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Add TMC2209 support (#14249)

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This commit is contained in:
Scott Lahteine
2019-06-20 15:47:50 -05:00
committed by GitHub
parent ed0c70f0a0
commit 4df4c47994
208 changed files with 2732 additions and 644 deletions
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84
Marlin/src/feature/tmc_util.cpp
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@@ -69,7 +69,7 @@
#endif
;
#if ENABLED(TMC_DEBUG)
#if HAS_TMCX1X0 || HAS_DRIVER(TMC2208)
#if HAS_TMCX1X0 || HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
uint8_t cs_actual;
#endif
#if HAS_STALLGUARD
@@ -97,6 +97,7 @@
TMC_driver_data data;
const auto ds = data.drv_status = st.DRV_STATUS();
#ifdef __AVR__
// 8-bit optimization saves up to 70 bytes of PROGMEM per axis
uint8_t spart;
#if ENABLED(TMC_DEBUG)
@@ -115,6 +116,7 @@
data.is_standstill = TEST(spart, STST_bp - 24);
data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
#endif
#else // !__AVR__
data.is_ot = TEST(ds, OT_bp);
@@ -137,7 +139,7 @@
#endif // HAS_TMCX1X0
#if HAS_DRIVER(TMC2208)
#if HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
#if ENABLED(TMC_DEBUG)
static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
@@ -174,7 +176,7 @@
return data;
}
#endif // TMC2208
#endif // TMC2208 || TMC2209
#if HAS_DRIVER(TMC2660)
@@ -228,9 +230,7 @@
SERIAL_ECHO(timestamp);
SERIAL_ECHOPGM(": ");
st.printLabel();
SERIAL_ECHOPGM(" driver overtemperature warning! (");
SERIAL_ECHO(st.getMilliamps());
SERIAL_ECHOLNPGM("mA)");
SERIAL_ECHOLNPAIR(" driver overtemperature warning! (", st.getMilliamps(), "mA)");
}
template<typename TMC>
@@ -239,7 +239,7 @@
st.printLabel();
SERIAL_CHAR(':'); SERIAL_PRINT(pwm_scale, DEC);
#if ENABLED(TMC_DEBUG)
#if HAS_TMCX1X0 || HAS_DRIVER(TMC2208)
#if HAS_TMCX1X0 || HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
SERIAL_CHAR('/'); SERIAL_PRINT(data.cs_actual, DEC);
#endif
#if HAS_STALLGUARD
@@ -386,7 +386,7 @@
if ((report_tmc_status_interval = update_interval))
SERIAL_ECHOLNPGM("axis:pwm_scale"
#if HAS_STEALTHCHOP
"/current_scale"
"/curr_scale"
#endif
#if HAS_STALLGUARD
"/mech_load"
@@ -398,6 +398,7 @@
enum TMC_debug_enum : char {
TMC_CODES,
TMC_UART_ADDR,
TMC_ENABLED,
TMC_CURRENT,
TMC_RMS_CURRENT,
@@ -482,9 +483,9 @@
#if HAS_TMCX1X0
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;
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('*'); break;
case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('*'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
default: break;
}
@@ -515,22 +516,37 @@
}
#endif
#if HAS_DRIVER(TMC2208)
#if HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch (i) {
case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('X'); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break;
default: break;
}
}
#if HAS_DRIVER(TMC2209)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
static void _tmc_status(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_debug_enum i) {
switch (i) {
case TMC_SGT: SERIAL_PRINT(st.SGTHRS(), DEC); break;
case TMC_UART_ADDR: SERIAL_PRINT(st.get_address(), DEC); break;
default:
TMC2208Stepper *parent = &st;
_tmc_status(*parent, i);
break;
}
}
#endif
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;
case TMC_T157: if (st.t157()) SERIAL_CHAR('*'); break;
case TMC_T150: if (st.t150()) SERIAL_CHAR('*'); break;
case TMC_T143: if (st.t143()) SERIAL_CHAR('*'); break;
case TMC_T120: if (st.t120()) SERIAL_CHAR('*'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
default: break;
}
@@ -620,13 +636,13 @@
SERIAL_CHAR('\t');
switch (i) {
case TMC_DRV_CODES: st.printLabel(); 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_STST: if (st.stst()) SERIAL_CHAR('*'); break;
case TMC_OLB: if (st.olb()) SERIAL_CHAR('*'); break;
case TMC_OLA: if (st.ola()) SERIAL_CHAR('*'); break;
case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('*'); break;
case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('*'); break;
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('*'); break;
case TMC_OT: if (st.ot()) SERIAL_CHAR('*'); break;
case TMC_DRV_STATUS_HEX: {
const uint32_t drv_status = st.DRV_STATUS();
SERIAL_CHAR('\t');
@@ -759,6 +775,9 @@
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, print_x, print_y, print_z, print_e); }while(0)
#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, print_x, print_y, print_z, print_e); }while(0)
TMC_REPORT("\t", TMC_CODES);
#if HAS_DRIVER(TMC2209)
TMC_REPORT("Address\t", TMC_UART_ADDR);
#endif
TMC_REPORT("Enabled\t", TMC_ENABLED);
TMC_REPORT("Set current", TMC_CURRENT);
TMC_REPORT("RMS current", TMC_RMS_CURRENT);
@@ -770,7 +789,7 @@
#endif
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
TMC_REPORT("PWM scale", TMC_PWM_SCALE);
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2224) || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2208)
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2224) || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
TMC_REPORT("vsense\t", TMC_VSENSE);
#endif
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
@@ -802,7 +821,7 @@
DRV_REPORT("s2ga\t", TMC_S2GA);
DRV_REPORT("otpw\t", TMC_DRV_OTPW);
DRV_REPORT("ot\t", TMC_OT);
#if HAS_DRIVER(TMC2208)
#if HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
DRV_REPORT("157C\t", TMC_T157);
DRV_REPORT("150C\t", TMC_T150);
DRV_REPORT("143C\t", TMC_T143);
@@ -826,7 +845,7 @@
}
}
#endif
#if HAS_DRIVER(TMC2208)
#if HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
static void tmc_get_ic_registers(TMC2208Stepper, const TMC_get_registers_enum) { SERIAL_CHAR('\t'); }
#endif
@@ -961,6 +980,15 @@
st.en_pwm_mode(restore_stealth);
st.diag1_stall(false);
}
bool tmc_enable_stallguard(TMC2209Stepper &st) {
st.TCOOLTHRS(0xFFFFF);
return true;
}
void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth) {
st.TCOOLTHRS(0);
}
bool tmc_enable_stallguard(TMC2660Stepper) {
// TODO
return false;