Various updates for TMC support
This commit is contained in:
Scott Lahteine
parent
2c2cf5e856
commit
6a043eee55
@ -65,7 +65,7 @@ Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector) {
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#ifdef DEBUG_MMC
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char buffer[80];
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sprintf(buffer, "SDRD: %d @ 0x%08x\n", nb_sector, addr);
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MYSERIAL.print(buffer);
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MYSERIAL0.print(buffer);
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#endif
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// Start reading
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@ -99,7 +99,7 @@ Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector) {
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#ifdef DEBUG_MMC
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char buffer[80];
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sprintf(buffer, "SDWR: %d @ 0x%08x\n", nb_sector, addr);
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MYSERIAL.print(buffer);
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MYSERIAL0.print(buffer);
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#endif
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if (!card.getSd2Card().writeStart(addr, nb_sector))
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@ -67,13 +67,13 @@ enum DebugFlags {
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#ifdef USBCON
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#include <HardwareSerial.h>
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#if ENABLED(BLUETOOTH)
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#define MYSERIAL bluetoothSerial
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#define MYSERIAL0 bluetoothSerial
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#else
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#define MYSERIAL Serial
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#define MYSERIAL0 Serial
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#endif // BLUETOOTH
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#else
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#include "../HAL/HAL_AVR/MarlinSerial.h"
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#define MYSERIAL customizedSerial
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#define MYSERIAL0 customizedSerial
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#endif
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#elif defined(ARDUINO_ARCH_SAM)
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// To pull the Serial port definitions and overrides
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@ -1,39 +0,0 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef TMC_MACROS_H
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#define TMC_MACROS_H
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// Trinamic Stepper Drivers
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#define HAS_TRINAMIC (ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208) || ENABLED(IS_TRAMS))
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#define X_IS_TRINAMIC (ENABLED( X_IS_TMC2130) || ENABLED( X_IS_TMC2208) || ENABLED(IS_TRAMS))
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#define X2_IS_TRINAMIC (ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208))
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#define Y_IS_TRINAMIC (ENABLED( Y_IS_TMC2130) || ENABLED( Y_IS_TMC2208) || ENABLED(IS_TRAMS))
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#define Y2_IS_TRINAMIC (ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208))
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#define Z_IS_TRINAMIC (ENABLED( Z_IS_TMC2130) || ENABLED( Z_IS_TMC2208) || ENABLED(IS_TRAMS))
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#define Z2_IS_TRINAMIC (ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208))
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#define E0_IS_TRINAMIC (ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) || ENABLED(IS_TRAMS))
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#define E1_IS_TRINAMIC (ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208))
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#define E2_IS_TRINAMIC (ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208))
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#define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208))
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#define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
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#endif
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@ -32,6 +32,10 @@
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#include "../libs/duration_t.h"
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#include "../gcode/gcode.h"
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#if ENABLED(TMC_DEBUG)
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#include "../module/planner.h"
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#endif
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bool report_tmc_status = false;
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char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
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@ -92,20 +96,20 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
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#endif
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template<typename TMC>
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uint8_t monitor_tmc_driver(TMC &st, const char axisID, uint8_t otpw_cnt) {
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void monitor_tmc_driver(TMC &st, const char axisID, uint8_t &otpw_cnt) {
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TMC_driver_data data = get_driver_data(st);
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#if ENABLED(STOP_ON_ERROR)
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if (data.is_error) {
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SERIAL_EOL();
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SERIAL_ECHO(axisID);
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SERIAL_ECHO(" driver error detected:");
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if (data.is_ot) SERIAL_ECHO("\novertemperature");
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if (st.s2ga()) SERIAL_ECHO("\nshort to ground (coil A)");
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if (st.s2gb()) SERIAL_ECHO("\nshort to ground (coil B)");
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SERIAL_ECHOPGM(" driver error detected:");
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if (data.is_ot) SERIAL_ECHOPGM("\novertemperature");
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if (st.s2ga()) SERIAL_ECHOPGM("\nshort to ground (coil A)");
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if (st.s2gb()) SERIAL_ECHOPGM("\nshort to ground (coil B)");
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SERIAL_EOL();
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#if ENABLED(TMC_DEBUG)
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_M122();
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tmc_report_all();
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#endif
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kill(PSTR("Driver error"));
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}
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@ -123,7 +127,7 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
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SERIAL_ECHO(axisID);
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SERIAL_ECHOPGM(" driver overtemperature warning! (");
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SERIAL_ECHO(st.getCurrent());
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SERIAL_ECHOLN("mA)");
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SERIAL_ECHOLNPGM("mA)");
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}
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#if CURRENT_STEP_DOWN > 0
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// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
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@ -146,17 +150,15 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
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const uint32_t pwm_scale = get_pwm_scale(st);
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SERIAL_ECHO(axisID);
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SERIAL_ECHOPAIR(":", pwm_scale);
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SERIAL_ECHO(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
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SERIAL_ECHO("| ");
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if (data.is_error) SERIAL_ECHO('E');
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else if (data.is_ot) SERIAL_ECHO('O');
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else if (data.is_otpw) SERIAL_ECHO('W');
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SERIAL_ECHOPGM(" |0b"); MYSERIAL0.print(get_status_response(st), BIN);
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SERIAL_ECHOPGM("| ");
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if (data.is_error) SERIAL_CHAR('E');
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else if (data.is_ot) SERIAL_CHAR('O');
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else if (data.is_otpw) SERIAL_CHAR('W');
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else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
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else if (st.flag_otpw) SERIAL_ECHO('F');
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SERIAL_ECHO("\t");
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else if (st.flag_otpw) SERIAL_CHAR('F');
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SERIAL_CHAR('\t');
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}
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return otpw_cnt;
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}
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#define HAS_HW_COMMS(ST) ENABLED(ST##_IS_TMC2130)|| (ENABLED(ST##_IS_TMC2208) && defined(ST##_HARDWARE_SERIAL))
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@ -167,47 +169,47 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
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next_cOT = millis() + 500;
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#if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS)
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static uint8_t x_otpw_cnt = 0;
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x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
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monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS)
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static uint8_t y_otpw_cnt = 0;
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y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
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monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS)
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static uint8_t z_otpw_cnt = 0;
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z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
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monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(X2)
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static uint8_t x2_otpw_cnt = 0;
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x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
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monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Y2)
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static uint8_t y2_otpw_cnt = 0;
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y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
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monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Z2)
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static uint8_t z2_otpw_cnt = 0;
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z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
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monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS)
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static uint8_t e0_otpw_cnt = 0;
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e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
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monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E1)
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static uint8_t e1_otpw_cnt = 0;
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e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
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monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E2)
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static uint8_t e2_otpw_cnt = 0;
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e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
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monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E3)
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static uint8_t e3_otpw_cnt = 0;
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e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
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monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E4)
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static uint8_t e4_otpw_cnt = 0;
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e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
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monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
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#endif
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if (report_tmc_status) SERIAL_EOL();
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@ -216,4 +218,349 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
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#endif // MONITOR_DRIVER_STATUS
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void _tmc_say_current(const char name[], const uint16_t curr) {
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPAIR(" axis driver current: ", curr);
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}
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void _tmc_say_otpw(const char name[], const bool otpw) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
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serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
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SERIAL_EOL();
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}
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void _tmc_say_otpw_cleared(const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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void _tmc_say_pwmthrs(const char name[], const uint32_t thrs) {
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPAIR(" stealthChop max speed set to ", thrs);
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}
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void _tmc_say_sgt(const char name[], const uint32_t sgt) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" driver homing sensitivity set to ");
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MYSERIAL0.println(sgt, DEC);
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}
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#if ENABLED(TMC_DEBUG)
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enum TMC_debug_enum {
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TMC_CODES,
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TMC_ENABLED,
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TMC_CURRENT,
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TMC_RMS_CURRENT,
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TMC_MAX_CURRENT,
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TMC_IRUN,
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TMC_IHOLD,
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TMC_CS_ACTUAL,
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TMC_PWM_SCALE,
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TMC_VSENSE,
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TMC_STEALTHCHOP,
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TMC_MICROSTEPS,
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TMC_TSTEP,
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TMC_TPWMTHRS,
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TMC_TPWMTHRS_MMS,
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TMC_OTPW,
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TMC_OTPW_TRIGGERED,
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TMC_TOFF,
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TMC_TBL,
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TMC_HEND,
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TMC_HSTRT,
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TMC_SGT
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};
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enum TMC_drv_status_enum {
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TMC_DRV_CODES,
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TMC_STST,
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TMC_OLB,
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TMC_OLA,
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TMC_S2GB,
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TMC_S2GA,
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TMC_DRV_OTPW,
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TMC_OT,
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TMC_STALLGUARD,
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TMC_DRV_CS_ACTUAL,
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TMC_FSACTIVE,
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TMC_SG_RESULT,
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TMC_DRV_STATUS_HEX,
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TMC_T157,
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TMC_T150,
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TMC_T143,
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TMC_T120,
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TMC_STEALTH,
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TMC_S2VSB,
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TMC_S2VSA
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};
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static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" = 0x");
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for (int B = 24; B >= 8; B -= 8){
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SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
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SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
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SERIAL_CHAR(':');
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}
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SERIAL_PRINT((drv_status >> 4) & 0xF, HEX);
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SERIAL_PRINT(drv_status & 0xF, HEX);
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SERIAL_EOL();
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}
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#if ENABLED(HAVE_TMC2130)
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static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
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switch(i) {
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case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
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case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
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case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
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default: break;
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}
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}
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static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
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switch(i) {
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case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
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case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
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case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('X'); break;
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default: break;
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}
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}
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#endif
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#if ENABLED(HAVE_TMC2208)
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static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
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switch(i) {
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case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); MYSERIAL0.print(data); break; }
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case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
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case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
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case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('X'); break;
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default: break;
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}
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}
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static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
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switch(i) {
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case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
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case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
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case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break;
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case TMC_T120: if (st.t120()) SERIAL_CHAR('X'); break;
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default: break;
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}
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}
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#endif
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template <typename TMC>
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static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
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SERIAL_ECHO('\t');
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switch(i) {
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case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
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case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
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case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
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case TMC_RMS_CURRENT: MYSERIAL0.print(st.rms_current()); break;
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case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
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case TMC_IRUN:
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SERIAL_PRINT(st.irun(), DEC);
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SERIAL_ECHOPGM("/31");
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break;
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case TMC_IHOLD:
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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
|
||||
|
||||
@ -35,11 +35,19 @@ enum TMC_AxisEnum {
|
||||
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[]) {
|
||||
SERIAL_ECHO(name);
|
||||
SERIAL_ECHOPGM(" axis driver current: ");
|
||||
SERIAL_ECHOLN(st.getCurrent());
|
||||
_tmc_say_current(name, st.getCurrent());
|
||||
}
|
||||
template<typename TMC>
|
||||
void tmc_set_current(TMC &st, const char name[], const int mA) {
|
||||
@ -48,33 +56,25 @@ void tmc_set_current(TMC &st, const char name[], const int mA) {
|
||||
}
|
||||
template<typename TMC>
|
||||
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();
|
||||
_tmc_say_otpw(name, st.getOTPW());
|
||||
}
|
||||
template<typename TMC>
|
||||
void tmc_clear_otpw(TMC &st, const char name[]) {
|
||||
st.clear_otpw();
|
||||
SERIAL_ECHO(name);
|
||||
SERIAL_ECHOLNPGM(" prewarn flag cleared");
|
||||
_tmc_say_otpw_cleared(name);
|
||||
}
|
||||
template<typename TMC>
|
||||
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));
|
||||
_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(12650000UL * st.microsteps() / (256 * thrs * 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[]) {
|
||||
SERIAL_ECHO(name);
|
||||
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
|
||||
MYSERIAL.println(st.sgt(), DEC);
|
||||
_tmc_say_sgt(name, st.sgt());
|
||||
}
|
||||
template<typename TMC>
|
||||
void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
|
||||
@ -82,9 +82,13 @@ void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
|
||||
tmc_get_sgt(st, name);
|
||||
}
|
||||
|
||||
void _M122();
|
||||
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.
|
||||
@ -93,21 +97,7 @@ void monitor_tmc_driver();
|
||||
* Defined here because of limitations with templates and headers.
|
||||
*/
|
||||
#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);
|
||||
}
|
||||
void tmc_sensorless_homing(TMC2130Stepper &st, bool enable=true);
|
||||
#endif
|
||||
|
||||
#endif // _TMC_UTIL_H_
|
||||
|
||||
@ -26,314 +26,15 @@
|
||||
|
||||
#include "../../gcode.h"
|
||||
#include "../../../feature/tmc_util.h"
|
||||
#include "../../../module/stepper_indirection.h"
|
||||
#include "../../../module/planner.h"
|
||||
|
||||
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(':');
|
||||
/**
|
||||
* M122: Debug TMC drivers
|
||||
*/
|
||||
void GcodeSuite::M122() {
|
||||
if (parser.seen('S'))
|
||||
tmc_set_report_status(parser.value_bool());
|
||||
else
|
||||
tmc_report_all();
|
||||
}
|
||||
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_ECHOPGM("X"); break;
|
||||
case TMC_SG_RESULT: SERIAL_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);
|
||||
SERIAL_PROTOCOL(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_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: SERIAL_PROTOCOL(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_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: 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_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: 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();
|
||||
}
|
||||
|
||||
void _M122() {
|
||||
if (parser.seen('S')) {
|
||||
if (parser.value_bool()) {
|
||||
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
|
||||
report_tmc_status = true;
|
||||
} 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);
|
||||
}
|
||||
}
|
||||
|
||||
// We need to call M122 from monitor_tmc_driver() as well but GcodeSuite::M122 is private.
|
||||
void GcodeSuite::M122() { _M122(); }
|
||||
|
||||
#endif // TMC_DEBUG
|
||||
|
||||
@ -27,7 +27,6 @@
|
||||
#include "../../gcode.h"
|
||||
#include "../../../feature/tmc_util.h"
|
||||
#include "../../../module/stepper_indirection.h"
|
||||
#include "../../../module/planner.h"
|
||||
|
||||
/**
|
||||
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
|
||||
@ -35,54 +34,45 @@
|
||||
*/
|
||||
void GcodeSuite::M906() {
|
||||
uint16_t values[XYZE];
|
||||
LOOP_XYZE(i)
|
||||
values[i] = parser.intval(axis_codes[i]);
|
||||
LOOP_XYZE(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 (values[X_AXIS]) tmc_set_current(stepperX, extended_axis_codes[TMC_X], values[X_AXIS]);
|
||||
else tmc_get_current(stepperX, extended_axis_codes[TMC_X]);
|
||||
TMC_SET_GET_CURRENT(X,X);
|
||||
#endif
|
||||
#if X2_IS_TRINAMIC
|
||||
if (values[X_AXIS]) tmc_set_current(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS]);
|
||||
else tmc_get_current(stepperX2, extended_axis_codes[TMC_X2]);
|
||||
TMC_SET_GET_CURRENT(X,X2);
|
||||
#endif
|
||||
#if Y_IS_TRINAMIC
|
||||
if (values[Y_AXIS]) tmc_set_current(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS]);
|
||||
else tmc_get_current(stepperY, extended_axis_codes[TMC_Y]);
|
||||
TMC_SET_GET_CURRENT(Y,Y);
|
||||
#endif
|
||||
#if Y2_IS_TRINAMIC
|
||||
if (values[Y_AXIS]) tmc_set_current(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS]);
|
||||
else tmc_get_current(stepperY2, extended_axis_codes[TMC_Y2]);
|
||||
TMC_SET_GET_CURRENT(Y,Y2);
|
||||
#endif
|
||||
#if Z_IS_TRINAMIC
|
||||
if (values[Z_AXIS]) tmc_set_current(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS]);
|
||||
else tmc_get_current(stepperZ, extended_axis_codes[TMC_Z]);
|
||||
TMC_SET_GET_CURRENT(Z,Z);
|
||||
#endif
|
||||
#if Z2_IS_TRINAMIC
|
||||
if (values[Z_AXIS]) tmc_set_current(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS]);
|
||||
else tmc_get_current(stepperZ2, extended_axis_codes[TMC_Z2]);
|
||||
TMC_SET_GET_CURRENT(Z,Z2);
|
||||
#endif
|
||||
#if E0_IS_TRINAMIC
|
||||
if (values[E_AXIS]) tmc_set_current(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS]);
|
||||
else tmc_get_current(stepperE0, extended_axis_codes[TMC_E0]);
|
||||
TMC_SET_GET_CURRENT(E,E0);
|
||||
#endif
|
||||
#if E1_IS_TRINAMIC
|
||||
if (values[E_AXIS]) tmc_set_current(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS]);
|
||||
else tmc_get_current(stepperE1, extended_axis_codes[TMC_E1]);
|
||||
TMC_SET_GET_CURRENT(E,E1);
|
||||
#endif
|
||||
#if E2_IS_TRINAMIC
|
||||
if (values[E_AXIS]) tmc_set_current(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS]);
|
||||
else tmc_get_current(stepperE2, extended_axis_codes[TMC_E2]);
|
||||
TMC_SET_GET_CURRENT(E,E2);
|
||||
#endif
|
||||
#if E3_IS_TRINAMIC
|
||||
if (values[E_AXIS]) tmc_set_current(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS]);
|
||||
else tmc_get_current(stepperE3, extended_axis_codes[TMC_E3]);
|
||||
TMC_SET_GET_CURRENT(E,E3);
|
||||
#endif
|
||||
#if E4_IS_TRINAMIC
|
||||
if (values[E_AXIS]) tmc_set_current(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS]);
|
||||
else tmc_get_current(stepperE4, extended_axis_codes[TMC_E4]);
|
||||
TMC_SET_GET_CURRENT(E,E4);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#endif // HAS_TRINAMIC
|
||||
|
||||
@ -81,55 +81,44 @@ void GcodeSuite::M912() {
|
||||
#if ENABLED(HYBRID_THRESHOLD)
|
||||
void GcodeSuite::M913() {
|
||||
uint16_t values[XYZE];
|
||||
LOOP_XYZE(i)
|
||||
values[i] = parser.intval(axis_codes[i]);
|
||||
LOOP_XYZE(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 (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
|
||||
else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(X,X);
|
||||
#endif
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(X,X2);
|
||||
#endif
|
||||
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(Y,Y);
|
||||
#endif
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(Y,Y2);
|
||||
#endif
|
||||
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(Z,Z);
|
||||
#endif
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(Z,Z2);
|
||||
#endif
|
||||
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(E,E0);
|
||||
#endif
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(E,E1);
|
||||
#endif
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(E,E2);
|
||||
#endif
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(E,E3);
|
||||
#endif
|
||||
#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]);
|
||||
else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]);
|
||||
TMC_SET_GET_PWMTHRS(E,E4);
|
||||
#endif
|
||||
}
|
||||
#endif // HYBRID_THRESHOLD
|
||||
@ -139,21 +128,21 @@ void GcodeSuite::M912() {
|
||||
*/
|
||||
#if ENABLED(SENSORLESS_HOMING)
|
||||
void GcodeSuite::M914() {
|
||||
#define TMC_SET_GET_SGT(P,Q) do { \
|
||||
if (parser.seen(axis_codes[P##_AXIS])) tmc_set_sgt(stepper##Q, extended_axis_codes[TMC_##Q], parser.value_int()); \
|
||||
else tmc_get_sgt(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
|
||||
|
||||
#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());
|
||||
else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
|
||||
TMC_SET_GET_SGT(X,X);
|
||||
#endif
|
||||
#if ENABLED(X2_IS_TMC2130)
|
||||
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX2, extended_axis_codes[TMC_X2], parser.value_int());
|
||||
else tmc_get_sgt(stepperX2, extended_axis_codes[TMC_X2]);
|
||||
TMC_SET_GET_SGT(X,X2);
|
||||
#endif
|
||||
#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());
|
||||
else tmc_get_sgt(stepperY, extended_axis_codes[TMC_Y]);
|
||||
TMC_SET_GET_SGT(Y,Y);
|
||||
#endif
|
||||
#if ENABLED(Y2_IS_TMC2130)
|
||||
if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY2, extended_axis_codes[TMC_Y2], parser.value_int());
|
||||
else tmc_get_sgt(stepperY2, extended_axis_codes[TMC_Y2]);
|
||||
TMC_SET_GET_SGT(Y,Y2);
|
||||
#endif
|
||||
}
|
||||
#endif // SENSORLESS_HOMING
|
||||
|
||||
@ -679,6 +679,20 @@
|
||||
#define HAS_E4_MICROSTEPS (PIN_EXISTS(E4_MS1))
|
||||
#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
|
||||
#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))
|
||||
|
||||
@ -28,7 +28,6 @@
|
||||
#include "Version.h"
|
||||
#include "../../Configuration.h"
|
||||
#include "Conditionals_LCD.h"
|
||||
#include "../feature/tmc_macros.h"
|
||||
#include "../../Configuration_adv.h"
|
||||
#include "Conditionals_adv.h"
|
||||
|
||||
|
||||
@ -1491,8 +1491,6 @@ static_assert(1 >= 0
|
||||
#error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
|
||||
#endif
|
||||
|
||||
#include "../feature/tmc_macros.h"
|
||||
|
||||
#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
|
||||
|
||||
Loading…
Reference in New Issue
Block a user