Fix TMC gcode commands
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99516572b1
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9d923c6c03
@ -35,56 +35,6 @@
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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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template<typename TMC>
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void tmc_get_current(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" axis driver current: ");
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SERIAL_ECHOLN(st.getCurrent());
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}
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template<typename TMC>
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void tmc_set_current(TMC &st, const char name[], const int mA) {
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
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tmc_get_current(st, name);
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}
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template<typename TMC>
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void tmc_report_otpw(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
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serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
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SERIAL_EOL();
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}
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template<typename TMC>
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void tmc_clear_otpw(TMC &st, const char name[]) {
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st.clear_otpw();
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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template<typename TMC>
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void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" stealthChop max speed set to ");
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SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
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}
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template<typename TMC>
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void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
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st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
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tmc_get_pwmthrs(st, name, spmm);
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}
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template<typename TMC>
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void tmc_get_sgt(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" driver homing sensitivity set to ");
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MYSERIAL.println(st.sgt(), DEC);
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}
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template<typename TMC>
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void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
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st.sgt(sgt_val);
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tmc_get_sgt(st, name);
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}
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/*
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* Check for over temperature or short to ground error flags.
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* Report and log warning of overtemperature condition.
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@ -29,27 +29,58 @@
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extern bool report_tmc_status;
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extern char extended_axis_codes[11][3];
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enum TMC_AxisEnum {
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TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2,
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TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4
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};
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template<typename TMC>
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void tmc_get_current(TMC &st, const char name[]);
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void tmc_get_current(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" axis driver current: ");
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SERIAL_ECHOLN(st.getCurrent());
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}
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template<typename TMC>
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void tmc_set_current(TMC &st, const char name[], const int mA);
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void tmc_set_current(TMC &st, const char name[], const int mA) {
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
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tmc_get_current(st, name);
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}
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template<typename TMC>
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void tmc_report_otpw(TMC &st, const char name[]);
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void tmc_report_otpw(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
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serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
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SERIAL_EOL();
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}
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template<typename TMC>
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void tmc_clear_otpw(TMC &st, const char name[]);
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void tmc_clear_otpw(TMC &st, const char name[]) {
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st.clear_otpw();
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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template<typename TMC>
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void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm);
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void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" stealthChop max speed set to ");
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SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
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}
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template<typename TMC>
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void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm);
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void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
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st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
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tmc_get_pwmthrs(st, name, spmm);
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}
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template<typename TMC>
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void tmc_get_sgt(TMC &st, const char name[]);
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void tmc_get_sgt(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" driver homing sensitivity set to ");
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MYSERIAL.println(st.sgt(), DEC);
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}
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template<typename TMC>
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void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val);
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void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
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st.sgt(sgt_val);
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tmc_get_sgt(st, name);
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}
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void _M122();
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void monitor_tmc_driver();
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@ -334,6 +334,6 @@ void _M122() {
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}
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// We need to call M122 from monitor_tmc_driver() as well but GcodeSuite::M122 is private.
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inline void GcodeSuite::M122() { _M122(); }
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void GcodeSuite::M122() { _M122(); }
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#endif // TMC_DEBUG
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@ -33,7 +33,7 @@
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* M906: Set motor current in milliamps using axis codes X, Y, Z, E
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* Report driver currents when no axis specified
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*/
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inline void GcodeSuite::M906() {
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void GcodeSuite::M906() {
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uint16_t values[XYZE];
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LOOP_XYZE(i)
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values[i] = parser.intval(axis_codes[i]);
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@ -28,12 +28,13 @@
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#include "../../../feature/tmc_util.h"
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#include "../../../module/stepper_indirection.h"
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#include "../../../module/planner.h"
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#include "../../queue.h"
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/**
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* M911: Report TMC stepper driver overtemperature pre-warn flag
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* The flag is held by the library and persist until manually cleared by M912
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*/
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inline void GcodeSuite::M911() {
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void GcodeSuite::M911() {
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#if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]);
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#endif
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@ -51,7 +52,7 @@ inline void GcodeSuite::M911() {
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/**
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* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
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*/
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inline void GcodeSuite::M912() {
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void GcodeSuite::M912() {
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const bool clearX = parser.seen(axis_codes[X_AXIS]), clearY = parser.seen(axis_codes[Y_AXIS]), clearZ = parser.seen(axis_codes[Z_AXIS]), clearE = parser.seen(axis_codes[E_AXIS]),
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clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
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@ -78,7 +79,7 @@ inline void GcodeSuite::M912() {
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* M913: Set HYBRID_THRESHOLD speed.
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*/
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#if ENABLED(HYBRID_THRESHOLD)
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inline void GcodeSuite::M913() {
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void GcodeSuite::M913() {
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uint16_t values[XYZE];
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LOOP_XYZE(i)
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values[i] = parser.intval(axis_codes[i]);
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@ -137,7 +138,7 @@ inline void GcodeSuite::M912() {
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* M914: Set SENSORLESS_HOMING sensitivity.
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*/
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#if ENABLED(SENSORLESS_HOMING)
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inline void GcodeSuite::M914() {
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void GcodeSuite::M914() {
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
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if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int());
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else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
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@ -160,8 +161,8 @@ inline void GcodeSuite::M912() {
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/**
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* TMC Z axis calibration routine
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*/
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#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC)
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inline void GcodeSuite::M915() {
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#if ENABLED(TMC_Z_CALIBRATION)
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void GcodeSuite::M915() {
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uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT;
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uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT;
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@ -170,25 +171,33 @@ inline void GcodeSuite::M912() {
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return;
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}
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uint16_t Z_current_1 = stepperZ.getCurrent();
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uint16_t Z2_current_1 = stepperZ.getCurrent();
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#if Z_IS_TRINAMIC
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uint16_t Z_current_1 = stepperZ.getCurrent();
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stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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#endif
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#if Z2_IS_TRINAMIC
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uint16_t Z2_current_1 = stepperZ2.getCurrent();
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stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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#endif
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stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
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soft_endstops_enabled = false;
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do_blocking_move_to_z(Z_MAX_POS+_z);
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stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
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stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
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#if Z_IS_TRINAMIC
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stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
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#endif
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#if Z2_IS_TRINAMIC
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stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
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#endif
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do_blocking_move_to_z(Z_MAX_POS);
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soft_endstops_enabled = true;
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SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
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home_z_safely();
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enqueue_and_echo_commands_P(PSTR("G28 Z"));
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}
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#endif
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@ -659,8 +659,10 @@ void GcodeSuite::process_parsed_command() {
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#endif
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#endif
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#if HAVE_TRINAMIC
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case 122: M122(); break;
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#if HAS_TRINAMIC
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#if ENABLED(TMC_DEBUG)
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case 122: M122(); break;
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#endif
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case 906: M906(); break; // M906: Set motor current in milliamps using axis codes X, Y, Z, E
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case 911: M911(); break; // M911: Report TMC2130 prewarn triggered flags
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case 912: M912(); break; // M912: Clear TMC2130 prewarn triggered flags
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@ -670,6 +672,9 @@ void GcodeSuite::process_parsed_command() {
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#if ENABLED(SENSORLESS_HOMING)
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case 914: M914(); break; // M914: Set SENSORLESS_HOMING sensitivity.
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#endif
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#if ENABLED(TMC_Z_CALIBRATION)
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case 915: M915(); break; // M915: TMC Z axis calibration.
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#endif
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#endif
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#if HAS_MICROSTEPS
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@ -1491,6 +1491,12 @@ static_assert(1 >= 0
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#error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
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#endif
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#include "../feature/tmc_macros.h"
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#if ENABLED(TMC_Z_CALIBRATION) && !Z_IS_TRINAMIC && !Z2_IS_TRINAMIC
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#error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
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#endif
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/**
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* Make sure HAVE_L6470DRIVER is warranted
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*/
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