_parse_drv_status(stepperX, TMC_X, i);
#endif
#if X2_IS_TRINAMIC
tmc_parse_drv_status(stepperX2, TMC_X2, i);
#endif
#if Y_IS_TRINAMIC
tmc_parse_drv_status(stepperY, TMC_Y, i);
#endif
#if Y2_IS_TRINAMIC
tmc_parse_drv_status(stepperY2, TMC_Y2, i);
#endif
#if Z_IS_TRINAMIC
tmc_parse_drv_status(stepperZ, TMC_Z, i);
#endif
#if Z2_IS_TRINAMIC
tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
#endif
#if E0_IS_TRINAMIC
tmc_parse_drv_status(stepperE0, TMC_E0, i);
#endif
#if E1_IS_TRINAMIC
tmc_parse_drv_status(stepperE1, TMC_E1, i);
#endif
#if E2_IS_TRINAMIC
tmc_parse_drv_status(stepperE2, TMC_E2, i);
#endif
#if E3_IS_TRINAMIC
tmc_parse_drv_status(stepperE3, TMC_E3, i);
#endif
#if E4_IS_TRINAMIC
tmc_parse_drv_status(stepperE4, TMC_E4, i);
#endif
SERIAL_EOL();
}
inline void gcode_M122() { inline void gcode_M122() {
if (parser.seen('S')) { if (parser.seen('S'))
if (parser.value_bool()) { tmc_set_report_status(parser.value_bool());
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|"); else
report_tmc_status = true; tmc_report_all();
} else
report_tmc_status = false;
} else {
SERIAL_ECHOPGM("\t"); tmc_debug_loop(TMC_CODES);
SERIAL_ECHOPGM("Enabled\t"); tmc_debug_loop(TMC_ENABLED);
SERIAL_ECHOPGM("Set current"); tmc_debug_loop(TMC_CURRENT);
SERIAL_ECHOPGM("RMS current"); tmc_debug_loop(TMC_RMS_CURRENT);
SERIAL_ECHOPGM("MAX current"); tmc_debug_loop(TMC_MAX_CURRENT);
SERIAL_ECHOPGM("Run current"); tmc_debug_loop(TMC_IRUN);
SERIAL_ECHOPGM("Hold current"); tmc_debug_loop(TMC_IHOLD);
SERIAL_ECHOPGM("CS actual\t"); tmc_debug_loop(TMC_CS_ACTUAL);
SERIAL_ECHOPGM("PWM scale"); tmc_debug_loop(TMC_PWM_SCALE);
SERIAL_ECHOPGM("vsense\t"); tmc_debug_loop(TMC_VSENSE);
SERIAL_ECHOPGM("stealthChop"); tmc_debug_loop(TMC_STEALTHCHOP);
SERIAL_ECHOPGM("msteps\t"); tmc_debug_loop(TMC_MICROSTEPS);
SERIAL_ECHOPGM("tstep\t"); tmc_debug_loop(TMC_TSTEP);
SERIAL_ECHOPGM("pwm\nthreshold\t"); tmc_debug_loop(TMC_TPWMTHRS);
SERIAL_ECHOPGM("[mm/s]\t"); tmc_debug_loop(TMC_TPWMTHRS_MMS);
SERIAL_ECHOPGM("OT prewarn"); tmc_debug_loop(TMC_OTPW);
SERIAL_ECHOPGM("OT prewarn has\nbeen triggered"); tmc_debug_loop(TMC_OTPW_TRIGGERED);
SERIAL_ECHOPGM("off time\t"); tmc_debug_loop(TMC_TOFF);
SERIAL_ECHOPGM("blank time"); tmc_debug_loop(TMC_TBL);
SERIAL_ECHOPGM("hysterisis\n-end\t"); tmc_debug_loop(TMC_HEND);
SERIAL_ECHOPGM("-start\t"); tmc_debug_loop(TMC_HSTRT);
SERIAL_ECHOPGM("Stallguard thrs"); tmc_debug_loop(TMC_SGT);
SERIAL_ECHOPGM("DRVSTATUS"); drv_status_loop(TMC_DRV_CODES);
#if ENABLED(HAVE_TMC2130)
SERIAL_ECHOPGM("stallguard\t"); drv_status_loop(TMC_STALLGUARD);
SERIAL_ECHOPGM("sg_result\t"); drv_status_loop(TMC_SG_RESULT);
SERIAL_ECHOPGM("fsactive\t"); drv_status_loop(TMC_FSACTIVE);
#endif
SERIAL_ECHOPGM("stst\t"); drv_status_loop(TMC_STST);
SERIAL_ECHOPGM("olb\t"); drv_status_loop(TMC_OLB);
SERIAL_ECHOPGM("ola\t"); drv_status_loop(TMC_OLA);
SERIAL_ECHOPGM("s2gb\t"); drv_status_loop(TMC_S2GB);
SERIAL_ECHOPGM("s2ga\t"); drv_status_loop(TMC_S2GA);
SERIAL_ECHOPGM("otpw\t"); drv_status_loop(TMC_DRV_OTPW);
SERIAL_ECHOPGM("ot\t"); drv_status_loop(TMC_OT);
#if ENABLED(HAVE_TMC2208)
SERIAL_ECHOPGM("157C\t"); drv_status_loop(TMC_T157);
SERIAL_ECHOPGM("150C\t"); drv_status_loop(TMC_T150);
SERIAL_ECHOPGM("143C\t"); drv_status_loop(TMC_T143);
SERIAL_ECHOPGM("120C\t"); drv_status_loop(TMC_T120);
SERIAL_ECHOPGM("s2vsa\t"); drv_status_loop(TMC_S2VSA);
SERIAL_ECHOPGM("s2vsb\t"); drv_status_loop(TMC_S2VSB);
#endif
SERIAL_ECHOLNPGM("Driver registers:");drv_status_loop(TMC_DRV_STATUS_HEX);
}
} }
#endif #endif // TMC_DEBUG
template<typename TMC>
static void tmc_get_current(TMC &st, const char name[]) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" axis driver current: ");
SERIAL_ECHOLN(st.getCurrent());
}
template<typename TMC>
static void tmc_set_current(TMC &st, const char name[], const int mA) {
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
tmc_get_current(st, name);
}
template<typename TMC>
static void tmc_report_otpw(TMC &st, const char name[]) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
SERIAL_EOL();
}
template<typename TMC>
static void tmc_clear_otpw(TMC &st, const char name[]) {
st.clear_otpw();
SERIAL_ECHO(name);
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
template<typename TMC>
static void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" stealthChop max speed set to ");
SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
}
template<typename TMC>
static void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
tmc_get_pwmthrs(st, name, spmm);
}
template<typename TMC>
static void tmc_get_sgt(TMC &st, const char name[]) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
MYSERIAL.println(st.sgt(), DEC);
}
template<typename TMC>
static void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
st.sgt(sgt_val);
tmc_get_sgt(st, name);
}
/** /**
* M906: Set motor current in milliamps using axis codes X, Y, Z, E * M906: Set motor current in milliamps using axis codes X, Y, Z, E
@@ -10685,54 +10301,45 @@ inline void gcode_M502() {
*/ */
inline void gcode_M906() { inline void gcode_M906() {
uint16_t values[XYZE]; uint16_t values[XYZE];
LOOP_XYZE(i) LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
values[i] = parser.intval(axis_codes[i]);
#define TMC_SET_GET_CURRENT(P,Q) do { \
if (values[P##_AXIS]) tmc_set_current(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS]); \
else tmc_get_current(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
#if X_IS_TRINAMIC #if X_IS_TRINAMIC
if (values[X_AXIS]) tmc_set_current(stepperX, extended_axis_codes[TMC_X], values[X_AXIS]); TMC_SET_GET_CURRENT(X,X);
else tmc_get_current(stepperX, extended_axis_codes[TMC_X]);
#endif #endif
#if X2_IS_TRINAMIC #if X2_IS_TRINAMIC
if (values[X_AXIS]) tmc_set_current(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS]); TMC_SET_GET_CURRENT(X,X2);
else tmc_get_current(stepperX2, extended_axis_codes[TMC_X2]);
#endif #endif
#if Y_IS_TRINAMIC #if Y_IS_TRINAMIC
if (values[Y_AXIS]) tmc_set_current(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS]); TMC_SET_GET_CURRENT(Y,Y);
else tmc_get_current(stepperY, extended_axis_codes[TMC_Y]);
#endif #endif
#if Y2_IS_TRINAMIC #if Y2_IS_TRINAMIC
if (values[Y_AXIS]) tmc_set_current(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS]); TMC_SET_GET_CURRENT(Y,Y2);
else tmc_get_current(stepperY2, extended_axis_codes[TMC_Y2]);
#endif #endif
#if Z_IS_TRINAMIC #if Z_IS_TRINAMIC
if (values[Z_AXIS]) tmc_set_current(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS]); TMC_SET_GET_CURRENT(Z,Z);
else tmc_get_current(stepperZ, extended_axis_codes[TMC_Z]);
#endif #endif
#if Z2_IS_TRINAMIC #if Z2_IS_TRINAMIC
if (values[Z_AXIS]) tmc_set_current(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS]); TMC_SET_GET_CURRENT(Z,Z2);
else tmc_get_current(stepperZ2, extended_axis_codes[TMC_Z2]);
#endif #endif
#if E0_IS_TRINAMIC #if E0_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS]); TMC_SET_GET_CURRENT(E,E0);
else tmc_get_current(stepperE0, extended_axis_codes[TMC_E0]);
#endif #endif
#if E1_IS_TRINAMIC #if E1_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS]); TMC_SET_GET_CURRENT(E,E1);
else tmc_get_current(stepperE1, extended_axis_codes[TMC_E1]);
#endif #endif
#if E2_IS_TRINAMIC #if E2_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS]); TMC_SET_GET_CURRENT(E,E2);
else tmc_get_current(stepperE2, extended_axis_codes[TMC_E2]);
#endif #endif
#if E3_IS_TRINAMIC #if E3_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS]); TMC_SET_GET_CURRENT(E,E3);
else tmc_get_current(stepperE3, extended_axis_codes[TMC_E3]);
#endif #endif
#if E4_IS_TRINAMIC #if E4_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS]); TMC_SET_GET_CURRENT(E,E4);
else tmc_get_current(stepperE4, extended_axis_codes[TMC_E4]);
#endif #endif
} }
/** /**
@@ -10786,55 +10393,44 @@ inline void gcode_M502() {
#if ENABLED(HYBRID_THRESHOLD) #if ENABLED(HYBRID_THRESHOLD)
inline void gcode_M913() { inline void gcode_M913() {
uint16_t values[XYZE]; uint16_t values[XYZE];
LOOP_XYZE(i) LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
values[i] = parser.intval(axis_codes[i]);
#define TMC_SET_GET_PWMTHRS(P,Q) do { \
if (values[P##_AXIS]) tmc_set_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS], planner.axis_steps_per_mm[P##_AXIS]); \
else tmc_get_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], planner.axis_steps_per_mm[P##_AXIS]); } while(0)
#if X_IS_TRINAMIC #if X_IS_TRINAMIC
if (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]); TMC_SET_GET_PWMTHRS(X,X);
else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]);
#endif #endif
#if X2_IS_TRINAMIC #if X2_IS_TRINAMIC
if (values[X_AXIS]) tmc_set_pwmthrs(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]); TMC_SET_GET_PWMTHRS(X,X2);
else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]);
#endif #endif
#if Y_IS_TRINAMIC #if Y_IS_TRINAMIC
if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]); TMC_SET_GET_PWMTHRS(Y,Y);
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]);
#endif #endif
#if Y2_IS_TRINAMIC #if Y2_IS_TRINAMIC
if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]); TMC_SET_GET_PWMTHRS(Y,Y2);
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]);
#endif #endif
#if Z_IS_TRINAMIC #if Z_IS_TRINAMIC
if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]); TMC_SET_GET_PWMTHRS(Z,Z);
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]);
#endif #endif
#if Z2_IS_TRINAMIC #if Z2_IS_TRINAMIC
if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]); TMC_SET_GET_PWMTHRS(Z,Z2);
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]);
#endif #endif
#if E0_IS_TRINAMIC #if E0_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); TMC_SET_GET_PWMTHRS(E,E0);
else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]);
#endif #endif
#if E1_IS_TRINAMIC #if E1_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); TMC_SET_GET_PWMTHRS(E,E1);
else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]);
#endif #endif
#if E2_IS_TRINAMIC #if E2_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); TMC_SET_GET_PWMTHRS(E,E2);
else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]);
#endif #endif
#if E3_IS_TRINAMIC #if E3_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); TMC_SET_GET_PWMTHRS(E,E3);
else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]);
#endif #endif
#if E4_IS_TRINAMIC #if E4_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); TMC_SET_GET_PWMTHRS(E,E4);
else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]);
#endif #endif
} }
#endif // HYBRID_THRESHOLD #endif // HYBRID_THRESHOLD
@@ -10844,21 +10440,21 @@ inline void gcode_M502() {
*/ */
#if ENABLED(SENSORLESS_HOMING) #if ENABLED(SENSORLESS_HOMING)
inline void gcode_M914() { inline void gcode_M914() {
#define TMC_SET_GET_SGT(P,Q) do { \
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int()); \
else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]); } while(0)
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int()); TMC_SET_GET_SGT(X,X);
else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
#endif #endif
#if ENABLED(X2_IS_TMC2130) #if ENABLED(X2_IS_TMC2130)
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX2, extended_axis_codes[TMC_X2], parser.value_int()); TMC_SET_GET_SGT(X,X2);
else tmc_get_sgt(stepperX2, extended_axis_codes[TMC_X2]);
#endif #endif
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY, extended_axis_codes[TMC_Y], parser.value_int()); TMC_SET_GET_SGT(Y,Y);
else tmc_get_sgt(stepperY, extended_axis_codes[TMC_Y]);
#endif #endif
#if ENABLED(Y2_IS_TMC2130) #if ENABLED(Y2_IS_TMC2130)
if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY2, extended_axis_codes[TMC_Y2], parser.value_int()); TMC_SET_GET_SGT(Y,Y2);
else tmc_get_sgt(stepperY2, extended_axis_codes[TMC_Y2]);
#endif #endif
} }
#endif // SENSORLESS_HOMING #endif // SENSORLESS_HOMING
@@ -10866,7 +10462,7 @@ inline void gcode_M502() {
/** /**
* TMC Z axis calibration routine * TMC Z axis calibration routine
*/ */
#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC) #if ENABLED(TMC_Z_CALIBRATION)
inline void gcode_M915() { inline void gcode_M915() {
uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT; uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT;
uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT; uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT;
@@ -10876,25 +10472,33 @@ inline void gcode_M502() {
return; return;
} }
uint16_t Z_current_1 = stepperZ.getCurrent(); #if Z_IS_TRINAMIC
uint16_t Z2_current_1 = stepperZ.getCurrent(); uint16_t Z_current_1 = stepperZ.getCurrent(),
stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Z2_IS_TRINAMIC
uint16_t Z2_current_1 = stepperZ.getCurrent();
stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
#endif
stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
SERIAL_ECHOPAIR("\nCalibration current: Z", _rms); SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
soft_endstops_enabled = false; soft_endstops_enabled = false;
do_blocking_move_to_z(Z_MAX_POS+_z); do_blocking_move_to_z(Z_MAX_POS+_z);
stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER); #if Z_IS_TRINAMIC
stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER); stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Z2_IS_TRINAMIC
stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
#endif
do_blocking_move_to_z(Z_MAX_POS); do_blocking_move_to_z(Z_MAX_POS);
soft_endstops_enabled = true; soft_endstops_enabled = true;
SERIAL_ECHOLNPGM("\nHoming Z because we lost steps"); SERIAL_ECHOLNPGM("\nHoming Z due to lost steps");
home_z_safely(); enqueue_and_echo_commands_P(PSTR("G28 Z"));
} }
#endif #endif
@@ -12133,7 +11737,7 @@ void process_parsed_command() {
#if ENABLED(SENSORLESS_HOMING) #if ENABLED(SENSORLESS_HOMING)
case 914: gcode_M914(); break; // M914: Set SENSORLESS_HOMING sensitivity. case 914: gcode_M914(); break; // M914: Set SENSORLESS_HOMING sensitivity.
#endif #endif
#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC) #if ENABLED(TMC_Z_CALIBRATION)
case 915: gcode_M915(); break; // M915: TMC Z axis calibration routine case 915: gcode_M915(); break; // M915: TMC Z axis calibration routine
#endif #endif
#endif #endif
@@ -13536,186 +13140,6 @@ void disable_all_steppers() {
disable_e_steppers(); disable_e_steppers();
} }
#if ENABLED(MONITOR_DRIVER_STATUS)
/*
* Check for over temperature or short to ground error flags.
* Report and log warning of overtemperature condition.
* Reduce driver current in a persistent otpw condition.
* Keep track of otpw counter so we don't reduce current on a single instance,
* and so we don't repeatedly report warning before the condition is cleared.
*/
struct TMC_driver_data {
uint32_t drv_status;
bool is_otpw;
bool is_ot;
bool is_error;
};
#if ENABLED(HAVE_TMC2130)
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response&0xF; }
static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
constexpr uint32_t OTPW_bm = 0x4000000UL;
constexpr uint8_t OTPW_bp = 26;
constexpr uint32_t OT_bm = 0x2000000UL;
constexpr uint8_t OT_bp = 25;
constexpr uint8_t DRIVER_ERROR_bm = 0x2UL;
constexpr uint8_t DRIVER_ERROR_bp = 1;
TMC_driver_data data;
data.drv_status = st.DRV_STATUS();
data.is_otpw = (data.drv_status & OTPW_bm)>>OTPW_bp;
data.is_ot = (data.drv_status & OT_bm)>>OT_bp;
data.is_error = (st.status_response & DRIVER_ERROR_bm)>>DRIVER_ERROR_bp;
return data;
}
#endif
#if ENABLED(HAVE_TMC2208)
static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
static uint8_t get_status_response(TMC2208Stepper &st) {
uint32_t drv_status = st.DRV_STATUS();
uint8_t gstat = st.GSTAT();
uint8_t response = 0;
response |= (drv_status >> (31-3)) & 0b1000;
response |= gstat & 0b11;
return response;
}
static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
constexpr uint32_t OTPW_bm = 0b1ul;
constexpr uint8_t OTPW_bp = 0;
constexpr uint32_t OT_bm = 0b10ul;
constexpr uint8_t OT_bp = 1;
TMC_driver_data data;
data.drv_status = st.DRV_STATUS();
data.is_otpw = (data.drv_status & OTPW_bm)>>OTPW_bp;
data.is_ot = (data.drv_status & OT_bm)>>OT_bp;
data.is_error = st.drv_err();
return data;
}
#endif
template<typename TMC>
uint8_t monitor_tmc_driver(TMC &st, const char axisID, uint8_t otpw_cnt) {
TMC_driver_data data = get_driver_data(st);
#if ENABLED(STOP_ON_ERROR)
if (data.is_error) {
SERIAL_EOL();
SERIAL_ECHO(axisID);
SERIAL_ECHO(" driver error detected:");
if (data.is_ot) SERIAL_ECHO("\novertemperature");
if (st.s2ga()) SERIAL_ECHO("\nshort to ground (coil A)");
if (st.s2gb()) SERIAL_ECHO("\nshort to ground (coil B)");
SERIAL_EOL();
#if ENABLED(TMC_DEBUG)
gcode_M122();
#endif
kill(PSTR("Driver error"));
}
#endif
// Report if a warning was triggered
if (data.is_otpw && otpw_cnt==0) {
char timestamp[10];
duration_t elapsed = print_job_timer.duration();
const bool has_days = (elapsed.value > 60*60*24L);
(void)elapsed.toDigital(timestamp, has_days);
SERIAL_EOL();
SERIAL_ECHO(timestamp);
SERIAL_ECHOPGM(": ");
SERIAL_ECHO(axisID);
SERIAL_ECHOPGM(" driver overtemperature warning! (");
SERIAL_ECHO(st.getCurrent());
SERIAL_ECHOLN("mA)");
}
#if CURRENT_STEP_DOWN > 0
// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
if (data.is_otpw && !st.isEnabled() && otpw_cnt > 4) {
st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);
#if ENABLED(REPORT_CURRENT_CHANGE)
SERIAL_ECHO(axisID);
SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
#endif
}
#endif
if (data.is_otpw) {
otpw_cnt++;
st.flag_otpw = true;
}
else if (otpw_cnt>0) otpw_cnt--;
if (report_tmc_status) {
const uint32_t pwm_scale = get_pwm_scale(st);
SERIAL_ECHO(axisID);
SERIAL_ECHOPAIR(":", pwm_scale);
SERIAL_ECHO(" |0b"); MYSERIAL.print(get_status_response(st), BIN);
SERIAL_ECHO("| ");
if (data.is_error) SERIAL_ECHO('E');
else if (data.is_ot) SERIAL_ECHO('O');
else if (data.is_otpw) SERIAL_ECHO('W');
else if (otpw_cnt>0) MYSERIAL.print(otpw_cnt, DEC);
else if (st.flag_otpw) SERIAL_ECHO('F');
SERIAL_ECHO("\t");
}
return otpw_cnt;
}
void monitor_tmc_driver() {
static millis_t next_cOT = 0;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 500;
#if ENABLED(X_IS_TMC2130)|| (ENABLED(X_IS_TMC2208) && defined(X_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
static uint8_t x_otpw_cnt = 0;
x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
#endif
#if ENABLED(Y_IS_TMC2130)|| (ENABLED(Y_IS_TMC2208) && defined(Y_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
static uint8_t y_otpw_cnt = 0;
y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
#endif
#if ENABLED(Z_IS_TMC2130)|| (ENABLED(Z_IS_TMC2208) && defined(Z_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
static uint8_t z_otpw_cnt = 0;
z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
#endif
#if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && defined(X2_HARDWARE_SERIAL))
static uint8_t x2_otpw_cnt = 0;
x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
#endif
#if ENABLED(Y2_IS_TMC2130) || (ENABLED(Y2_IS_TMC2208) && defined(Y2_HARDWARE_SERIAL))
static uint8_t y2_otpw_cnt = 0;
y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
#endif
#if ENABLED(Z2_IS_TMC2130) || (ENABLED(Z2_IS_TMC2208) && defined(Z2_HARDWARE_SERIAL))
static uint8_t z2_otpw_cnt = 0;
z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
#endif
#if ENABLED(E0_IS_TMC2130)|| (ENABLED(E0_IS_TMC2208) && defined(E0_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
static uint8_t e0_otpw_cnt = 0;
e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
#endif
#if ENABLED(E1_IS_TMC2130) || (ENABLED(E1_IS_TMC2208) && defined(E1_HARDWARE_SERIAL))
static uint8_t e1_otpw_cnt = 0;
e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
#endif
#if ENABLED(E2_IS_TMC2130) || (ENABLED(E2_IS_TMC2208) && defined(E2_HARDWARE_SERIAL))
static uint8_t e2_otpw_cnt = 0;
e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
#endif
#if ENABLED(E3_IS_TMC2130) || (ENABLED(E3_IS_TMC2208) && defined(E3_HARDWARE_SERIAL))
static uint8_t e3_otpw_cnt = 0;
e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
#endif
#if ENABLED(E4_IS_TMC2130) || (ENABLED(E4_IS_TMC2208) && defined(E4_HARDWARE_SERIAL))
static uint8_t e4_otpw_cnt = 0;
e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
#endif
if (report_tmc_status) SERIAL_EOL();
}
}
#endif // MONITOR_DRIVER_STATUS
/** /**
* Manage several activities: * Manage several activities:
* - Check for Filament Runout * - Check for Filament Runout

40
Marlin/SanityCheck.h
View File

@@ -241,6 +241,8 @@
#error "ANET_KEYPAD_LCD is now ZONESTAR_LCD. Please update your configuration." #error "ANET_KEYPAD_LCD is now ZONESTAR_LCD. Please update your configuration."
#elif defined(MEASURED_LOWER_LIMIT) || defined(MEASURED_UPPER_LIMIT) #elif defined(MEASURED_LOWER_LIMIT) || defined(MEASURED_UPPER_LIMIT)
#error "MEASURED_(UPPER|LOWER)_LIMIT is now FILWIDTH_ERROR_MARGIN. Please update your configuration." #error "MEASURED_(UPPER|LOWER)_LIMIT is now FILWIDTH_ERROR_MARGIN. Please update your configuration."
#elif defined(AUTOMATIC_CURRENT_CONTROL)
#error "AUTOMATIC_CURRENT_CONTROL is now MONITOR_DRIVER_STATUS. Please update your configuration."
#endif #endif
/** /**
@@ -1444,30 +1446,26 @@ static_assert(1 >= 0
/** /**
* Make sure HAVE_TMC2130 is warranted * Make sure HAVE_TMC2130 is warranted
*/ */
#if ENABLED(HAVE_TMC2130) #if ENABLED(HAVE_TMC2130) && !( \
#if !( ENABLED( X_IS_TMC2130 ) \ ENABLED( X_IS_TMC2130 ) \
|| ENABLED( X2_IS_TMC2130 ) \ || ENABLED( X2_IS_TMC2130 ) \
|| ENABLED( Y_IS_TMC2130 ) \ || ENABLED( Y_IS_TMC2130 ) \
|| ENABLED( Y2_IS_TMC2130 ) \ || ENABLED( Y2_IS_TMC2130 ) \
|| ENABLED( Z_IS_TMC2130 ) \ || ENABLED( Z_IS_TMC2130 ) \
|| ENABLED( Z2_IS_TMC2130 ) \ || ENABLED( Z2_IS_TMC2130 ) \
|| ENABLED( E0_IS_TMC2130 ) \ || ENABLED( E0_IS_TMC2130 ) \
|| ENABLED( E1_IS_TMC2130 ) \ || ENABLED( E1_IS_TMC2130 ) \
|| ENABLED( E2_IS_TMC2130 ) \ || ENABLED( E2_IS_TMC2130 ) \
|| ENABLED( E3_IS_TMC2130 ) \ || ENABLED( E3_IS_TMC2130 ) \
|| ENABLED( E4_IS_TMC2130 ) ) || ENABLED( E4_IS_TMC2130 ) )
#error "HAVE_TMC2130 requires at least one TMC2130 stepper to be set." #error "HAVE_TMC2130 requires at least one TMC2130 stepper to be set."
#elif ENABLED(HYBRID_THRESHOLD) && DISABLED(STEALTHCHOP) #elif ENABLED(SENSORLESS_HOMING) && DISABLED(HAVE_TMC2130)
#error "Enable STEALTHCHOP to use HYBRID_THRESHOLD." #error "Enable HAVE_TMC2130 to use SENSORLESS_HOMING."
#elif defined(AUTOMATIC_CURRENT_CONTROL)
#error "AUTOMATIC_CURRENT_CONTROL is now MONITOR_DRIVER_STATUS. Please update your configuration."
#endif
#endif #endif
/** /**
* Make sure HAVE_TMC2208 is warranted * Make sure HAVE_TMC2208 is warranted
*/ */
#if ENABLED(HAVE_TMC2208) && !( \ #if ENABLED(HAVE_TMC2208) && !( \
ENABLED( X_IS_TMC2208 ) \ ENABLED( X_IS_TMC2208 ) \
|| ENABLED( X2_IS_TMC2208 ) \ || ENABLED( X2_IS_TMC2208 ) \
@@ -1486,6 +1484,10 @@ static_assert(1 >= 0
#error "Enable STEALTHCHOP to use HYBRID_THRESHOLD." #error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
#endif #endif
#if ENABLED(TMC_Z_CALIBRATION) && !Z_IS_TRINAMIC && !Z2_IS_TRINAMIC
#error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
#endif
/** /**
* Make sure HAVE_L6470DRIVER is warranted * Make sure HAVE_L6470DRIVER is warranted
*/ */

56
Marlin/configuration_store.cpp
View File

@@ -736,24 +736,23 @@ void MarlinSettings::postprocess() {
// //
// TMC2130 Sensorless homing threshold // TMC2130 Sensorless homing threshold
// //
int16_t thrs; int16_t thrs[2] = {
#if ENABLED(SENSORLESS_HOMING) #if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130) #if ENABLED(X_IS_TMC2130)
thrs = stepperX.sgt(); stepperX.sgt(),
#else
0,
#endif
#if ENABLED(Y_IS_TMC2130)
stepperY.sgt()
#else
0
#endif
#else #else
thrs = 0; 0
#endif #endif
EEPROM_WRITE(thrs); };
#if ENABLED(Y_IS_TMC2130) EEPROM_WRITE(thrs);
thrs = stepperY.sgt();
#else
thrs = 0;
#endif
EEPROM_WRITE(thrs);
#else
thrs = 0;
for (uint8_t q = 2; q--;) EEPROM_WRITE(thrs);
#endif
// //
// Linear Advance // Linear Advance
@@ -775,8 +774,8 @@ void MarlinSettings::postprocess() {
#if HAS_MOTOR_CURRENT_PWM #if HAS_MOTOR_CURRENT_PWM
for (uint8_t q = 3; q--;) EEPROM_WRITE(stepper.motor_current_setting[q]); for (uint8_t q = 3; q--;) EEPROM_WRITE(stepper.motor_current_setting[q]);
#else #else
const uint32_t dummyui32 = 0; const uint32_t dummyui32[3] = { 0 };
for (uint8_t q = 3; q--;) EEPROM_WRITE(dummyui32); EEPROM_WRITE(dummyui32);
#endif #endif
// //
@@ -1261,28 +1260,23 @@ void MarlinSettings::postprocess() {
* X and X2 use the same value * X and X2 use the same value
* Y and Y2 use the same value * Y and Y2 use the same value
*/ */
int16_t thrs; int16_t thrs[2];
EEPROM_READ(thrs);
#if ENABLED(SENSORLESS_HOMING) #if ENABLED(SENSORLESS_HOMING)
EEPROM_READ(thrs);
if (!validating) { if (!validating) {
#if ENABLED(X_IS_TMC2130) #if ENABLED(X_IS_TMC2130)
stepperX.sgt(thrs); stepperX.sgt(thrs[0]);
#endif #endif
#if ENABLED(X2_IS_TMC2130) #if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(thrs); stepperX2.sgt(thrs[0]);
#endif #endif
}
EEPROM_READ(thrs);
if (!validating) {
#if ENABLED(Y_IS_TMC2130) #if ENABLED(Y_IS_TMC2130)
stepperY.sgt(thrs); stepperY.sgt(thrs[1]);
#endif #endif
#if ENABLED(Y2_IS_TMC2130) #if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(thrs); stepperY2.sgt(thrs[1]);
#endif #endif
} }
#else
for (uint8_t q = 0; q < 2; q++) EEPROM_READ(thrs);
#endif #endif
// //
@@ -1308,8 +1302,8 @@ void MarlinSettings::postprocess() {
#if HAS_MOTOR_CURRENT_PWM #if HAS_MOTOR_CURRENT_PWM
for (uint8_t q = 3; q--;) EEPROM_READ(stepper.motor_current_setting[q]); for (uint8_t q = 3; q--;) EEPROM_READ(stepper.motor_current_setting[q]);
#else #else
uint32_t dummyui32; uint32_t dummyui32[3];
for (uint8_t q = 3; q--;) EEPROM_READ(dummyui32); EEPROM_READ(dummyui32);
#endif #endif
// //

18
Marlin/serial.h
View File

@@ -43,16 +43,20 @@ extern const char errormagic[] PROGMEM;
#define SERIAL_CHAR(x) ((void)MYSERIAL.write(x)) #define SERIAL_CHAR(x) ((void)MYSERIAL.write(x))
#define SERIAL_EOL() SERIAL_CHAR('\n') #define SERIAL_EOL() SERIAL_CHAR('\n')
#define SERIAL_PRINT(x,b) MYSERIAL.print(x,b)
#define SERIAL_PRINTLN(x,b) MYSERIAL.println(x,b)
#define SERIAL_PRINTF(args...) MYSERIAL.printf(args)
#define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x) #define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x)
#define SERIAL_PROTOCOL(x) (MYSERIAL.print(x)) #define SERIAL_PROTOCOL(x) MYSERIAL.print(x)
#define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y)) #define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y)
#define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x))) #define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x))
#define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x); SERIAL_EOL(); }while(0) #define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x); SERIAL_EOL(); }while(0)
#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x "\n"))) #define SERIAL_PROTOCOLLNPGM(x) serialprintPGM(PSTR(x "\n"))
#define SERIAL_PROTOCOLPAIR(name, value) (serial_echopair_P(PSTR(name),(value))) #define SERIAL_PROTOCOLPAIR(name, value) serial_echopair_P(PSTR(name),(value))
#define SERIAL_PROTOCOLLNPAIR(name, value) do{ SERIAL_PROTOCOLPAIR(name, value); SERIAL_EOL(); }while(0) #define SERIAL_PROTOCOLLNPAIR(name, value) do{ SERIAL_PROTOCOLPAIR(name, value); SERIAL_EOL(); }while(0)
#define SERIAL_ECHO_START() (serialprintPGM(echomagic)) #define SERIAL_ECHO_START() serialprintPGM(echomagic)
#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x) #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x) #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x) #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
@@ -61,7 +65,7 @@ extern const char errormagic[] PROGMEM;
#define SERIAL_ECHOLNPAIR(pre,value) SERIAL_PROTOCOLLNPAIR(pre, value) #define SERIAL_ECHOLNPAIR(pre,value) SERIAL_PROTOCOLLNPAIR(pre, value)
#define SERIAL_ECHO_F(x,y) SERIAL_PROTOCOL_F(x,y) #define SERIAL_ECHO_F(x,y) SERIAL_PROTOCOL_F(x,y)
#define SERIAL_ERROR_START() (serialprintPGM(errormagic)) #define SERIAL_ERROR_START() serialprintPGM(errormagic)
#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x) #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x) #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x) #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)

39
Marlin/tmc_macros.h
View File

@@ -1,39 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef TMC_MACROS_H
#define TMC_MACROS_H
// Trinamic Stepper Drivers
#define HAS_TRINAMIC (ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208) || ENABLED(IS_TRAMS))
#define X_IS_TRINAMIC (ENABLED( X_IS_TMC2130) || ENABLED( X_IS_TMC2208) || ENABLED(IS_TRAMS))
#define X2_IS_TRINAMIC (ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208))
#define Y_IS_TRINAMIC (ENABLED( Y_IS_TMC2130) || ENABLED( Y_IS_TMC2208) || ENABLED(IS_TRAMS))
#define Y2_IS_TRINAMIC (ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208))
#define Z_IS_TRINAMIC (ENABLED( Z_IS_TMC2130) || ENABLED( Z_IS_TMC2208) || ENABLED(IS_TRAMS))
#define Z2_IS_TRINAMIC (ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208))
#define E0_IS_TRINAMIC (ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) || ENABLED(IS_TRAMS))
#define E1_IS_TRINAMIC (ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208))
#define E2_IS_TRINAMIC (ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208))
#define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208))
#define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
#endif

568
Marlin/tmc_util.cpp Normal file
View File

@@ -0,0 +1,568 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "MarlinConfig.h"
#if HAS_TRINAMIC
#include "tmc_util.h"
#include "Marlin.h"
#include "duration_t.h"
#include "stepper_indirection.h"
#if ENABLED(TMC_DEBUG)
#include "planner.h"
#endif
bool report_tmc_status = false;
char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
/**
* Check for over temperature or short to ground error flags.
* Report and log warning of overtemperature condition.
* Reduce driver current in a persistent otpw condition.
* Keep track of otpw counter so we don't reduce current on a single instance,
* and so we don't repeatedly report warning before the condition is cleared.
*/
#if ENABLED(MONITOR_DRIVER_STATUS)
struct TMC_driver_data {
uint32_t drv_status;
bool is_otpw;
bool is_ot;
bool is_error;
};
#if ENABLED(HAVE_TMC2130)
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response & 0xF; }
static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
constexpr uint32_t OTPW_bm = 0x4000000UL;
constexpr uint8_t OTPW_bp = 26;
constexpr uint32_t OT_bm = 0x2000000UL;
constexpr uint8_t OT_bp = 25;
constexpr uint8_t DRIVER_ERROR_bm = 0x2UL;
constexpr uint8_t DRIVER_ERROR_bp = 1;
TMC_driver_data data;
data.drv_status = st.DRV_STATUS();
data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
data.is_error = (st.status_response & DRIVER_ERROR_bm) >> DRIVER_ERROR_bp;
return data;
}
#endif
#if ENABLED(HAVE_TMC2208)
static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
static uint8_t get_status_response(TMC2208Stepper &st) {
uint32_t drv_status = st.DRV_STATUS();
uint8_t gstat = st.GSTAT();
uint8_t response = 0;
response |= (drv_status >> (31-3)) & 0b1000;
response |= gstat & 0b11;
return response;
}
static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
constexpr uint32_t OTPW_bm = 0b1ul;
constexpr uint8_t OTPW_bp = 0;
constexpr uint32_t OT_bm = 0b10ul;
constexpr uint8_t OT_bp = 1;
TMC_driver_data data;
data.drv_status = st.DRV_STATUS();
data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
data.is_error = st.drv_err();
return data;
}
#endif
template<typename TMC>
void monitor_tmc_driver(TMC &st, const char axisID, uint8_t &otpw_cnt) {
TMC_driver_data data = get_driver_data(st);
#if ENABLED(STOP_ON_ERROR)
if (data.is_error) {
SERIAL_EOL();
SERIAL_ECHO(axisID);
SERIAL_ECHOPGM(" driver error detected:");
if (data.is_ot) SERIAL_ECHOPGM("\novertemperature");
if (st.s2ga()) SERIAL_ECHOPGM("\nshort to ground (coil A)");
if (st.s2gb()) SERIAL_ECHOPGM("\nshort to ground (coil B)");
SERIAL_EOL();
#if ENABLED(TMC_DEBUG)
tmc_report_all();
#endif
kill(PSTR("Driver error"));
}
#endif
// Report if a warning was triggered
if (data.is_otpw && otpw_cnt == 0) {
char timestamp[10];
duration_t elapsed = print_job_timer.duration();
const bool has_days = (elapsed.value > 60*60*24L);
(void)elapsed.toDigital(timestamp, has_days);
SERIAL_EOL();
SERIAL_ECHO(timestamp);
SERIAL_ECHOPGM(": ");
SERIAL_ECHO(axisID);
SERIAL_ECHOPGM(" driver overtemperature warning! (");
SERIAL_ECHO(st.getCurrent());
SERIAL_ECHOLNPGM("mA)");
}
#if CURRENT_STEP_DOWN > 0
// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
if (data.is_otpw && !st.isEnabled() && otpw_cnt > 4) {
st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);
#if ENABLED(REPORT_CURRENT_CHANGE)
SERIAL_ECHO(axisID);
SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
#endif
}
#endif
if (data.is_otpw) {
otpw_cnt++;
st.flag_otpw = true;
}
else if (otpw_cnt > 0) otpw_cnt--;
if (report_tmc_status) {
const uint32_t pwm_scale = get_pwm_scale(st);
SERIAL_ECHO(axisID);
SERIAL_ECHOPAIR(":", pwm_scale);
SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
SERIAL_ECHOPGM("| ");
if (data.is_error) SERIAL_CHAR('E');
else if (data.is_ot) SERIAL_CHAR('O');
else if (data.is_otpw) SERIAL_CHAR('W');
else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
else if (st.flag_otpw) SERIAL_CHAR('F');
SERIAL_CHAR('\t');
}
}
#define HAS_HW_COMMS(ST) ENABLED(ST##_IS_TMC2130)|| (ENABLED(ST##_IS_TMC2208) && defined(ST##_HARDWARE_SERIAL))
void monitor_tmc_driver() {
static millis_t next_cOT = 0;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 500;
#if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS)
static uint8_t x_otpw_cnt = 0;
monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
#endif
#if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS)
static uint8_t y_otpw_cnt = 0;
monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
#endif
#if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS)
static uint8_t z_otpw_cnt = 0;
monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
#endif
#if HAS_HW_COMMS(X2)
static uint8_t x2_otpw_cnt = 0;
monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
#endif
#if HAS_HW_COMMS(Y2)
static uint8_t y2_otpw_cnt = 0;
monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
#endif
#if HAS_HW_COMMS(Z2)
static uint8_t z2_otpw_cnt = 0;
monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
#endif
#if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS)
static uint8_t e0_otpw_cnt = 0;
monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
#endif
#if HAS_HW_COMMS(E1)
static uint8_t e1_otpw_cnt = 0;
monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
#endif
#if HAS_HW_COMMS(E2)
static uint8_t e2_otpw_cnt = 0;
monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
#endif
#if HAS_HW_COMMS(E3)
static uint8_t e3_otpw_cnt = 0;
monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
#endif
#if HAS_HW_COMMS(E4)
static uint8_t e4_otpw_cnt = 0;
monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
#endif
if (report_tmc_status) SERIAL_EOL();
}
}
#endif // MONITOR_DRIVER_STATUS
void _tmc_say_current(const char name[], const uint16_t curr) {
SERIAL_ECHO(name);
SERIAL_ECHOLNPAIR(" axis driver current: ", curr);
}
void _tmc_say_otpw(const char name[], const bool otpw) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
SERIAL_EOL();
}
void _tmc_say_otpw_cleared(const char name[]) {
SERIAL_ECHO(name);
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
void _tmc_say_pwmthrs(const char name[], const uint32_t thrs) {
SERIAL_ECHO(name);
SERIAL_ECHOLNPAIR(" stealthChop max speed set to ", thrs);
}
void _tmc_say_sgt(const char name[], const uint32_t sgt) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
MYSERIAL.println(sgt, DEC);
}
#if ENABLED(TMC_DEBUG)
enum TMC_debug_enum {
TMC_CODES,
TMC_ENABLED,
TMC_CURRENT,
TMC_RMS_CURRENT,
TMC_MAX_CURRENT,
TMC_IRUN,
TMC_IHOLD,
TMC_CS_ACTUAL,
TMC_PWM_SCALE,
TMC_VSENSE,
TMC_STEALTHCHOP,
TMC_MICROSTEPS,
TMC_TSTEP,
TMC_TPWMTHRS,
TMC_TPWMTHRS_MMS,
TMC_OTPW,
TMC_OTPW_TRIGGERED,
TMC_TOFF,
TMC_TBL,
TMC_HEND,
TMC_HSTRT,
TMC_SGT
};
enum TMC_drv_status_enum {
TMC_DRV_CODES,
TMC_STST,
TMC_OLB,
TMC_OLA,
TMC_S2GB,
TMC_S2GA,
TMC_DRV_OTPW,
TMC_OT,
TMC_STALLGUARD,
TMC_DRV_CS_ACTUAL,
TMC_FSACTIVE,
TMC_SG_RESULT,
TMC_DRV_STATUS_HEX,
TMC_T157,
TMC_T150,
TMC_T143,
TMC_T120,
TMC_STEALTH,
TMC_S2VSB,
TMC_S2VSA
};
static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" = 0x");
for (int B = 24; B >= 8; B -= 8){
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);
MYSERIAL.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: MYSERIAL.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);
DRV_REPORT("otpw\t", TMC_DRV_OTPW);
DRV_REPORT("ot\t", TMC_OT);
#if ENABLED(HAVE_TMC2208)
DRV_REPORT("157C\t", TMC_T157);
DRV_REPORT("150C\t", TMC_T150);
DRV_REPORT("143C\t", TMC_T143);
DRV_REPORT("120C\t", TMC_T120);
DRV_REPORT("s2vsa\t", TMC_S2VSA);
DRV_REPORT("s2vsb\t", TMC_S2VSB);
#endif
DRV_REPORT("Driver registers:", TMC_DRV_STATUS_HEX);
SERIAL_EOL();
}
#endif // TMC_DEBUG
#if ENABLED(SENSORLESS_HOMING)
void tmc_sensorless_homing(TMC2130Stepper &st, bool enable/*=true*/) {
#if ENABLED(STEALTHCHOP)
st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
st.stealthChop(!enable);
#endif
st.diag1_stall(enable ? 1 : 0);
}
#endif // SENSORLESS_HOMING
#endif // HAS_TRINAMIC

103
Marlin/tmc_util.h Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _TMC_UTIL_H_
#define _TMC_UTIL_H_
#include <TMC2130Stepper.h>
#include "MarlinConfig.h"
extern bool report_tmc_status;
extern char extended_axis_codes[11][3];
enum TMC_AxisEnum {
TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2,
TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4
};
constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
return 12650000UL * msteps / (256 * thrs * spmm);
}
void _tmc_say_current(const char name[], const uint16_t curr);
void _tmc_say_otpw(const char name[], const bool otpw);
void _tmc_say_otpw_cleared(const char name[]);
void _tmc_say_pwmthrs(const char name[], const uint32_t thrs);
void _tmc_say_sgt(const char name[], const uint32_t sgt);
template<typename TMC>
void tmc_get_current(TMC &st, const char name[]) {
_tmc_say_current(name, st.getCurrent());
}
template<typename TMC>
void tmc_set_current(TMC &st, const char name[], const int mA) {
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
tmc_get_current(st, name);
}
template<typename TMC>
void tmc_report_otpw(TMC &st, const char name[]) {
_tmc_say_otpw(name, st.getOTPW());
}
template<typename TMC>
void tmc_clear_otpw(TMC &st, const char name[]) {
st.clear_otpw();
_tmc_say_otpw_cleared(name);
}
template<typename TMC>
void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
_tmc_say_pwmthrs(name, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
}
template<typename TMC>
void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
tmc_get_pwmthrs(st, name, spmm);
}
template<typename TMC>
void tmc_get_sgt(TMC &st, const char name[]) {
_tmc_say_sgt(name, st.sgt());
}
template<typename TMC>
void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
st.sgt(sgt_val);
tmc_get_sgt(st, name);
}
void monitor_tmc_driver();
#if ENABLED(TMC_DEBUG)
void tmc_set_report_status(const bool status);
void tmc_report_all();
#endif
/**
* TMC2130 specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
* spreadCycle and stealthChop are mutually exclusive.
*
* Defined here because of limitations with templates and headers.
*/
#if ENABLED(SENSORLESS_HOMING)
void tmc_sensorless_homing(TMC2130Stepper &st, bool enable=true);
#endif
#endif // _TMC_UTIL_H_