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Migrate to a new TMC library (#11943) 

Backport commit c3229e1b3461b6da8373e7a24a7eeb131912a15b from Marlin 2.0
This commit is contained in:
teemuatlut 2018-10-03 10:48:49 +03:00 committed by mithkr
parent 2f686a7904
commit a4c9f70878
10 changed files with 651 additions and 674 deletions
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9
Marlin/Conditionals_post.h
View File

@ -423,6 +423,9 @@
* NOTE: Driver timing order is longest-to-shortest duration.
* Preserve this ordering when adding new drivers.
*/
#define TRINAMICS (HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE))
#ifndef MINIMUM_STEPPER_DIR_DELAY
#if HAS_DRIVER(TB6560)
#define MINIMUM_STEPPER_DIR_DELAY 15000
@ -434,7 +437,7 @@
#define MINIMUM_STEPPER_DIR_DELAY 500
#elif HAS_DRIVER(A4988)
#define MINIMUM_STEPPER_DIR_DELAY 200
#elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
#elif TRINAMICS
#define MINIMUM_STEPPER_DIR_DELAY 20
#else
#define MINIMUM_STEPPER_DIR_DELAY 200 // Expect at least 10µS since one Stepper ISR must transpire
@ -450,7 +453,7 @@
#define MINIMUM_STEPPER_PULSE 2
#elif HAS_DRIVER(A4988) || HAS_DRIVER(LV8729)
#define MINIMUM_STEPPER_PULSE 1
#elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
#elif TRINAMICS
#define MINIMUM_STEPPER_PULSE 0
#else
#define MINIMUM_STEPPER_PULSE 1
@ -466,7 +469,7 @@
#define MAXIMUM_STEPPER_RATE 150000
#elif HAS_DRIVER(DRV8825)
#define MAXIMUM_STEPPER_RATE 250000
#elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
#elif TRINAMICS
#define MAXIMUM_STEPPER_RATE 400000
#elif HAS_DRIVER(A4988)
#define MAXIMUM_STEPPER_RATE 500000

83
Marlin/Marlin_main.cpp
View File

@ -11503,9 +11503,11 @@ inline void gcode_M502() {
#if HAS_TRINAMIC
#if ENABLED(TMC_DEBUG)
inline void gcode_M122() {
if (parser.seen('S'))
tmc_set_report_status(parser.value_bool());
else
#if ENABLED(MONITOR_DRIVER_STATUS)
if (parser.seen('S'))
tmc_set_report_status(parser.value_bool());
else
#endif
tmc_report_all();
}
#endif // TMC_DEBUG
@ -11516,7 +11518,7 @@ inline void gcode_M502() {
* Report driver currents when no axis specified
*/
inline void gcode_M906() {
#define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q, TMC_##Q)
#define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q)
#define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, value)
bool report = true;
@ -11661,43 +11663,44 @@ inline void gcode_M502() {
#define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && PIN_EXISTS(ST##_SERIAL_RX)))
#define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
#if ENABLED(MONITOR_DRIVER_STATUS)
/**
* M911: Report TMC stepper driver overtemperature pre-warn flag
* This flag is held by the library, persisting until cleared by M912
*/
inline void gcode_M911() {
#if M91x_USE(X)
tmc_report_otpw(stepperX, TMC_X);
tmc_report_otpw(stepperX);
#endif
#if M91x_USE(X2)
tmc_report_otpw(stepperX2, TMC_X2);
tmc_report_otpw(stepperX2);
#endif
#if M91x_USE(Y)
tmc_report_otpw(stepperY, TMC_Y);
tmc_report_otpw(stepperY);
#endif
#if M91x_USE(Y2)
tmc_report_otpw(stepperY2, TMC_Y2);
tmc_report_otpw(stepperY2);
#endif
#if M91x_USE(Z)
tmc_report_otpw(stepperZ, TMC_Z);
tmc_report_otpw(stepperZ);
#endif
#if M91x_USE(Z2)
tmc_report_otpw(stepperZ2, TMC_Z2);
tmc_report_otpw(stepperZ2);
#endif
#if M91x_USE_E(0)
tmc_report_otpw(stepperE0, TMC_E0);
tmc_report_otpw(stepperE0);
#endif
#if M91x_USE_E(1)
tmc_report_otpw(stepperE1, TMC_E1);
tmc_report_otpw(stepperE1);
#endif
#if M91x_USE_E(2)
tmc_report_otpw(stepperE2, TMC_E2);
tmc_report_otpw(stepperE2);
#endif
#if M91x_USE_E(3)
tmc_report_otpw(stepperE3, TMC_E3);
tmc_report_otpw(stepperE3);
#endif
#if M91x_USE_E(4)
tmc_report_otpw(stepperE4, TMC_E4);
tmc_report_otpw(stepperE4);
#endif
}
@ -11723,30 +11726,30 @@ inline void gcode_M502() {
#if M91x_USE(X) || M91x_USE(X2)
const uint8_t xval = parser.byteval(axis_codes[X_AXIS], 10);
#if M91x_USE(X)
if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX, TMC_X);
if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX);
#endif
#if M91x_USE(X2)
if (hasNone || xval == 2 || (hasX && xval == 10)) tmc_clear_otpw(stepperX2, TMC_X2);
if (hasNone || xval == 2 || (hasX && xval == 10)) tmc_clear_otpw(stepperX2);
#endif
#endif
#if M91x_USE(Y) || M91x_USE(Y2)
const uint8_t yval = parser.byteval(axis_codes[Y_AXIS], 10);
#if M91x_USE(Y)
if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY, TMC_Y);
if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY);
#endif
#if M91x_USE(Y2)
if (hasNone || yval == 2 || (hasY && yval == 10)) tmc_clear_otpw(stepperY2, TMC_Y2);
if (hasNone || yval == 2 || (hasY && yval == 10)) tmc_clear_otpw(stepperY2);
#endif
#endif
#if M91x_USE(Z) || M91x_USE(Z2)
const uint8_t zval = parser.byteval(axis_codes[Z_AXIS], 10);
#if M91x_USE(Z)
if (hasNone || zval == 1 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ, TMC_Z);
if (hasNone || zval == 1 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ);
#endif
#if M91x_USE(Z2)
if (hasNone || zval == 2 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ2, TMC_Z2);
if (hasNone || zval == 2 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ2);
#endif
#endif
@ -11754,31 +11757,32 @@ inline void gcode_M502() {
#if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4)
const uint8_t eval = parser.byteval(axis_codes[E_AXIS], 10);
#if M91x_USE_E(0)
if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0, TMC_E0);
if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0);
#endif
#if M91x_USE_E(1)
if (hasNone || eval == 1 || (hasE && eval == 10)) tmc_clear_otpw(stepperE1, TMC_E1);
if (hasNone || eval == 1 || (hasE && eval == 10)) tmc_clear_otpw(stepperE1);
#endif
#if M91x_USE_E(2)
if (hasNone || eval == 2 || (hasE && eval == 10)) tmc_clear_otpw(stepperE2, TMC_E2);
if (hasNone || eval == 2 || (hasE && eval == 10)) tmc_clear_otpw(stepperE2);
#endif
#if M91x_USE_E(3)
if (hasNone || eval == 3 || (hasE && eval == 10)) tmc_clear_otpw(stepperE3, TMC_E3);
if (hasNone || eval == 3 || (hasE && eval == 10)) tmc_clear_otpw(stepperE3);
#endif
#if M91x_USE_E(4)
if (hasNone || eval == 4 || (hasE && eval == 10)) tmc_clear_otpw(stepperE4, TMC_E4);
if (hasNone || eval == 4 || (hasE && eval == 10)) tmc_clear_otpw(stepperE4);
#endif
#endif
}
#endif
/**
* M913: Set HYBRID_THRESHOLD speed.
*/
#if ENABLED(HYBRID_THRESHOLD)
inline void gcode_M913() {
#define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[_AXIS(A)])
#define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, planner.axis_steps_per_mm[_AXIS(A)])
#define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.axis_steps_per_mm[_AXIS(A)])
#define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
#define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
#define TMC_SET_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, value, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
bool report = true;
@ -11876,7 +11880,7 @@ inline void gcode_M502() {
*/
#if ENABLED(SENSORLESS_HOMING)
inline void gcode_M914() {
#define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
#define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q)
#define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)
bool report = true;
@ -11961,12 +11965,12 @@ inline void gcode_M502() {
}
#if AXIS_IS_TMC(Z)
const uint16_t Z_current_1 = stepperZ.getCurrent();
stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
const uint16_t Z_current_1 = stepperZ.getMilliamps();
stepperZ.rms_current(_rms);
#endif
#if AXIS_IS_TMC(Z2)
const uint16_t Z2_current_1 = stepperZ2.getCurrent();
stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
const uint16_t Z2_current_1 = stepperZ2.getMilliamps();
stepperZ2.rms_current(_rms);
#endif
SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
@ -11976,10 +11980,10 @@ inline void gcode_M502() {
do_blocking_move_to_z(Z_MAX_POS+_z);
#if AXIS_IS_TMC(Z)
stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
stepperZ.rms_current(Z_current_1);
#endif
#if AXIS_IS_TMC(Z2)
stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
stepperZ2.rms_current(Z2_current_1);
#endif
do_blocking_move_to_z(Z_MAX_POS);
@ -13233,8 +13237,10 @@ void process_parsed_command() {
case 122: gcode_M122(); break; // M122: Debug TMC steppers
#endif
case 906: gcode_M906(); break; // M906: Set motor current in milliamps using axis codes X, Y, Z, E
case 911: gcode_M911(); break; // M911: Report TMC prewarn triggered flags
case 912: gcode_M912(); break; // M911: Clear TMC prewarn triggered flags
#if ENABLED(MONITOR_DRIVER_STATUS)
case 911: gcode_M911(); break; // M911: Report TMC prewarn triggered flags
case 912: gcode_M912(); break; // M911: Clear TMC prewarn triggered flags
#endif
#if ENABLED(HYBRID_THRESHOLD)
case 913: gcode_M913(); break; // M913: Set HYBRID_THRESHOLD speed.
#endif
@ -15243,6 +15249,9 @@ void setup() {
// Prepare communication for TMC drivers
#if HAS_DRIVER(TMC2130)
#if DISABLED(TMC_USE_SW_SPI)
SPI.begin();
#endif
tmc_init_cs_pins();
#endif
#if HAS_DRIVER(TMC2208)

382
Marlin/configuration_store.cpp
View File

@ -64,6 +64,9 @@
#include "tmc_util.h"
#define TMC_GET_PWMTHRS(A,Q) _tmc_thrs(stepper##Q.microsteps(), stepper##Q.TPWMTHRS(), planner.axis_steps_per_mm[_AXIS(A)])
#endif
typedef struct { uint16_t X, Y, Z, X2, Y2, Z2, E0, E1, E2, E3, E4; } tmc_stepper_current_t;
typedef struct { uint32_t X, Y, Z, X2, Y2, Z2, E0, E1, E2, E3, E4; } tmc_hybrid_threshold_t;
typedef struct { int16_t X, Y, Z; } tmc_sgt_t;
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl.h"
@ -79,7 +82,7 @@
#pragma pack(push, 1) // No padding between variables
typedef struct PID { float Kp, Ki, Kd; } PID;
typedef struct PID { float Kp, Ki, Kd; } PID;
typedef struct PIDC { float Kp, Ki, Kd, Kc; } PIDC;
/**
@ -241,9 +244,9 @@ typedef struct SettingsDataStruct {
// HAS_TRINAMIC
//
#define TMC_AXES (MAX_EXTRUDERS + 6)
uint16_t tmc_stepper_current[TMC_AXES]; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
uint32_t tmc_hybrid_threshold[TMC_AXES]; // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
int16_t tmc_sgt[XYZ]; // M914 X Y Z
tmc_stepper_current_t tmc_stepper_current; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
tmc_hybrid_threshold_t tmc_hybrid_threshold; // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
tmc_sgt_t tmc_sgt; // M914 X Y Z
//
// LIN_ADVANCE
@ -294,7 +297,7 @@ uint16_t MarlinSettings::datasize() { return sizeof(SettingsData); }
#endif
void MarlinSettings::postprocess() {
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
const float oldpos[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] };
// steps per s2 needs to be updated to agree with units per s2
planner.reset_acceleration_rates();
@ -452,10 +455,11 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
#if ENABLED(JUNCTION_DEVIATION)
const float planner_max_jerk[] = {
#if ENABLED(HANGPRINTER)
const float planner_max_jerk[ABCDE] = {
float(DEFAULT_AJERK), float(DEFAULT_BJERK), float(DEFAULT_CJERK), float(DEFAULT_DJERK), float(DEFAULT_EJERK)
#else
const float planner_max_jerk[XYZE] = {
float(DEFAULT_XJERK), float(DEFAULT_YJERK), float(DEFAULT_ZJERK), float(DEFAULT_EJERK)
#endif
};
@ -484,11 +488,13 @@ void MarlinSettings::postprocess() {
// Global Leveling
//
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float zfh = planner.z_fade_height;
#else
const float zfh = 10.0;
#endif
const float zfh = (
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
planner.z_fade_height
#else
10.0
#endif
);
EEPROM_WRITE(zfh);
//
@ -498,7 +504,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(MESH_BED_LEVELING)
// Compile time test that sizeof(mbl.z_values) is as expected
static_assert(
sizeof(mbl.z_values) == GRID_MAX_POINTS * sizeof(mbl.z_values[0][0]),
sizeof(mbl.z_values) == (GRID_MAX_POINTS) * sizeof(mbl.z_values[0][0]),
"MBL Z array is the wrong size."
);
const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y;
@ -540,7 +546,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Compile time test that sizeof(z_values) is as expected
static_assert(
sizeof(z_values) == GRID_MAX_POINTS * sizeof(z_values[0][0]),
sizeof(z_values) == (GRID_MAX_POINTS) * sizeof(z_values[0][0]),
"Bilinear Z array is the wrong size."
);
const uint8_t grid_max_x = GRID_MAX_POINTS_X, grid_max_y = GRID_MAX_POINTS_Y;
@ -731,169 +737,138 @@ void MarlinSettings::postprocess() {
#endif
//
// Save TMC2130 or TMC2208 Configuration, and placeholder values
// Save TMC Configuration, and placeholder values
//
_FIELD_TEST(tmc_stepper_current);
uint16_t tmc_stepper_current[TMC_AXES] = {
#if HAS_TRINAMIC
#if AXIS_IS_TMC(X)
stepperX.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(Y)
stepperY.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(Z)
stepperZ.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(X2)
stepperX2.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(Y2)
stepperY2.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(Z2)
stepperZ2.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(E0)
stepperE0.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(E1)
stepperE1.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(E2)
stepperE2.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(E3)
stepperE3.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(E4)
stepperE4.getCurrent()
#else
0
#endif
#else
0
tmc_stepper_current_t tmc_stepper_current = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
#if HAS_TRINAMIC
#if AXIS_IS_TMC(X)
tmc_stepper_current.X = stepperX.getMilliamps();
#endif
};
#if AXIS_IS_TMC(Y)
tmc_stepper_current.Y = stepperY.getMilliamps();
#endif
#if AXIS_IS_TMC(Z)
tmc_stepper_current.Z = stepperZ.getMilliamps();
#endif
#if AXIS_IS_TMC(X2)
tmc_stepper_current.X2 = stepperX2.getMilliamps();
#endif
#if AXIS_IS_TMC(Y2)
tmc_stepper_current.Y2 = stepperY2.getMilliamps();
#endif
#if AXIS_IS_TMC(Z2)
tmc_stepper_current.Z2 = stepperZ2.getMilliamps();
#endif
#if MAX_EXTRUDERS
#if AXIS_IS_TMC(E0)
tmc_stepper_current.E0 = stepperE0.getMilliamps();
#endif
#if MAX_EXTRUDERS > 1
#if AXIS_IS_TMC(E1)
tmc_stepper_current.E1 = stepperE1.getMilliamps();
#endif
#if MAX_EXTRUDERS > 2
#if AXIS_IS_TMC(E2)
tmc_stepper_current.E2 = stepperE2.getMilliamps();
#endif
#if MAX_EXTRUDERS > 3
#if AXIS_IS_TMC(E3)
tmc_stepper_current.E3 = stepperE3.getMilliamps();
#endif
#if MAX_EXTRUDERS > 4
#if AXIS_IS_TMC(E4)
tmc_stepper_current.E4 = stepperE4.getMilliamps();
#endif
#endif // MAX_EXTRUDERS > 4
#endif // MAX_EXTRUDERS > 3
#endif // MAX_EXTRUDERS > 2
#endif // MAX_EXTRUDERS > 1
#endif // MAX_EXTRUDERS
#endif
EEPROM_WRITE(tmc_stepper_current);
//
// Save TMC2130 or TMC2208 Hybrid Threshold, and placeholder values
// Save TMC Hybrid Threshold, and placeholder values
//
_FIELD_TEST(tmc_hybrid_threshold);
uint32_t tmc_hybrid_threshold[TMC_AXES] = {
#if ENABLED(HYBRID_THRESHOLD)
#if AXIS_HAS_STEALTHCHOP(X)
TMC_GET_PWMTHRS(X, X),
#else
X_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(Y)
TMC_GET_PWMTHRS(Y, Y),
#else
Y_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(Z)
TMC_GET_PWMTHRS(Z, Z),
#else
Z_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(X2)
TMC_GET_PWMTHRS(X, X2),
#else
X2_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(Y2)
TMC_GET_PWMTHRS(Y, Y2),
#else
Y2_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(Z2)
TMC_GET_PWMTHRS(Z, Z2),
#else
Z2_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(E0)
TMC_GET_PWMTHRS(E, E0),
#else
E0_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(E1)
TMC_GET_PWMTHRS(E, E1),
#else
E1_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(E2)
TMC_GET_PWMTHRS(E, E2),
#else
E2_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(E3)
TMC_GET_PWMTHRS(E, E3),
#else
E3_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(E4)
TMC_GET_PWMTHRS(E, E4)
#else
E4_HYBRID_THRESHOLD
#endif
#else
100, 100, 3, // X, Y, Z
100, 100, 3, // X2, Y2, Z2
30, 30, 30, 30, 30 // E0, E1, E2, E3, E4
#if ENABLED(HYBRID_THRESHOLD)
tmc_hybrid_threshold_t tmc_hybrid_threshold = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
#if AXIS_HAS_STEALTHCHOP(X)
tmc_hybrid_threshold.X = TMC_GET_PWMTHRS(X, X);
#endif
};
#if AXIS_HAS_STEALTHCHOP(Y)
tmc_hybrid_threshold.Y = TMC_GET_PWMTHRS(Y, Y);
#endif
#if AXIS_HAS_STEALTHCHOP(Z)
tmc_hybrid_threshold.Z = TMC_GET_PWMTHRS(Z, Z);
#endif
#if AXIS_HAS_STEALTHCHOP(X2)
tmc_hybrid_threshold.X2 = TMC_GET_PWMTHRS(X, X2);
#endif
#if AXIS_HAS_STEALTHCHOP(Y2)
tmc_hybrid_threshold.Y2 = TMC_GET_PWMTHRS(Y, Y2);
#endif
#if AXIS_HAS_STEALTHCHOP(Z2)
tmc_hybrid_threshold.Z2 = TMC_GET_PWMTHRS(Z, Z2);
#endif
#if MAX_EXTRUDERS
#if AXIS_HAS_STEALTHCHOP(E0)
tmc_hybrid_threshold.E0 = TMC_GET_PWMTHRS(E, E0);
#endif
#if MAX_EXTRUDERS > 1
#if AXIS_HAS_STEALTHCHOP(E1)
tmc_hybrid_threshold.E1 = TMC_GET_PWMTHRS(E, E1);
#endif
#if MAX_EXTRUDERS > 2
#if AXIS_HAS_STEALTHCHOP(E2)
tmc_hybrid_threshold.E2 = TMC_GET_PWMTHRS(E, E2);
#endif
#if MAX_EXTRUDERS > 3
#if AXIS_HAS_STEALTHCHOP(E3)
tmc_hybrid_threshold.E3 = TMC_GET_PWMTHRS(E, E3);
#endif
#if MAX_EXTRUDERS > 4
#if AXIS_HAS_STEALTHCHOP(E4)
tmc_hybrid_threshold.E4 = TMC_GET_PWMTHRS(E, E4);
#endif
#endif // MAX_EXTRUDERS > 4
#endif // MAX_EXTRUDERS > 3
#endif // MAX_EXTRUDERS > 2
#endif // MAX_EXTRUDERS > 1
#endif // MAX_EXTRUDERS
#else
const tmc_hybrid_threshold_t tmc_hybrid_threshold = {
.X = 100, .Y = 100, .Z = 3,
.X2 = 100, .Y2 = 100, .Z2 = 3,
.E0 = 30, .E1 = 30, .E2 = 30,
.E3 = 30, .E4 = 30
};
#endif
EEPROM_WRITE(tmc_hybrid_threshold);
//
// TMC2130 Sensorless homing threshold
// TMC Sensorless homing threshold
//
int16_t tmc_sgt[XYZ] = {
#if ENABLED(SENSORLESS_HOMING)
#if X_SENSORLESS
stepperX.sgt(),
#else
0,
#endif
#if Y_SENSORLESS
stepperY.sgt(),
#else
0,
#endif
#if Z_SENSORLESS
stepperZ.sgt()
#else
0
#endif
#else
0
tmc_sgt_t tmc_sgt = { 0, 0, 0 };
#if USE_SENSORLESS
#if X_SENSORLESS
tmc_sgt.X = stepperX.sgt();
#endif
};
#if Y_SENSORLESS
tmc_sgt.Y = stepperY.sgt();
#endif
#if Z_SENSORLESS
tmc_sgt.Z = stepperZ.sgt();
#endif
#endif
EEPROM_WRITE(tmc_sgt);
//
@ -1369,15 +1344,15 @@ void MarlinSettings::postprocess() {
if (!validating) reset_stepper_drivers();
//
// TMC2130 Stepper Settings
// TMC Stepper Settings
//
_FIELD_TEST(tmc_stepper_current);
#if HAS_TRINAMIC
#define SET_CURR(Q) stepper##Q.setCurrent(currents[TMC_##Q] ? currents[TMC_##Q] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER)
uint16_t currents[TMC_AXES];
#define SET_CURR(Q) stepper##Q.rms_current(currents.Q ? currents.Q : Q##_CURRENT)
tmc_stepper_current_t currents;
EEPROM_READ(currents);
if (!validating) {
#if AXIS_IS_TMC(X)
@ -1420,8 +1395,8 @@ void MarlinSettings::postprocess() {
#endif
#if ENABLED(HYBRID_THRESHOLD)
#define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold[TMC_##Q], planner.axis_steps_per_mm[_AXIS(A)])
uint32_t tmc_hybrid_threshold[TMC_AXES];
#define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold.Q, planner.axis_steps_per_mm[_AXIS(A)])
tmc_hybrid_threshold_t tmc_hybrid_threshold;
EEPROM_READ(tmc_hybrid_threshold);
if (!validating) {
#if AXIS_HAS_STEALTHCHOP(X)
@ -1464,37 +1439,37 @@ void MarlinSettings::postprocess() {
#endif
/*
* TMC2130 Sensorless homing threshold.
* TMC Sensorless homing threshold.
* X and X2 use the same value
* Y and Y2 use the same value
* Z and Z2 use the same value
*/
int16_t tmc_sgt[XYZ];
tmc_sgt_t tmc_sgt;
EEPROM_READ(tmc_sgt);
#if ENABLED(SENSORLESS_HOMING)
if (!validating) {
#ifdef X_HOMING_SENSITIVITY
#if AXIS_HAS_STALLGUARD(X)
stepperX.sgt(tmc_sgt[0]);
stepperX.sgt(tmc_sgt.X);
#endif
#if AXIS_HAS_STALLGUARD(X2)
stepperX2.sgt(tmc_sgt[0]);
stepperX2.sgt(tmc_sgt.X);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if AXIS_HAS_STALLGUARD(Y)
stepperY.sgt(tmc_sgt[1]);
stepperY.sgt(tmc_sgt.Y);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
stepperY2.sgt(tmc_sgt[1]);
stepperY2.sgt(tmc_sgt.Y);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if AXIS_HAS_STALLGUARD(Z)
stepperZ.sgt(tmc_sgt[2]);
stepperZ.sgt(tmc_sgt.Z);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
stepperZ2.sgt(tmc_sgt[2]);
stepperZ2.sgt(tmc_sgt.Z);
#endif
#endif
}
@ -1838,8 +1813,7 @@ void MarlinSettings::reset() {
#endif
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ,
dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
const float adj[ABC] = DELTA_ENDSTOP_ADJ, dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
delta_height = DELTA_HEIGHT;
COPY(delta_endstop_adj, adj);
delta_radius = DELTA_RADIUS;
@ -2552,7 +2526,7 @@ void MarlinSettings::reset() {
#if HAS_TRINAMIC
/**
* TMC2130 / TMC2208 stepper driver current
* TMC stepper driver current
*/
if (!forReplay) {
CONFIG_ECHO_START;
@ -2563,57 +2537,59 @@ void MarlinSettings::reset() {
say_M906();
#endif
#if AXIS_IS_TMC(X)
SERIAL_ECHOPAIR(" X", stepperX.getCurrent());
SERIAL_ECHOPAIR(" X", stepperX.getMilliamps());
#endif
#if AXIS_IS_TMC(Y)
SERIAL_ECHOPAIR(" Y", stepperY.getCurrent());
SERIAL_ECHOPAIR(" Y", stepperY.getMilliamps());
#endif
#if AXIS_IS_TMC(Z)
SERIAL_ECHOPAIR(" Z", stepperZ.getCurrent());
SERIAL_ECHOPAIR(" Z", stepperZ.getMilliamps());
#endif
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
SERIAL_EOL();
#endif
#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
say_M906();
SERIAL_ECHOPGM(" I1");
#endif
#if AXIS_IS_TMC(X2)
SERIAL_ECHOPAIR(" X", stepperX2.getCurrent());
SERIAL_ECHOPAIR(" X", stepperX2.getMilliamps());
#endif
#if AXIS_IS_TMC(Y2)
SERIAL_ECHOPAIR(" Y", stepperY2.getCurrent());
SERIAL_ECHOPAIR(" Y", stepperY2.getMilliamps());
#endif
#if AXIS_IS_TMC(Z2)
SERIAL_ECHOPAIR(" Z", stepperZ2.getCurrent());
SERIAL_ECHOPAIR(" Z", stepperZ2.getMilliamps());
#endif
#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
SERIAL_EOL();
#endif
#if AXIS_IS_TMC(E0)
say_M906();
SERIAL_ECHOLNPAIR(" T0 E", stepperE0.getCurrent());
SERIAL_ECHOLNPAIR(" T0 E", stepperE0.getMilliamps());
#endif
#if E_STEPPERS > 1 && AXIS_IS_TMC(E1)
say_M906();
SERIAL_ECHOLNPAIR(" T1 E", stepperE1.getCurrent());
SERIAL_ECHOLNPAIR(" T1 E", stepperE1.getMilliamps());
#endif
#if E_STEPPERS > 2 && AXIS_IS_TMC(E2)
say_M906();
SERIAL_ECHOLNPAIR(" T2 E", stepperE2.getCurrent());
SERIAL_ECHOLNPAIR(" T2 E", stepperE2.getMilliamps());
#endif
#if E_STEPPERS > 3 && AXIS_IS_TMC(E3)
say_M906();
SERIAL_ECHOLNPAIR(" T3 E", stepperE3.getCurrent());
SERIAL_ECHOLNPAIR(" T3 E", stepperE3.getMilliamps());
#endif
#if E_STEPPERS > 4 && AXIS_IS_TMC(E4)
say_M906();
SERIAL_ECHOLNPAIR(" T4 E", stepperE4.getCurrent());
SERIAL_ECHOLNPAIR(" T4 E", stepperE4.getMilliamps());
#endif
SERIAL_EOL();
/**
* TMC2130 / TMC2208 / TRAMS Hybrid Threshold
* TMC Hybrid Threshold
*/
#if ENABLED(HYBRID_THRESHOLD)
if (!forReplay) {
@ -2621,54 +2597,56 @@ void MarlinSettings::reset() {
SERIAL_ECHOLNPGM("Hybrid Threshold:");
}
CONFIG_ECHO_START;
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
#if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
say_M913();
#endif
#if AXIS_IS_TMC(X)
#if AXIS_HAS_STEALTHCHOP(X)
SERIAL_ECHOPAIR(" X", TMC_GET_PWMTHRS(X, X));
#endif
#if AXIS_IS_TMC(Y)
#if AXIS_HAS_STEALTHCHOP(Y)
SERIAL_ECHOPAIR(" Y", TMC_GET_PWMTHRS(Y, Y));
#endif
#if AXIS_IS_TMC(Z)
#if AXIS_HAS_STEALTHCHOP(Z)
SERIAL_ECHOPAIR(" Z", TMC_GET_PWMTHRS(Z, Z));
#endif
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
#if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
SERIAL_EOL();
#endif
#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
#if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
say_M913();
SERIAL_ECHOPGM(" I1");
#endif
#if AXIS_IS_TMC(X2)
#if AXIS_HAS_STEALTHCHOP(X2)
SERIAL_ECHOPAIR(" X", TMC_GET_PWMTHRS(X, X2));
#endif
#if AXIS_IS_TMC(Y2)
#if AXIS_HAS_STEALTHCHOP(Y2)
SERIAL_ECHOPAIR(" Y", TMC_GET_PWMTHRS(Y, Y2));
#endif
#if AXIS_IS_TMC(Z2)
#if AXIS_HAS_STEALTHCHOP(Z2)
SERIAL_ECHOPAIR(" Z", TMC_GET_PWMTHRS(Z, Z2));
#endif
#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
#if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
SERIAL_EOL();
#endif
#if AXIS_IS_TMC(E0)
#if AXIS_HAS_STEALTHCHOP(E0)
say_M913();
SERIAL_ECHOLNPAIR(" T0 E", TMC_GET_PWMTHRS(E, E0));
#endif
#if E_STEPPERS > 1 && AXIS_IS_TMC(E1)
#if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
say_M913();
SERIAL_ECHOLNPAIR(" T1 E", TMC_GET_PWMTHRS(E, E1));
#endif
#if E_STEPPERS > 2 && AXIS_IS_TMC(E2)
#if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
say_M913();
SERIAL_ECHOLNPAIR(" T2 E", TMC_GET_PWMTHRS(E, E2));
#endif
#if E_STEPPERS > 3 && AXIS_IS_TMC(E3)
#if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
say_M913();
SERIAL_ECHOLNPAIR(" T3 E", TMC_GET_PWMTHRS(E, E3));
#endif
#if E_STEPPERS > 4 && AXIS_IS_TMC(E4)
#if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
say_M913();
SERIAL_ECHOLNPAIR(" T4 E", TMC_GET_PWMTHRS(E, E4));
#endif
@ -2676,7 +2654,7 @@ void MarlinSettings::reset() {
#endif // HYBRID_THRESHOLD
/**
* TMC2130 Sensorless homing thresholds
* TMC Sensorless homing thresholds
*/
#if ENABLED(SENSORLESS_HOMING)
if (!forReplay) {

6
Marlin/drivers.h
View File

@ -31,9 +31,9 @@
#define TB6560 0x005
#define TB6600 0x006
#define TMC2100 0x007
#define TMC2130 0x108
#define TMC2130 2130
#define TMC2130_STANDALONE 0x008
#define TMC2208 0x109
#define TMC2208 2208
#define TMC2208_STANDALONE 0x009
#define TMC26X 0x10A
#define TMC26X_STANDALONE 0x00A
@ -45,7 +45,7 @@
#define AXIS_DRIVER_TYPE_X(T) _AXIS_DRIVER_TYPE(X,T)
#define AXIS_DRIVER_TYPE_Y(T) _AXIS_DRIVER_TYPE(Y,T)
#define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T)
#define AXIS_DRIVER_TYPE_X2(T) (ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T)
#define AXIS_DRIVER_TYPE_X2(T) ((ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T))
#define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
#define AXIS_DRIVER_TYPE_Z2(T) (ENABLED(Z_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z2,T))
#define AXIS_DRIVER_TYPE_E0(T) (E_STEPPERS > 0 && _AXIS_DRIVER_TYPE(E0,T))

4
Marlin/language.h
View File

@ -289,6 +289,9 @@
#define MSG_B "Y"
#define MSG_C "Z"
#endif
#define MSG_X2 "X2"
#define MSG_Y2 "Y2"
#define MSG_Z2 "Z2"
#define MSG_H1 "1"
#define MSG_H2 "2"
#define MSG_H3 "3"
@ -299,6 +302,7 @@
#define MSG_N3 " 3"
#define MSG_N4 " 4"
#define MSG_N5 " 5"
#define MSG_E0 "E0"
#define MSG_E1 "E1"
#define MSG_E2 "E2"
#define MSG_E3 "E3"

372
Marlin/stepper_indirection.cpp
View File

@ -122,156 +122,98 @@
}
#endif // TMC26X
#if HAS_TRINAMIC
#define _TMC_INIT(ST, SPMM) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
#endif
//
// TMC2130 Driver objects and inits
//
#if HAS_DRIVER(TMC2130)
#include <SPI.h>
#include <TMC2130Stepper.h>
#include "planner.h"
#include "enum.h"
#if TMC2130STEPPER_VERSION < 0x020201
#error "Update TMC2130Stepper library to 2.2.1 or newer."
#endif
#if ENABLED(TMC_USE_SW_SPI)
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
#else
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
#define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE)
#define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
#endif
// Stepper objects of TMC2130 steppers used
#if AXIS_DRIVER_TYPE(X, TMC2130)
_TMC2130_DEFINE(X);
TMC2130_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2130)
_TMC2130_DEFINE(X2);
TMC2130_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE(Y, TMC2130)
_TMC2130_DEFINE(Y);
TMC2130_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2130)
_TMC2130_DEFINE(Y2);
TMC2130_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE(Z, TMC2130)
_TMC2130_DEFINE(Z);
TMC2130_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
_TMC2130_DEFINE(Z2);
TMC2130_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2130)
_TMC2130_DEFINE(E0);
TMC2130_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE(E1, TMC2130)
_TMC2130_DEFINE(E1);
TMC2130_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE(E2, TMC2130)
_TMC2130_DEFINE(E2);
TMC2130_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE(E3, TMC2130)
_TMC2130_DEFINE(E3);
TMC2130_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE(E4, TMC2130)
_TMC2130_DEFINE(E4);
TMC2130_DEFINE(E4);
#endif
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
#if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
UNUSED(thrs);
UNUSED(spmm);
#endif
st.begin();
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
CHOPCONF_t chopconf{0};
chopconf.tbl = 1;
chopconf.toff = 3;
chopconf.intpol = INTERPOLATE;
chopconf.hstrt = 2;
chopconf.hend = 5;
st.CHOPCONF(chopconf.sr);
st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.off_time(5); // Only enables the driver if used with stealthChop
st.interpolate(INTERPOLATE);
st.power_down_delay(128); // ~2s until driver lowers to hold current
st.hysteresis_start(3);
st.hysteresis_end(2);
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
#if ENABLED(STEALTHCHOP)
st.stealth_freq(1); // f_pwm = 2/683 f_clk
st.stealth_autoscale(1);
st.stealth_gradient(5);
st.stealth_amplitude(255);
st.stealthChop(1);
#if ENABLED(HYBRID_THRESHOLD)
st.stealth_max_speed(12650000UL*microsteps/(256*thrs*spmm));
st.en_pwm_mode(true);
PWMCONF_t pwmconf{0};
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
pwmconf.pwm_autoscale = true;
pwmconf.pwm_grad = 5;
pwmconf.pwm_ampl = 180;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#endif
#endif
st.GSTAT(); // Clear GSTAT
}
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2130_init_to_defaults() {
#if AXIS_DRIVER_TYPE(X, TMC2130)
_TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2130)
_TMC2130_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Y, TMC2130)
_TMC2130_INIT( Y, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2130)
_TMC2130_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Z, TMC2130)
_TMC2130_INIT( Z, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
_TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2130)
_TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(E1, TMC2130)
{ constexpr int extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if AXIS_DRIVER_TYPE(E2, TMC2130)
{ constexpr int extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if AXIS_DRIVER_TYPE(E3, TMC2130)
{ constexpr int extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if AXIS_DRIVER_TYPE(E4, TMC2130)
{ constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(SENSORLESS_HOMING)
#define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
#if X_SENSORLESS
#if AXIS_DRIVER_TYPE(X, TMC2130)
stepperX.sgt(X_HOMING_SENSITIVITY);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#endif
#endif
#if Y_SENSORLESS
#if AXIS_DRIVER_TYPE(Y, TMC2130)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#endif
#endif
#if Z_SENSORLESS
#if AXIS_DRIVER_TYPE(Z, TMC2130)
stepperZ.sgt(Z_HOMING_SENSITIVITY);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
}
#endif // TMC2130
//
@ -282,92 +224,90 @@
#undef HardwareSerial_h // undo Marlin trickery
#include <SoftwareSerial.h>
#include <HardwareSerial.h>
#include <TMC2208Stepper.h>
#include "planner.h"
#if TMC2208STEPPER_VERSION < 0x000101
#error "Update TMC2208Stepper library to 0.1.1 or newer."
#endif
#define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, R_SENSE)
#define TMC2208_DEFINE_HARDWARE(ST) _TMC2208_DEFINE_HARDWARE(ST, TMC_##ST##_LABEL)
#define _TMC2208_DEFINE_HARDWARE(ST) TMC2208Stepper stepper##ST(&ST##_HARDWARE_SERIAL)
#define _TMC2208_DEFINE_SOFTWARE(ST) TMC2208Stepper stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_SERIAL_RX_PIN > -1)
#define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, R_SENSE, ST##_SERIAL_RX_PIN > -1)
#define TMC2208_DEFINE_SOFTWARE(ST) _TMC2208_DEFINE_SOFTWARE(ST, TMC_##ST##_LABEL)
// Stepper objects of TMC2208 steppers used
#if AXIS_DRIVER_TYPE(X, TMC2208)
#ifdef X_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(X);
TMC2208_DEFINE_HARDWARE(X);
#else
_TMC2208_DEFINE_SOFTWARE(X);
TMC2208_DEFINE_SOFTWARE(X);
#endif
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2208)
#ifdef X2_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(X2);
TMC2208_DEFINE_HARDWARE(X2);
#else
_TMC2208_DEFINE_SOFTWARE(X2);
TMC2208_DEFINE_SOFTWARE(X2);
#endif
#endif
#if AXIS_DRIVER_TYPE(Y, TMC2208)
#ifdef Y_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Y);
TMC2208_DEFINE_HARDWARE(Y);
#else
_TMC2208_DEFINE_SOFTWARE(Y);
TMC2208_DEFINE_SOFTWARE(Y);
#endif
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2208)
#ifdef Y2_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Y2);
TMC2208_DEFINE_HARDWARE(Y2);
#else
_TMC2208_DEFINE_SOFTWARE(Y2);
TMC2208_DEFINE_SOFTWARE(Y2);
#endif
#endif
#if AXIS_DRIVER_TYPE(Z, TMC2208)
#ifdef Z_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Z);
TMC2208_DEFINE_HARDWARE(Z);
#else
_TMC2208_DEFINE_SOFTWARE(Z);
TMC2208_DEFINE_SOFTWARE(Z);
#endif
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2208)
#ifdef Z2_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Z2);
TMC2208_DEFINE_HARDWARE(Z2);
#else
_TMC2208_DEFINE_SOFTWARE(Z2);
TMC2208_DEFINE_SOFTWARE(Z2);
#endif
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2208)
#ifdef E0_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E0);
TMC2208_DEFINE_HARDWARE(E0);
#else
_TMC2208_DEFINE_SOFTWARE(E0);
TMC2208_DEFINE_SOFTWARE(E0);
#endif
#endif
#if AXIS_DRIVER_TYPE(E1, TMC2208)
#ifdef E1_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E1);
TMC2208_DEFINE_HARDWARE(E1);
#else
_TMC2208_DEFINE_SOFTWARE(E1);
TMC2208_DEFINE_SOFTWARE(E1);
#endif
#endif
#if AXIS_DRIVER_TYPE(E2, TMC2208)
#ifdef E2_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E2);
TMC2208_DEFINE_HARDWARE(E2);
#else
_TMC2208_DEFINE_SOFTWARE(E2);
TMC2208_DEFINE_SOFTWARE(E2);
#endif
#endif
#if AXIS_DRIVER_TYPE(E3, TMC2208)
#ifdef E3_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E3);
TMC2208_DEFINE_HARDWARE(E3);
#else
_TMC2208_DEFINE_SOFTWARE(E3);
TMC2208_DEFINE_SOFTWARE(E3);
#endif
#endif
#if AXIS_DRIVER_TYPE(E4, TMC2208)
#ifdef E4_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E4);
TMC2208_DEFINE_HARDWARE(E4);
#else
_TMC2208_DEFINE_SOFTWARE(E4);
TMC2208_DEFINE_SOFTWARE(E4);
#endif
#endif
@ -451,79 +391,52 @@
#endif
}
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.pdn_disable(true); // Use UART
st.mstep_reg_select(true); // Select microsteps with UART
st.I_scale_analog(false);
st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
#if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
UNUSED(thrs);
UNUSED(spmm);
#endif
TMC2208_n::GCONF_t gconf{0};
gconf.pdn_disable = true; // Use UART
gconf.mstep_reg_select = true; // Select microsteps with UART
gconf.i_scale_analog = false;
TMC2208_n::CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01; // blank_time = 24
chopconf.toff = 5;
chopconf.intpol = INTERPOLATE;
chopconf.hstrt = 2;
chopconf.hend = 5;
st.CHOPCONF(chopconf.sr);
st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.toff(5);
st.intpol(INTERPOLATE);
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
st.hysteresis_start(3);
st.hysteresis_end(2);
#if ENABLED(STEALTHCHOP)
st.pwm_lim(12);
st.pwm_reg(8);
st.pwm_autograd(1);
st.pwm_autoscale(1);
st.pwm_freq(1);
st.pwm_grad(14);
st.pwm_ofs(36);
st.en_spreadCycle(false);
gconf.en_spreadcycle = false;
TMC2208_n::PWMCONF_t pwmconf{0};
pwmconf.pwm_lim = 12;
pwmconf.pwm_reg = 8;
pwmconf.pwm_autograd = true;
pwmconf.pwm_autoscale = true;
pwmconf.pwm_freq = 0b01;
pwmconf.pwm_grad = 14;
pwmconf.pwm_ofs = 36;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
UNUSED(thrs);
UNUSED(spmm);
#endif
#else
st.en_spreadCycle(true);
gconf.en_spreadcycle = true;
#endif
st.GCONF(gconf.sr);
st.GSTAT(0b111); // Clear
delay(200);
}
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2208_init_to_defaults() {
#if AXIS_DRIVER_TYPE(X, TMC2208)
_TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2208)
_TMC2208_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Y, TMC2208)
_TMC2208_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2208)
_TMC2208_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Z, TMC2208)
_TMC2208_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2208)
_TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2208)
_TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(E1, TMC2208)
{ constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if AXIS_DRIVER_TYPE(E2, TMC2208)
{ constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if AXIS_DRIVER_TYPE(E3, TMC2208)
{ constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if AXIS_DRIVER_TYPE(E4, TMC2208)
{ constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
}
#endif // TMC2208
void restore_stepper_drivers() {
@ -566,20 +479,75 @@ void reset_stepper_drivers() {
#if HAS_DRIVER(TMC26X)
tmc26x_init_to_defaults();
#endif
#if HAS_DRIVER(TMC2130)
delay(100);
tmc2130_init_to_defaults();
#if ENABLED(HAVE_L6470DRIVER)
L6470_init_to_defaults();
#endif
#if HAS_DRIVER(TMC2208)
delay(100);
tmc2208_init_to_defaults();
#if AXIS_IS_TMC(X)
_TMC_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_IS_TMC(X2)
_TMC_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_IS_TMC(Y)
_TMC_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_IS_TMC(Y2)
_TMC_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_IS_TMC(Z)
_TMC_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(Z2)
_TMC_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(E0)
_TMC_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if AXIS_IS_TMC(E1)
{ constexpr uint8_t extruder = 1; _TMC_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
#endif
#if AXIS_IS_TMC(E2)
{ constexpr uint8_t extruder = 2; _TMC_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
#endif
#if AXIS_IS_TMC(E3)
{ constexpr uint8_t extruder = 3; _TMC_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
#endif
#if AXIS_IS_TMC(E4)
{ constexpr uint8_t extruder = 4; _TMC_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
#endif
#if ENABLED(SENSORLESS_HOMING)
#if X_SENSORLESS
#if AXIS_HAS_STALLGUARD(X)
stepperX.sgt(X_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(X2)
stepperX2.sgt(X_STALL_SENSITIVITY);
#endif
#endif
#if Y_SENSORLESS
#if AXIS_HAS_STALLGUARD(Y)
stepperY.sgt(Y_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
stepperY2.sgt(Y_STALL_SENSITIVITY);
#endif
#endif
#if Z_SENSORLESS
#if AXIS_HAS_STALLGUARD(Z)
stepperZ.sgt(Z_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
stepperZ2.sgt(Z_STALL_SENSITIVITY);
#endif
#endif
#endif
#ifdef TMC_ADV
TMC_ADV()
#endif
#if HAS_DRIVER(L6470)
L6470_init_to_defaults();
#endif
stepper.set_directions();
}

109
Marlin/stepper_indirection.h
View File

@ -53,15 +53,20 @@
void tmc26x_init_to_defaults();
#endif
#if HAS_DRIVER(TMC2130)
#include <TMC2130Stepper.h>
void tmc2130_init_to_defaults();
#endif
#if HAS_TRINAMIC
#include <TMCStepper.h>
#include "tmc_util.h"
#if TMCSTEPPER_VERSION < 0x000001
#error "Update TMCStepper library to 0.0.1 or newer."
#endif
#if HAS_DRIVER(TMC2208)
#include <TMC2208Stepper.h>
void tmc2208_serial_begin();
void tmc2208_init_to_defaults();
#define __TMC_CLASS(MODEL, A, I) TMCMarlin<TMC##MODEL##Stepper, A, I>
#define _TMC_CLASS(MODEL, L) __TMC_CLASS(MODEL, L)
#define TMC_CLASS(ST) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL)
#if HAS_DRIVER(TMC2208)
void tmc2208_serial_begin();
#endif
#endif
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
@ -84,17 +89,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
#define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(X)
extern TMC_CLASS(X) stepperX;
#endif
#if AXIS_DRIVER_TYPE(X, TMC26X)
extern TMC26XStepper stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#define X_ENABLE_READ stepperX.isEnabled()
#else
#if AXIS_DRIVER_TYPE(X, TMC2130)
extern TMC2130Stepper stepperX;
#elif AXIS_DRIVER_TYPE(X, TMC2208)
extern TMC2208Stepper stepperX;
#endif
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
#define X_ENABLE_READ READ(X_ENABLE_PIN)
@ -117,17 +120,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
#define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Y)
extern TMC_CLASS(Y) stepperY;
#endif
#if AXIS_DRIVER_TYPE(Y, TMC26X)
extern TMC26XStepper stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#define Y_ENABLE_READ stepperY.isEnabled()
#else
#if AXIS_DRIVER_TYPE(Y, TMC2130)
extern TMC2130Stepper stepperY;
#elif AXIS_DRIVER_TYPE(Y, TMC2208)
extern TMC2208Stepper stepperY;
#endif
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
#define Y_ENABLE_READ READ(Y_ENABLE_PIN)
@ -150,17 +151,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
#define Z_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Z)
extern TMC_CLASS(Z) stepperZ;
#endif
#if AXIS_DRIVER_TYPE(Z, TMC26X)
extern TMC26XStepper stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#define Z_ENABLE_READ stepperZ.isEnabled()
#else
#if AXIS_DRIVER_TYPE(Z, TMC2130)
extern TMC2130Stepper stepperZ;
#elif AXIS_DRIVER_TYPE(Z, TMC2208)
extern TMC2208Stepper stepperZ;
#endif
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
#define Z_ENABLE_READ READ(Z_ENABLE_PIN)
@ -184,17 +183,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
#define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(X2)
extern TMC_CLASS(X2) stepperX2;
#endif
#if AXIS_DRIVER_TYPE(X2, TMC26X)
extern TMC26XStepper stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#define X2_ENABLE_READ stepperX2.isEnabled()
#else
#if AXIS_DRIVER_TYPE(X2, TMC2130)
extern TMC2130Stepper stepperX2;
#elif AXIS_DRIVER_TYPE(X2, TMC2208)
extern TMC2208Stepper stepperX2;
#endif
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ READ(X2_ENABLE_PIN)
@ -219,17 +216,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
#define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Y2)
extern TMC_CLASS(Y2) stepperY2;
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC26X)
extern TMC26XStepper stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#define Y2_ENABLE_READ stepperY2.isEnabled()
#else
#if AXIS_DRIVER_TYPE(Y2, TMC2130)
extern TMC2130Stepper stepperY2;
#elif AXIS_DRIVER_TYPE(Y2, TMC2208)
extern TMC2208Stepper stepperY2;
#endif
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
#define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
@ -254,17 +249,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
#define Z2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Z2)
extern TMC_CLASS(Z2) stepperZ2;
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC26X)
extern TMC26XStepper stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#define Z2_ENABLE_READ stepperZ2.isEnabled()
#else
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
extern TMC2130Stepper stepperZ2;
#elif AXIS_DRIVER_TYPE(Z2, TMC2208)
extern TMC2208Stepper stepperZ2;
#endif
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
#define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
@ -288,17 +281,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
#define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E0)
extern TMC_CLASS(E0) stepperE0;
#endif
#if AXIS_DRIVER_TYPE(E0, TMC26X)
extern TMC26XStepper stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#define E0_ENABLE_READ stepperE0.isEnabled()
#else
#if AXIS_DRIVER_TYPE(E0, TMC2130)
extern TMC2130Stepper stepperE0;
#elif AXIS_DRIVER_TYPE(E0, TMC2208)
extern TMC2208Stepper stepperE0;
#endif
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
#define E0_ENABLE_READ READ(E0_ENABLE_PIN)
@ -321,17 +312,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
#define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E1)
extern TMC_CLASS(E1) stepperE1;
#endif
#if AXIS_DRIVER_TYPE(E1, TMC26X)
extern TMC26XStepper stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#define E1_ENABLE_READ stepperE1.isEnabled()
#else
#if AXIS_DRIVER_TYPE(E1, TMC2130)
extern TMC2130Stepper stepperE1;
#elif AXIS_DRIVER_TYPE(E1, TMC2208)
extern TMC2208Stepper stepperE1;
#endif
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
#define E1_ENABLE_READ READ(E1_ENABLE_PIN)
@ -354,17 +343,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
#define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E2)
extern TMC_CLASS(E2) stepperE2;
#endif
#if AXIS_DRIVER_TYPE(E2, TMC26X)
extern TMC26XStepper stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#define E2_ENABLE_READ stepperE2.isEnabled()
#else
#if AXIS_DRIVER_TYPE(E2, TMC2130)
extern TMC2130Stepper stepperE2;
#elif AXIS_DRIVER_TYPE(E2, TMC2208)
extern TMC2208Stepper stepperE2;
#endif
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
#define E2_ENABLE_READ READ(E2_ENABLE_PIN)
@ -387,17 +374,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
#define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E3)
extern TMC_CLASS(E3) stepperE3;
#endif
#if AXIS_DRIVER_TYPE(E3, TMC26X)
extern TMC26XStepper stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#define E3_ENABLE_READ stepperE3.isEnabled()
#else
#if AXIS_DRIVER_TYPE(E3, TMC2130)
extern TMC2130Stepper stepperE3;
#elif AXIS_DRIVER_TYPE(E3, TMC2208)
extern TMC2208Stepper stepperE3;
#endif
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
@ -420,17 +405,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E4_DIR_WRITE(STATE) stepperE4.Step_Clock(STATE)
#define E4_DIR_READ (stepperE4.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E4)
extern TMC_CLASS(E4) stepperE4;
#endif
#if AXIS_DRIVER_TYPE(E4, TMC26X)
extern TMC26XStepper stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
#define E4_ENABLE_READ stepperE4.isEnabled()
#else
#if AXIS_DRIVER_TYPE(E4, TMC2130)
extern TMC2130Stepper stepperE4;
#elif AXIS_DRIVER_TYPE(E4, TMC2208)
extern TMC2208Stepper stepperE4;
#endif
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
#define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
#define E4_ENABLE_READ READ(E4_ENABLE_PIN)

224
Marlin/tmc_util.cpp
View File

@ -34,8 +34,6 @@
#include "planner.h"
#endif
bool report_tmc_status = false;
/**
* Check for over temperature or short to ground error flags.
* Report and log warning of overtemperature condition.
@ -44,6 +42,8 @@ bool report_tmc_status = false;
* and so we don't repeatedly report warning before the condition is cleared.
*/
#if ENABLED(MONITOR_DRIVER_STATUS)
static bool report_tmc_status = false;
struct TMC_driver_data {
uint32_t drv_status;
bool is_otpw;
@ -93,13 +93,13 @@ bool report_tmc_status = false;
#endif
template<typename TMC>
void monitor_tmc_driver(TMC &st, const TMC_AxisEnum axis, uint8_t &otpw_cnt) {
void monitor_tmc_driver(TMC &st) {
TMC_driver_data data = get_driver_data(st);
#if ENABLED(STOP_ON_ERROR)
if (data.is_error) {
SERIAL_EOL();
_tmc_say_axis(axis);
st.printLabel();
SERIAL_ECHOLNPGM(" driver error detected:");
if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");
@ -112,7 +112,7 @@ bool report_tmc_status = false;
#endif
// Report if a warning was triggered
if (data.is_otpw && otpw_cnt == 0) {
if (data.is_otpw && st.otpw_count == 0) {
char timestamp[10];
duration_t elapsed = print_job_timer.duration();
const bool has_days = (elapsed.value > 60*60*24L);
@ -120,38 +120,38 @@ bool report_tmc_status = false;
SERIAL_EOL();
SERIAL_ECHO(timestamp);
SERIAL_ECHOPGM(": ");
_tmc_say_axis(axis);
st.printLabel();
SERIAL_ECHOPGM(" driver overtemperature warning! (");
SERIAL_ECHO(st.getCurrent());
SERIAL_ECHO(st.getMilliamps());
SERIAL_ECHOLNPGM("mA)");
}
#if CURRENT_STEP_DOWN > 0
// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
if (data.is_otpw && st.isEnabled() && otpw_cnt > 4) {
st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);
if (data.is_otpw && st.isEnabled() && st.otpw_cnt > 4) {
st.rms_current(st.getMilliamps() - (CURRENT_STEP_DOWN));
#if ENABLED(REPORT_CURRENT_CHANGE)
_tmc_say_axis(axis);
SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
st.printLabel();
SERIAL_ECHOLNPAIR(" current decreased to ", st.getMilliamps());
#endif
}
#endif
if (data.is_otpw) {
otpw_cnt++;
st.otpw_count++;
st.flag_otpw = true;
}
else if (otpw_cnt > 0) otpw_cnt = 0;
else if (st.otpw_count > 0) st.otpw_count = 0;
if (report_tmc_status) {
const uint32_t pwm_scale = get_pwm_scale(st);
_tmc_say_axis(axis);
st.printLabel();
SERIAL_ECHOPAIR(":", pwm_scale);
SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
SERIAL_ECHOPGM("| ");
if (data.is_error) SERIAL_CHAR('E');
else if (data.is_ot) SERIAL_CHAR('O');
else if (data.is_otpw) SERIAL_CHAR('W');
else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
else if (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
else if (st.flag_otpw) SERIAL_CHAR('F');
SERIAL_CHAR('\t');
}
@ -164,48 +164,37 @@ bool report_tmc_status = false;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 500;
#if HAS_HW_COMMS(X)
static uint8_t x_otpw_cnt = 0;
monitor_tmc_driver(stepperX, TMC_X, x_otpw_cnt);
monitor_tmc_driver(stepperX);
#endif
#if HAS_HW_COMMS(Y)
static uint8_t y_otpw_cnt = 0;
monitor_tmc_driver(stepperY, TMC_Y, y_otpw_cnt);
monitor_tmc_driver(stepperY);
#endif
#if HAS_HW_COMMS(Z)
static uint8_t z_otpw_cnt = 0;
monitor_tmc_driver(stepperZ, TMC_Z, z_otpw_cnt);
monitor_tmc_driver(stepperZ);
#endif
#if HAS_HW_COMMS(X2)
static uint8_t x2_otpw_cnt = 0;
monitor_tmc_driver(stepperX2, TMC_X, x2_otpw_cnt);
monitor_tmc_driver(stepperX2);
#endif
#if HAS_HW_COMMS(Y2)
static uint8_t y2_otpw_cnt = 0;
monitor_tmc_driver(stepperY2, TMC_Y, y2_otpw_cnt);
monitor_tmc_driver(stepperY2);
#endif
#if HAS_HW_COMMS(Z2)
static uint8_t z2_otpw_cnt = 0;
monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);
monitor_tmc_driver(stepperZ2);
#endif
#if HAS_HW_COMMS(E0)
static uint8_t e0_otpw_cnt = 0;
monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);
monitor_tmc_driver(stepperE0);
#endif
#if HAS_HW_COMMS(E1)
static uint8_t e1_otpw_cnt = 0;
monitor_tmc_driver(stepperE1, TMC_E1, e1_otpw_cnt);
monitor_tmc_driver(stepperE1);
#endif
#if HAS_HW_COMMS(E2)
static uint8_t e2_otpw_cnt = 0;
monitor_tmc_driver(stepperE2, TMC_E2, e2_otpw_cnt);
monitor_tmc_driver(stepperE2);
#endif
#if HAS_HW_COMMS(E3)
static uint8_t e3_otpw_cnt = 0;
monitor_tmc_driver(stepperE3, TMC_E3, e3_otpw_cnt);
monitor_tmc_driver(stepperE3);
#endif
#if HAS_HW_COMMS(E4)
static uint8_t e4_otpw_cnt = 0;
monitor_tmc_driver(stepperE4, TMC_E4, e4_otpw_cnt);
monitor_tmc_driver(stepperE4);
#endif
if (report_tmc_status) SERIAL_EOL();
@ -214,40 +203,6 @@ bool report_tmc_status = false;
#endif // MONITOR_DRIVER_STATUS
void _tmc_say_axis(const TMC_AxisEnum axis) {
static const char ext_X[] PROGMEM = "X", ext_Y[] PROGMEM = "Y", ext_Z[] PROGMEM = "Z",
ext_X2[] PROGMEM = "X2", ext_Y2[] PROGMEM = "Y2", ext_Z2[] PROGMEM = "Z2",
ext_E0[] PROGMEM = "E0", ext_E1[] PROGMEM = "E1",
ext_E2[] PROGMEM = "E2", ext_E3[] PROGMEM = "E3",
ext_E4[] PROGMEM = "E4";
static const char* const tmc_axes[] PROGMEM = { ext_X, ext_Y, ext_Z, ext_X2, ext_Y2, ext_Z2, ext_E0, ext_E1, ext_E2, ext_E3, ext_E4 };
serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));
}
void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr) {
_tmc_say_axis(axis);
SERIAL_ECHOLNPAIR(" driver current: ", curr);
}
void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw) {
_tmc_say_axis(axis);
SERIAL_ECHOPGM(" temperature prewarn triggered: ");
serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
SERIAL_EOL();
}
void _tmc_say_otpw_cleared(const TMC_AxisEnum axis) {
_tmc_say_axis(axis);
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs) {
_tmc_say_axis(axis);
SERIAL_ECHOLNPAIR(" stealthChop max speed: ", thrs);
}
void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
_tmc_say_axis(axis);
SERIAL_ECHOPGM(" homing sensitivity: ");
SERIAL_PRINTLN(sgt, DEC);
}
#if ENABLED(TMC_DEBUG)
enum TMC_debug_enum : char {
@ -296,9 +251,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
TMC_S2VSB,
TMC_S2VSA
};
static void drv_status_print_hex(const TMC_AxisEnum axis, const uint32_t drv_status) {
_tmc_say_axis(axis);
SERIAL_ECHOPGM(" = 0x");
static void drv_status_print_hex(const uint32_t drv_status) {
for (int B = 24; B >= 8; B -= 8){
SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
@ -309,17 +262,19 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
SERIAL_EOL();
}
template<class TMC>
static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
#if HAS_DRIVER(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;
case TMC_STEALTHCHOP: serialprintPGM(st.en_pwm_mode() ? PSTR("true") : PSTR("false")); break;
default: break;
}
}
static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
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;
@ -332,7 +287,6 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#if HAS_DRIVER(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_CHAR('X'); break;
@ -340,7 +294,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
default: break;
}
}
static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
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;
@ -352,12 +306,12 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#endif
template <typename TMC>
static void tmc_status(TMC &st, const TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
SERIAL_ECHO('\t');
switch (i) {
case TMC_CODES: _tmc_say_axis(axis); break;
case TMC_CODES: st.printLabel(); break;
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); 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:
@ -372,10 +326,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
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_VSENSE: print_vsense(st); break;
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
case TMC_TPWMTHRS: {
uint32_t tpwmthrs_val = st.TPWMTHRS();
SERIAL_ECHO(tpwmthrs_val);
@ -390,7 +343,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
}
break;
case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
#if ENABLED(MONITOR_DRIVER_STATUS)
case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
#endif
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.hysteresis_end(), DEC); break;
@ -400,10 +355,10 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
}
template <typename TMC>
static void tmc_parse_drv_status(TMC &st, const TMC_AxisEnum axis, const TMC_drv_status_enum i) {
static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
SERIAL_CHAR('\t');
switch (i) {
case TMC_DRV_CODES: _tmc_say_axis(axis); break;
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;
@ -412,59 +367,63 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
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(axis, st.DRV_STATUS()); break;
default: tmc_parse_drv_status(st, i); break;
case TMC_DRV_STATUS_HEX:
st.printLabel();
SERIAL_ECHOPGM("\t0x");
drv_status_print_hex(st.DRV_STATUS());
break;
default: _tmc_parse_drv_status(st, i); break;
}
}
static void tmc_debug_loop(const TMC_debug_enum i) {
#if AXIS_IS_TMC(X)
tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
tmc_status(stepperX, i, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_IS_TMC(X2)
tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
tmc_status(stepperX2, i, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_IS_TMC(Y)
tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
tmc_status(stepperY, i, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_IS_TMC(Y2)
tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
tmc_status(stepperY2, i, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_IS_TMC(Z)
tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
tmc_status(stepperZ, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(Z2)
tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
tmc_status(stepperZ2, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(E0)
tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
tmc_status(stepperE0, i, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if AXIS_IS_TMC(E1)
tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS
tmc_status(stepperE1, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 1
#endif
]);
#endif
#if AXIS_IS_TMC(E2)
tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS
tmc_status(stepperE2, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 2
#endif
]);
#endif
#if AXIS_IS_TMC(E3)
tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS
tmc_status(stepperE3, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 3
#endif
]);
#endif
#if AXIS_IS_TMC(E4)
tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS
tmc_status(stepperE4, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 4
#endif
@ -476,40 +435,40 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
static void drv_status_loop(const TMC_drv_status_enum i) {
#if AXIS_IS_TMC(X)
tmc_parse_drv_status(stepperX, TMC_X, i);
tmc_parse_drv_status(stepperX, i);
#endif
#if AXIS_IS_TMC(X2)
tmc_parse_drv_status(stepperX2, TMC_X2, i);
tmc_parse_drv_status(stepperX2, i);
#endif
#if AXIS_IS_TMC(Y)
tmc_parse_drv_status(stepperY, TMC_Y, i);
tmc_parse_drv_status(stepperY, i);
#endif
#if AXIS_IS_TMC(Y2)
tmc_parse_drv_status(stepperY2, TMC_Y2, i);
tmc_parse_drv_status(stepperY2, i);
#endif
#if AXIS_IS_TMC(Z)
tmc_parse_drv_status(stepperZ, TMC_Z, i);
tmc_parse_drv_status(stepperZ, i);
#endif
#if AXIS_IS_TMC(Z2)
tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
tmc_parse_drv_status(stepperZ2, i);
#endif
#if AXIS_IS_TMC(E0)
tmc_parse_drv_status(stepperE0, TMC_E0, i);
tmc_parse_drv_status(stepperE0, i);
#endif
#if AXIS_IS_TMC(E1)
tmc_parse_drv_status(stepperE1, TMC_E1, i);
tmc_parse_drv_status(stepperE1, i);
#endif
#if AXIS_IS_TMC(E2)
tmc_parse_drv_status(stepperE2, TMC_E2, i);
tmc_parse_drv_status(stepperE2, i);
#endif
#if AXIS_IS_TMC(E3)
tmc_parse_drv_status(stepperE3, TMC_E3, i);
tmc_parse_drv_status(stepperE3, i);
#endif
#if AXIS_IS_TMC(E4)
tmc_parse_drv_status(stepperE4, TMC_E4, i);
tmc_parse_drv_status(stepperE4, i);
#endif
SERIAL_EOL();
@ -518,10 +477,12 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
/**
* M122 report functions
*/
void tmc_set_report_status(const bool status) {
if ((report_tmc_status = status))
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
}
#if ENABLED(MONITOR_DRIVER_STATUS)
void tmc_set_report_status(const bool status) {
if ((report_tmc_status = status))
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
}
#endif
void tmc_report_all() {
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM); }while(0)
@ -534,7 +495,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
TMC_REPORT("Run current", TMC_IRUN);
TMC_REPORT("Hold current", TMC_IHOLD);
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
TMC_REPORT("PWM scale\t", TMC_PWM_SCALE);
TMC_REPORT("PWM scale", TMC_PWM_SCALE);
TMC_REPORT("vsense\t", TMC_VSENSE);
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
@ -571,7 +532,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
DRV_REPORT("s2vsa\t", TMC_S2VSA);
DRV_REPORT("s2vsb\t", TMC_S2VSB);
#endif
DRV_REPORT("Driver registers:", TMC_DRV_STATUS_HEX);
DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
SERIAL_EOL();
}
@ -580,9 +541,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#if ENABLED(SENSORLESS_HOMING)
void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable/*=true*/) {
st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
st.TCOOLTHRS(enable ? 0xFFFFF : 0);
#if ENABLED(STEALTHCHOP)
st.stealthChop(!enable);
st.en_pwm_mode(!enable);
#endif
st.diag1_stall(enable ? 1 : 0);
}
@ -590,39 +551,40 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#endif // SENSORLESS_HOMING
#if HAS_DRIVER(TMC2130)
#define IS_TMC_SPI(ST) AXIS_DRIVER_TYPE(ST, TMC2130)
#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
void tmc_init_cs_pins() {
#if AXIS_DRIVER_TYPE(X, TMC2130)
#if IS_TMC_SPI(X)
SET_CS_PIN(X);
#endif
#if AXIS_DRIVER_TYPE(Y, TMC2130)
#if IS_TMC_SPI(Y)
SET_CS_PIN(Y);
#endif
#if AXIS_DRIVER_TYPE(Z, TMC2130)
#if IS_TMC_SPI(Z)
SET_CS_PIN(Z);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2130)
#if IS_TMC_SPI(X2)
SET_CS_PIN(X2);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2130)
#if IS_TMC_SPI(Y2)
SET_CS_PIN(Y2);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
#if IS_TMC_SPI(Z2)
SET_CS_PIN(Z2);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2130)
#if IS_TMC_SPI(E0)
SET_CS_PIN(E0);
#endif
#if AXIS_DRIVER_TYPE(E1, TMC2130)
#if IS_TMC_SPI(E1)
SET_CS_PIN(E1);
#endif
#if AXIS_DRIVER_TYPE(E2, TMC2130)
#if IS_TMC_SPI(E2)
SET_CS_PIN(E2);
#endif
#if AXIS_DRIVER_TYPE(E3, TMC2130)
#if IS_TMC_SPI(E3)
SET_CS_PIN(E3);
#endif
#if AXIS_DRIVER_TYPE(E4, TMC2130)
#if IS_TMC_SPI(E4)
SET_CS_PIN(E4);
#endif
}

133
Marlin/tmc_util.h
View File

@ -24,58 +24,129 @@
#define _TMC_UTIL_H_
#include "MarlinConfig.h"
#if HAS_DRIVER(TMC2130)
#include <TMC2130Stepper.h>
#if HAS_TRINAMIC
#include <TMCStepper.h>
#endif
#if HAS_DRIVER(TMC2208)
#include <TMC2208Stepper.h>
#endif
#define TMC_X_LABEL 'X', '0'
#define TMC_Y_LABEL 'Y', '0'
#define TMC_Z_LABEL 'Z', '0'
extern bool report_tmc_status;
#define TMC_X2_LABEL 'X', '2'
#define TMC_Y2_LABEL 'Y', '2'
#define TMC_Z2_LABEL 'Z', '2'
enum TMC_AxisEnum : char { TMC_X, TMC_Y, TMC_Z, TMC_X2, TMC_Y2, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 };
#define TMC_E0_LABEL 'E', '0'
#define TMC_E1_LABEL 'E', '1'
#define TMC_E2_LABEL 'E', '2'
#define TMC_E3_LABEL 'E', '3'
#define TMC_E4_LABEL 'E', '4'
template<char AXIS_LETTER, char DRIVER_ID>
class TMCStorage {
protected:
// Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class"
TMCStorage() {}
uint16_t val_mA = 0;
public:
#if ENABLED(MONITOR_DRIVER_STATUS)
uint8_t otpw_count = 0;
bool flag_otpw = false;
bool getOTPW() { return flag_otpw; }
void clear_otpw() { flag_otpw = 0; }
#endif
uint16_t getMilliamps() { return val_mA; }
void printLabel() {
SERIAL_CHAR(AXIS_LETTER);
if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
}
};
template<class TMC, char AXIS_LETTER, char DRIVER_ID>
class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(uint16_t cs_pin, float RS) :
TMC(cs_pin, RS)
{}
TMCMarlin(uint16_t CS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
{}
uint16_t rms_current() { return TMC::rms_current(); }
void rms_current(uint16_t mA) {
this->val_mA = mA;
TMC::rms_current(mA);
}
void rms_current(uint16_t mA, float mult) {
this->val_mA = mA;
TMC::rms_current(mA, mult);
}
};
template<char AXIS_LETTER, char DRIVER_ID>
class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(Stream * SerialPort, float RS, bool has_rx=true) :
TMC2208Stepper(SerialPort, RS, has_rx=true)
{}
TMCMarlin(uint16_t RX, uint16_t TX, float RS, bool has_rx=true) :
TMC2208Stepper(RX, TX, RS, has_rx=true)
{}
uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
void rms_current(uint16_t mA) {
this->val_mA = mA;
TMC2208Stepper::rms_current(mA);
}
void rms_current(uint16_t mA, float mult) {
this->val_mA = mA;
TMC2208Stepper::rms_current(mA, mult);
}
};
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_axis(const TMC_AxisEnum axis);
void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr);
void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw);
void _tmc_say_otpw_cleared(const TMC_AxisEnum axis);
void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs);
void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt);
template<typename TMC>
void tmc_get_current(TMC &st, const TMC_AxisEnum axis) {
_tmc_say_current(axis, st.getCurrent());
void tmc_get_current(TMC &st) {
st.printLabel();
SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps());
}
template<typename TMC>
void tmc_set_current(TMC &st, const int mA) {
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
st.rms_current(mA);
}
#if ENABLED(MONITOR_DRIVER_STATUS)
template<typename TMC>
void tmc_report_otpw(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" temperature prewarn triggered: ");
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
SERIAL_EOL();
}
template<typename TMC>
void tmc_clear_otpw(TMC &st) {
st.clear_otpw();
st.printLabel();
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
#endif
template<typename TMC>
void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) {
_tmc_say_otpw(axis, st.getOTPW());
}
template<typename TMC>
void tmc_clear_otpw(TMC &st, const TMC_AxisEnum axis) {
st.clear_otpw();
_tmc_say_otpw_cleared(axis);
}
template<typename TMC>
void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) {
_tmc_say_pwmthrs(axis, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
void tmc_get_pwmthrs(TMC &st, const uint16_t spmm) {
st.printLabel();
SERIAL_ECHOLNPAIR(" stealthChop max speed: ", _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
}
template<typename TMC>
void tmc_set_pwmthrs(TMC &st, const int32_t thrs, const uint32_t spmm) {
st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
}
template<typename TMC>
void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) {
_tmc_say_sgt(axis, st.sgt());
void tmc_get_sgt(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" homing sensitivity: ");
SERIAL_PRINTLN(st.sgt(), DEC);
}
template<typename TMC>
void tmc_set_sgt(TMC &st, const int8_t sgt_val) {

3
platformio.ini
View File

@ -29,8 +29,7 @@ build_flags = -fmax-errors=5
lib_deps =
https://github.com/MarlinFirmware/U8glib-HAL/archive/dev.zip
LiquidCrystal_I2C@1.1.2
TMC2130Stepper
https://github.com/teemuatlut/TMC2208Stepper/archive/v0.1.1.zip
https://github.com/teemuatlut/TMCStepper.git
Adafruit NeoPixel@1.1.3
https://github.com/lincomatic/LiquidTWI2/archive/30aa480.zip
https://github.com/ameyer/Arduino-L6470/archive/master.zip