/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see .
*
*/
#include "MarlinConfig.h"
#if HAS_TRINAMIC
#include "tmc_util.h"
#include "Marlin.h"
#include "printcounter.h"
#include "duration_t.h"
#include "stepper_indirection.h"
#if ENABLED(TMC_DEBUG)
#include "planner.h"
#endif
/**
* Check for over temperature or short to ground error flags.
* Report and log warning of overtemperature condition.
* Reduce driver current in a persistent otpw condition.
* Keep track of otpw counter so we don't reduce current on a single instance,
* and so we don't repeatedly report warning before the condition is cleared.
*/
#if ENABLED(MONITOR_DRIVER_STATUS)
static bool report_tmc_status = false;
struct TMC_driver_data {
uint32_t drv_status;
bool is_otpw;
bool is_ot;
bool is_error;
};
#if HAS_DRIVER(TMC2130)
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response & 0xF; }
static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
constexpr uint32_t OTPW_bm = 0x4000000UL;
constexpr uint8_t OTPW_bp = 26;
constexpr uint32_t OT_bm = 0x2000000UL;
constexpr uint8_t OT_bp = 25;
constexpr uint8_t DRIVER_ERROR_bm = 0x2UL;
constexpr uint8_t DRIVER_ERROR_bp = 1;
TMC_driver_data data;
data.drv_status = st.DRV_STATUS();
data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
data.is_error = (st.status_response & DRIVER_ERROR_bm) >> DRIVER_ERROR_bp;
return data;
}
#endif
#if HAS_DRIVER(TMC2208)
static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
static uint8_t get_status_response(TMC2208Stepper &st) {
uint32_t drv_status = st.DRV_STATUS();
uint8_t gstat = st.GSTAT();
uint8_t response = 0;
response |= (drv_status >> (31-3)) & 0b1000;
response |= gstat & 0b11;
return response;
}
static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
constexpr uint32_t OTPW_bm = 0b1ul;
constexpr uint8_t OTPW_bp = 0;
constexpr uint32_t OT_bm = 0b10ul;
constexpr uint8_t OT_bp = 1;
TMC_driver_data data;
data.drv_status = st.DRV_STATUS();
data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
data.is_error = st.drv_err();
return data;
}
#endif
template
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();
st.printLabel();
SERIAL_ECHOLNPGM(" driver error detected:");
if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");
if (st.s2gb()) SERIAL_ECHOLNPGM("short to ground (coil B)");
#if ENABLED(TMC_DEBUG)
tmc_report_all();
#endif
kill(PSTR("Driver error"));
}
#endif
// Report if a warning was triggered
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);
(void)elapsed.toDigital(timestamp, has_days);
SERIAL_EOL();
SERIAL_ECHO(timestamp);
SERIAL_ECHOPGM(": ");
st.printLabel();
SERIAL_ECHOPGM(" driver overtemperature warning! (");
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() && st.otpw_cnt > 4) {
st.rms_current(st.getMilliamps() - (CURRENT_STEP_DOWN));
#if ENABLED(REPORT_CURRENT_CHANGE)
st.printLabel();
SERIAL_ECHOLNPAIR(" current decreased to ", st.getMilliamps());
#endif
}
#endif
if (data.is_otpw) {
st.otpw_count++;
st.flag_otpw = true;
}
else if (st.otpw_count > 0) st.otpw_count = 0;
if (report_tmc_status) {
const uint32_t pwm_scale = get_pwm_scale(st);
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 (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
else if (st.flag_otpw) SERIAL_CHAR('F');
SERIAL_CHAR('\t');
}
}
#define HAS_HW_COMMS(ST) AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && defined(ST##_HARDWARE_SERIAL))
void monitor_tmc_driver() {
static millis_t next_cOT = 0;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 500;
#if HAS_HW_COMMS(X)
monitor_tmc_driver(stepperX);
#endif
#if HAS_HW_COMMS(Y)
monitor_tmc_driver(stepperY);
#endif
#if HAS_HW_COMMS(Z)
monitor_tmc_driver(stepperZ);
#endif
#if HAS_HW_COMMS(X2)
monitor_tmc_driver(stepperX2);
#endif
#if HAS_HW_COMMS(Y2)
monitor_tmc_driver(stepperY2);
#endif
#if HAS_HW_COMMS(Z2)
monitor_tmc_driver(stepperZ2);
#endif
#if HAS_HW_COMMS(E0)
monitor_tmc_driver(stepperE0);
#endif
#if HAS_HW_COMMS(E1)
monitor_tmc_driver(stepperE1);
#endif
#if HAS_HW_COMMS(E2)
monitor_tmc_driver(stepperE2);
#endif
#if HAS_HW_COMMS(E3)
monitor_tmc_driver(stepperE3);
#endif
#if HAS_HW_COMMS(E4)
monitor_tmc_driver(stepperE4);
#endif
if (report_tmc_status) SERIAL_EOL();
}
}
#endif // MONITOR_DRIVER_STATUS
#if ENABLED(TMC_DEBUG)
enum TMC_debug_enum : char {
TMC_CODES,
TMC_ENABLED,
TMC_CURRENT,
TMC_RMS_CURRENT,
TMC_MAX_CURRENT,
TMC_IRUN,
TMC_IHOLD,
TMC_CS_ACTUAL,
TMC_PWM_SCALE,
TMC_VSENSE,
TMC_STEALTHCHOP,
TMC_MICROSTEPS,
TMC_TSTEP,
TMC_TPWMTHRS,
TMC_TPWMTHRS_MMS,
TMC_OTPW,
TMC_OTPW_TRIGGERED,
TMC_TOFF,
TMC_TBL,
TMC_HEND,
TMC_HSTRT,
TMC_SGT
};
enum TMC_drv_status_enum : char {
TMC_DRV_CODES,
TMC_STST,
TMC_OLB,
TMC_OLA,
TMC_S2GB,
TMC_S2GA,
TMC_DRV_OTPW,
TMC_OT,
TMC_STALLGUARD,
TMC_DRV_CS_ACTUAL,
TMC_FSACTIVE,
TMC_SG_RESULT,
TMC_DRV_STATUS_HEX,
TMC_T157,
TMC_T150,
TMC_T143,
TMC_T120,
TMC_STEALTH,
TMC_S2VSB,
TMC_S2VSA
};
static void drv_status_print_hex(const 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);
SERIAL_CHAR(':');
}
SERIAL_PRINT((drv_status >> 4) & 0xF, HEX);
SERIAL_PRINT((drv_status) & 0xF, HEX);
SERIAL_EOL();
}
template
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_SGT: SERIAL_PRINT(st.sgt(), DEC); 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) {
switch (i) {
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('X'); break;
default: break;
}
}
#endif
#if HAS_DRIVER(TMC2208)
static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch (i) {
case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('X'); break;
default: break;
}
}
static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
switch (i) {
case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break;
case TMC_T120: if (st.t120()) SERIAL_CHAR('X'); break;
default: break;
}
}
#endif
template
static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
SERIAL_ECHO('\t');
switch (i) {
case TMC_CODES: st.printLabel(); break;
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); 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:
SERIAL_PRINT(st.irun(), DEC);
SERIAL_ECHOPGM("/31");
break;
case TMC_IHOLD:
SERIAL_PRINT(st.ihold(), DEC);
SERIAL_ECHOPGM("/31");
break;
case TMC_CS_ACTUAL:
SERIAL_PRINT(st.cs_actual(), DEC);
SERIAL_ECHOPGM("/31");
break;
case TMC_VSENSE: 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);
}
break;
case TMC_TPWMTHRS_MMS: {
uint32_t tpwmthrs_val = st.TPWMTHRS();
if (tpwmthrs_val)
SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm));
else
SERIAL_CHAR('-');
}
break;
case TMC_OTPW: serialprintPGM(st.otpw() ? 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;
case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;
default: tmc_status(st, i); break;
}
}
template
static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
SERIAL_CHAR('\t');
switch (i) {
case TMC_DRV_CODES: st.printLabel(); break;
case TMC_STST: if (st.stst()) SERIAL_CHAR('X'); break;
case TMC_OLB: if (st.olb()) SERIAL_CHAR('X'); break;
case TMC_OLA: if (st.ola()) SERIAL_CHAR('X'); break;
case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('X'); break;
case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('X'); break;
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break;
case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); 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, i, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_IS_TMC(X2)
tmc_status(stepperX2, i, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_IS_TMC(Y)
tmc_status(stepperY, i, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_IS_TMC(Y2)
tmc_status(stepperY2, i, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_IS_TMC(Z)
tmc_status(stepperZ, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(Z2)
tmc_status(stepperZ2, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(E0)
tmc_status(stepperE0, i, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if AXIS_IS_TMC(E1)
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, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 2
#endif
]);
#endif
#if AXIS_IS_TMC(E3)
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, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 4
#endif
]);
#endif
SERIAL_EOL();
}
static void drv_status_loop(const TMC_drv_status_enum i) {
#if AXIS_IS_TMC(X)
tmc_parse_drv_status(stepperX, i);
#endif
#if AXIS_IS_TMC(X2)
tmc_parse_drv_status(stepperX2, i);
#endif
#if AXIS_IS_TMC(Y)
tmc_parse_drv_status(stepperY, i);
#endif
#if AXIS_IS_TMC(Y2)
tmc_parse_drv_status(stepperY2, i);
#endif
#if AXIS_IS_TMC(Z)
tmc_parse_drv_status(stepperZ, i);
#endif
#if AXIS_IS_TMC(Z2)
tmc_parse_drv_status(stepperZ2, i);
#endif
#if AXIS_IS_TMC(E0)
tmc_parse_drv_status(stepperE0, i);
#endif
#if AXIS_IS_TMC(E1)
tmc_parse_drv_status(stepperE1, i);
#endif
#if AXIS_IS_TMC(E2)
tmc_parse_drv_status(stepperE2, i);
#endif
#if AXIS_IS_TMC(E3)
tmc_parse_drv_status(stepperE3, i);
#endif
#if AXIS_IS_TMC(E4)
tmc_parse_drv_status(stepperE4, i);
#endif
SERIAL_EOL();
}
/**
* M122 report functions
*/
#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)
#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM); }while(0)
TMC_REPORT("\t", TMC_CODES);
TMC_REPORT("Enabled\t", TMC_ENABLED);
TMC_REPORT("Set current", TMC_CURRENT);
TMC_REPORT("RMS current", TMC_RMS_CURRENT);
TMC_REPORT("MAX current", TMC_MAX_CURRENT);
TMC_REPORT("Run current", TMC_IRUN);
TMC_REPORT("Hold current", TMC_IHOLD);
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
TMC_REPORT("PWM scale", TMC_PWM_SCALE);
TMC_REPORT("vsense\t", TMC_VSENSE);
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
TMC_REPORT("tstep\t", TMC_TSTEP);
TMC_REPORT("pwm\nthreshold\t", TMC_TPWMTHRS);
TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);
TMC_REPORT("OT prewarn", TMC_OTPW);
TMC_REPORT("OT prewarn has\n"
"been triggered", TMC_OTPW_TRIGGERED);
TMC_REPORT("off time\t", TMC_TOFF);
TMC_REPORT("blank time", TMC_TBL);
TMC_REPORT("hysteresis\n-end\t", TMC_HEND);
TMC_REPORT("-start\t", TMC_HSTRT);
TMC_REPORT("Stallguard thrs", TMC_SGT);
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
#if HAS_DRIVER(TMC2130)
DRV_REPORT("stallguard\t", TMC_STALLGUARD);
DRV_REPORT("sg_result\t", TMC_SG_RESULT);
DRV_REPORT("fsactive\t", TMC_FSACTIVE);
#endif
DRV_REPORT("stst\t", TMC_STST);
DRV_REPORT("olb\t", TMC_OLB);
DRV_REPORT("ola\t", TMC_OLA);
DRV_REPORT("s2gb\t", TMC_S2GB);
DRV_REPORT("s2ga\t", TMC_S2GA);
DRV_REPORT("otpw\t", TMC_DRV_OTPW);
DRV_REPORT("ot\t", TMC_OT);
#if HAS_DRIVER(TMC2208)
DRV_REPORT("157C\t", TMC_T157);
DRV_REPORT("150C\t", TMC_T150);
DRV_REPORT("143C\t", TMC_T143);
DRV_REPORT("120C\t", TMC_T120);
DRV_REPORT("s2vsa\t", TMC_S2VSA);
DRV_REPORT("s2vsb\t", TMC_S2VSB);
#endif
DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
SERIAL_EOL();
}
#endif // TMC_DEBUG
#if ENABLED(SENSORLESS_HOMING)
void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable/*=true*/) {
st.TCOOLTHRS(enable ? 0xFFFFF : 0);
#if ENABLED(STEALTHCHOP)
st.en_pwm_mode(!enable);
#endif
st.diag1_stall(enable ? 1 : 0);
}
#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 IS_TMC_SPI(X)
SET_CS_PIN(X);
#endif
#if IS_TMC_SPI(Y)
SET_CS_PIN(Y);
#endif
#if IS_TMC_SPI(Z)
SET_CS_PIN(Z);
#endif
#if IS_TMC_SPI(X2)
SET_CS_PIN(X2);
#endif
#if IS_TMC_SPI(Y2)
SET_CS_PIN(Y2);
#endif
#if IS_TMC_SPI(Z2)
SET_CS_PIN(Z2);
#endif
#if IS_TMC_SPI(E0)
SET_CS_PIN(E0);
#endif
#if IS_TMC_SPI(E1)
SET_CS_PIN(E1);
#endif
#if IS_TMC_SPI(E2)
SET_CS_PIN(E2);
#endif
#if IS_TMC_SPI(E3)
SET_CS_PIN(E3);
#endif
#if IS_TMC_SPI(E4)
SET_CS_PIN(E4);
#endif
}
#endif // TMC2130
#endif // HAS_TRINAMIC