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@ -134,6 +134,7 @@
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* M119 - Report endstops status.
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* M119 - Report endstops status.
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* M120 - Enable endstops detection.
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* M120 - Enable endstops detection.
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* M121 - Disable endstops detection.
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* M121 - Disable endstops detection.
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* M122 - Debug stepper (Requires HAVE_TMC2130)
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* M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
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* M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
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* M126 - Solenoid Air Valve Open. (Requires BARICUDA)
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* M126 - Solenoid Air Valve Open. (Requires BARICUDA)
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* M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
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* M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
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@ -217,13 +218,13 @@
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* M868 - Report or set position encoder module error correction threshold.
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* M868 - Report or set position encoder module error correction threshold.
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* M869 - Report position encoder module error.
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* M869 - Report position encoder module error.
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* M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
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* M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
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* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
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* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130 or HAVE_TMC2208)
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* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
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* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
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* M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
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* M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
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* M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
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* M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
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* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
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* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
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* M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
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* M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130 or HAVE_TMC2208)
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* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
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* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130 or HAVE_TMC2208)
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* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
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* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
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* M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
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* M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
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*
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*
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@ -675,10 +676,6 @@ static bool send_ok[BUFSIZE];
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bool chdkActive = false;
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bool chdkActive = false;
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#endif
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#endif
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#ifdef AUTOMATIC_CURRENT_CONTROL
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bool auto_current_control = 0;
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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#if ENABLED(PID_EXTRUSION_SCALING)
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int lpq_len = 20;
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int lpq_len = 20;
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#endif
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#endif
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@ -2886,7 +2883,8 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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* spreadCycle and stealthChop are mutually exclusive.
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* spreadCycle and stealthChop are mutually exclusive.
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*/
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*/
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(SENSORLESS_HOMING)
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void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
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template<typename TMC>
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void tmc_sensorless_homing(TMC &st, bool enable=true) {
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#if ENABLED(STEALTHCHOP)
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#if ENABLED(STEALTHCHOP)
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if (enable) {
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if (enable) {
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st.coolstep_min_speed(1024UL * 1024UL - 1UL);
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st.coolstep_min_speed(1024UL * 1024UL - 1UL);
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@ -2959,10 +2957,10 @@ static void homeaxis(const AxisEnum axis) {
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// Disable stealthChop if used. Enable diag1 pin on driver.
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// Disable stealthChop if used. Enable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130)
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#if ENABLED(X_IS_TMC2130)
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if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX);
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#endif
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#endif
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#if ENABLED(Y_IS_TMC2130)
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#if ENABLED(Y_IS_TMC2130)
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if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY);
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#endif
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#endif
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#endif
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#endif
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@ -3069,10 +3067,10 @@ static void homeaxis(const AxisEnum axis) {
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(SENSORLESS_HOMING)
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#if ENABLED(X_IS_TMC2130)
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#if ENABLED(X_IS_TMC2130)
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if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
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if (axis == X_AXIS) tmc_sensorless_homing(stepperX, false);
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#endif
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#endif
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#if ENABLED(Y_IS_TMC2130)
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#if ENABLED(Y_IS_TMC2130)
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if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
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if (axis == Y_AXIS) tmc_sensorless_homing(stepperY, false);
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#endif
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#endif
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#endif
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#endif
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@ -8180,6 +8178,11 @@ inline void gcode_M140() {
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#if ENABLED(ULTIPANEL)
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#if ENABLED(ULTIPANEL)
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LCD_MESSAGEPGM(WELCOME_MSG);
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LCD_MESSAGEPGM(WELCOME_MSG);
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#endif
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#endif
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#if ENABLED(HAVE_TMC2208)
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delay(100);
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tmc2208_init();
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#endif
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}
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}
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#endif // HAS_POWER_SWITCH
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#endif // HAS_POWER_SWITCH
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@ -10183,127 +10186,479 @@ inline void gcode_M502() {
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}
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}
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#endif // LIN_ADVANCE
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#endif // LIN_ADVANCE
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#if ENABLED(HAVE_TMC2130)
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#if HAS_TRINAMIC
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static bool report_tmc_status = false;
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const char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
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enum TMC_AxisEnum {
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TMC_X,
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TMC_X2,
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TMC_Y,
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TMC_Y2,
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TMC_Z,
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TMC_Z2,
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TMC_E0,
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TMC_E1,
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TMC_E2,
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TMC_E3,
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TMC_E4
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};
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#if ENABLED(TMC_DEBUG)
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enum TMC_debug_enum {
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TMC_CODES,
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TMC_ENABLED,
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TMC_CURRENT,
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TMC_RMS_CURRENT,
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TMC_MAX_CURRENT,
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TMC_IRUN,
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TMC_IHOLD,
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TMC_CS_ACTUAL,
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TMC_PWM_SCALE,
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TMC_VSENSE,
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TMC_STEALTHCHOP,
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TMC_MICROSTEPS,
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TMC_TSTEP,
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TMC_TPWMTHRS,
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TMC_TPWMTHRS_MMS,
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TMC_OTPW,
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TMC_OTPW_TRIGGERED,
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TMC_TOFF,
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TMC_TBL,
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TMC_HEND,
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TMC_HSTRT,
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TMC_SGT
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};
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enum TMC_drv_status_enum {
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TMC_DRV_CODES,
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TMC_STST,
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TMC_OLB,
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TMC_OLA,
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TMC_S2GB,
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TMC_S2GA,
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TMC_DRV_OTPW,
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TMC_OT,
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TMC_STALLGUARD,
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TMC_DRV_CS_ACTUAL,
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TMC_FSACTIVE,
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TMC_SG_RESULT,
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TMC_DRV_STATUS_HEX,
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TMC_T157,
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TMC_T150,
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TMC_T143,
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TMC_T120,
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TMC_STEALTH,
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TMC_S2VSB,
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TMC_S2VSA
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};
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static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" = 0x");
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for(int B=24; B>=8; B-=8){
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MYSERIAL.print((drv_status>>(B+4))&0xF, HEX);
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MYSERIAL.print((drv_status>>B)&0xF, HEX);
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MYSERIAL.print(':');
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}
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MYSERIAL.print((drv_status>>4)&0xF, HEX);
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MYSERIAL.print((drv_status)&0xF, HEX);
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SERIAL_EOL();
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}
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#if ENABLED(HAVE_TMC2130)
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static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
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switch(i) {
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case TMC_PWM_SCALE: MYSERIAL.print(st.PWM_SCALE(), DEC); break;
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case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
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case TMC_SGT: MYSERIAL.print(st.sgt(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
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default: break;
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}
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}
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static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
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switch(i) {
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case TMC_STALLGUARD: if (st.stallguard()) SERIAL_ECHOPGM("X"); break;
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case TMC_SG_RESULT: MYSERIAL.print(st.sg_result(), DEC); break;
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case TMC_FSACTIVE: if (st.fsactive()) SERIAL_ECHOPGM("X"); break;
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default: break;
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}
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}
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#endif
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#if ENABLED(HAVE_TMC2208)
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static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
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switch(i) {
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case TMC_TSTEP:
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{
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uint32_t data = 0;
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st.TSTEP(&data);
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MYSERIAL.print(data);
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break;
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}
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case TMC_PWM_SCALE: MYSERIAL.print(st.pwm_scale_sum(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
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case TMC_S2VSA: if (st.s2vsa()) SERIAL_ECHOPGM("X"); break;
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case TMC_S2VSB: if (st.s2vsb()) SERIAL_ECHOPGM("X"); break;
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default: break;
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}
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}
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static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
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switch(i) {
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case TMC_T157: if (st.t157()) SERIAL_ECHOPGM("X"); break;
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|
|
case TMC_T150: if (st.t150()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_T143: if (st.t143()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_T120: if (st.t120()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
default: break;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
template <typename TMC>
|
|
|
|
|
|
|
|
static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
|
|
|
|
|
|
|
|
SERIAL_ECHO('\t');
|
|
|
|
|
|
|
|
switch(i) {
|
|
|
|
|
|
|
|
case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
|
|
|
|
|
|
|
|
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
|
|
|
|
case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
|
|
|
|
|
|
|
|
case TMC_RMS_CURRENT: MYSERIAL.print(st.rms_current()); break;
|
|
|
|
|
|
|
|
case TMC_MAX_CURRENT: MYSERIAL.print((float)st.rms_current()*1.41, 0); break;
|
|
|
|
|
|
|
|
case TMC_IRUN:
|
|
|
|
|
|
|
|
MYSERIAL.print(st.irun(), DEC);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("/31");
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
case TMC_IHOLD:
|
|
|
|
|
|
|
|
MYSERIAL.print(st.ihold(), DEC);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("/31");
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
case TMC_CS_ACTUAL:
|
|
|
|
|
|
|
|
MYSERIAL.print(st.cs_actual(), DEC);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("/31");
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
|
|
|
|
|
|
|
|
case TMC_TPWMTHRS:
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
uint32_t tpwmthrs_val = st.TPWMTHRS();
|
|
|
|
|
|
|
|
SERIAL_ECHO(tpwmthrs_val);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
case TMC_TPWMTHRS_MMS:
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
uint32_t tpwmthrs_val = st.TPWMTHRS();
|
|
|
|
|
|
|
|
tpwmthrs_val ? SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm)) : SERIAL_ECHO('-');
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
|
|
|
|
case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
|
|
|
|
case TMC_TOFF: MYSERIAL.print(st.toff(), DEC); break;
|
|
|
|
|
|
|
|
case TMC_TBL: MYSERIAL.print(st.blank_time(), DEC); break;
|
|
|
|
|
|
|
|
case TMC_HEND: MYSERIAL.print(st.hysterisis_end(), DEC); break;
|
|
|
|
|
|
|
|
case TMC_HSTRT: MYSERIAL.print(st.hysterisis_start(), DEC); break;
|
|
|
|
|
|
|
|
default: tmc_status(st, i); break;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
template <typename TMC>
|
|
|
|
|
|
|
|
static void tmc_parse_drv_status(TMC &st, TMC_AxisEnum axis, const TMC_drv_status_enum i) {
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("\t");
|
|
|
|
|
|
|
|
switch(i) {
|
|
|
|
|
|
|
|
case TMC_DRV_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
|
|
|
|
|
|
|
|
case TMC_STST: if (st.stst()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_OLB: if (st.olb()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_OLA: if (st.ola()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_S2GB: if (st.s2gb()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_S2GA: if (st.s2ga()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_OT: if (st.ot()) SERIAL_ECHOPGM("X"); break;
|
|
|
|
|
|
|
|
case TMC_DRV_CS_ACTUAL: MYSERIAL.print(st.cs_actual(), DEC); break;
|
|
|
|
|
|
|
|
case TMC_DRV_STATUS_HEX:drv_status_print_hex(extended_axis_codes[axis], st.DRV_STATUS()); break;
|
|
|
|
|
|
|
|
default: tmc_parse_drv_status(st, i); break;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
static void tmc_debug_loop(const TMC_debug_enum i) {
|
|
|
|
|
|
|
|
#if X_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if X2_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if Y_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if Y2_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
|
|
|
|
#if Z_IS_TRINAMIC
|
|
|
|
SERIAL_CHAR(name);
|
|
|
|
tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if Z2_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if E0_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E1_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS+1]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E2_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS+2]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E3_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS+3]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E4_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS+4]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
SERIAL_EOL();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
static void drv_status_loop(const TMC_drv_status_enum i) {
|
|
|
|
|
|
|
|
#if X_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperX, TMC_X, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if X2_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperX2, TMC_X2, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if Y_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperY, TMC_Y, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if Y2_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperY2, TMC_Y2, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if Z_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperZ, TMC_Z, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if Z2_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if E0_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperE0, TMC_E0, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E1_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperE1, TMC_E1, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E2_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperE2, TMC_E2, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E3_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperE3, TMC_E3, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E4_IS_TRINAMIC
|
|
|
|
|
|
|
|
tmc_parse_drv_status(stepperE4, TMC_E4, i);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
SERIAL_EOL();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
inline void gcode_M122() {
|
|
|
|
|
|
|
|
if (parser.seen('S')) {
|
|
|
|
|
|
|
|
if (parser.value_bool()) {
|
|
|
|
|
|
|
|
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
|
|
|
|
|
|
|
|
report_tmc_status = true;
|
|
|
|
|
|
|
|
} else
|
|
|
|
|
|
|
|
report_tmc_status = false;
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("\t"); tmc_debug_loop(TMC_CODES);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("Enabled\t"); tmc_debug_loop(TMC_ENABLED);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("Set current"); tmc_debug_loop(TMC_CURRENT);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("RMS current"); tmc_debug_loop(TMC_RMS_CURRENT);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("MAX current"); tmc_debug_loop(TMC_MAX_CURRENT);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("Run current"); tmc_debug_loop(TMC_IRUN);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("Hold current"); tmc_debug_loop(TMC_IHOLD);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("CS actual\t"); tmc_debug_loop(TMC_CS_ACTUAL);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("PWM scale"); tmc_debug_loop(TMC_PWM_SCALE);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("vsense\t"); tmc_debug_loop(TMC_VSENSE);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("stealthChop"); tmc_debug_loop(TMC_STEALTHCHOP);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("msteps\t"); tmc_debug_loop(TMC_MICROSTEPS);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("tstep\t"); tmc_debug_loop(TMC_TSTEP);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("pwm\nthreshold\t"); tmc_debug_loop(TMC_TPWMTHRS);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("[mm/s]\t"); tmc_debug_loop(TMC_TPWMTHRS_MMS);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("OT prewarn"); tmc_debug_loop(TMC_OTPW);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("OT prewarn has\nbeen triggered"); tmc_debug_loop(TMC_OTPW_TRIGGERED);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("off time\t"); tmc_debug_loop(TMC_TOFF);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("blank time"); tmc_debug_loop(TMC_TBL);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("hysterisis\n-end\t"); tmc_debug_loop(TMC_HEND);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("-start\t"); tmc_debug_loop(TMC_HSTRT);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("Stallguard thrs"); tmc_debug_loop(TMC_SGT);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("DRVSTATUS"); drv_status_loop(TMC_DRV_CODES);
|
|
|
|
|
|
|
|
#if ENABLED(HAVE_TMC2130)
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("stallguard\t"); drv_status_loop(TMC_STALLGUARD);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("sg_result\t"); drv_status_loop(TMC_SG_RESULT);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("fsactive\t"); drv_status_loop(TMC_FSACTIVE);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("stst\t"); drv_status_loop(TMC_STST);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("olb\t"); drv_status_loop(TMC_OLB);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("ola\t"); drv_status_loop(TMC_OLA);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("s2gb\t"); drv_status_loop(TMC_S2GB);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("s2ga\t"); drv_status_loop(TMC_S2GA);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("otpw\t"); drv_status_loop(TMC_DRV_OTPW);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("ot\t"); drv_status_loop(TMC_OT);
|
|
|
|
|
|
|
|
#if ENABLED(HAVE_TMC2208)
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("157C\t"); drv_status_loop(TMC_T157);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("150C\t"); drv_status_loop(TMC_T150);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("143C\t"); drv_status_loop(TMC_T143);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("120C\t"); drv_status_loop(TMC_T120);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("s2vsa\t"); drv_status_loop(TMC_S2VSA);
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("s2vsb\t"); drv_status_loop(TMC_S2VSB);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
SERIAL_ECHOLNPGM("Driver registers:");drv_status_loop(TMC_DRV_STATUS_HEX);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
template<typename TMC>
|
|
|
|
|
|
|
|
static void tmc_get_current(TMC &st, const char name[]) {
|
|
|
|
|
|
|
|
SERIAL_ECHO(name);
|
|
|
|
SERIAL_ECHOPGM(" axis driver current: ");
|
|
|
|
SERIAL_ECHOPGM(" axis driver current: ");
|
|
|
|
SERIAL_ECHOLN(st.getCurrent());
|
|
|
|
SERIAL_ECHOLN(st.getCurrent());
|
|
|
|
}
|
|
|
|
}
|
|
|
|
static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
|
|
|
|
template<typename TMC>
|
|
|
|
|
|
|
|
static void tmc_set_current(TMC &st, const char name[], const int mA) {
|
|
|
|
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
tmc2130_get_current(st, name);
|
|
|
|
tmc_get_current(st, name);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
|
|
|
|
template<typename TMC>
|
|
|
|
SERIAL_CHAR(name);
|
|
|
|
static void tmc_report_otpw(TMC &st, const char name[]) {
|
|
|
|
|
|
|
|
SERIAL_ECHO(name);
|
|
|
|
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
|
|
|
|
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
|
|
|
|
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
|
|
|
|
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
|
|
|
|
SERIAL_EOL();
|
|
|
|
SERIAL_EOL();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
|
|
|
|
template<typename TMC>
|
|
|
|
|
|
|
|
static void tmc_clear_otpw(TMC &st, const char name[]) {
|
|
|
|
st.clear_otpw();
|
|
|
|
st.clear_otpw();
|
|
|
|
SERIAL_CHAR(name);
|
|
|
|
SERIAL_ECHO(name);
|
|
|
|
SERIAL_ECHOLNPGM(" prewarn flag cleared");
|
|
|
|
SERIAL_ECHOLNPGM(" prewarn flag cleared");
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
|
|
|
template<typename TMC>
|
|
|
|
static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
|
|
|
|
static void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
|
|
|
|
SERIAL_CHAR(name);
|
|
|
|
SERIAL_ECHO(name);
|
|
|
|
SERIAL_ECHOPGM(" stealthChop max speed set to ");
|
|
|
|
SERIAL_ECHOPGM(" stealthChop max speed set to ");
|
|
|
|
SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
|
|
|
|
SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
template<typename TMC>
|
|
|
|
static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
|
|
|
|
static void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
|
|
|
|
st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
|
|
|
|
st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
|
|
|
|
tmc2130_get_pwmthrs(st, name, spmm);
|
|
|
|
tmc_get_pwmthrs(st, name, spmm);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(SENSORLESS_HOMING)
|
|
|
|
template<typename TMC>
|
|
|
|
static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
|
|
|
|
static void tmc_get_sgt(TMC &st, const char name[]) {
|
|
|
|
SERIAL_CHAR(name);
|
|
|
|
SERIAL_ECHO(name);
|
|
|
|
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
|
|
|
|
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
|
|
|
|
SERIAL_ECHOLN(st.sgt());
|
|
|
|
MYSERIAL.println(st.sgt(), DEC);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
|
|
|
|
template<typename TMC>
|
|
|
|
|
|
|
|
static void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
|
|
|
|
st.sgt(sgt_val);
|
|
|
|
st.sgt(sgt_val);
|
|
|
|
tmc2130_get_sgt(st, name);
|
|
|
|
tmc_get_sgt(st, name);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
/**
|
|
|
|
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
|
|
|
|
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
|
|
|
|
* Report driver currents when no axis specified
|
|
|
|
* Report driver currents when no axis specified
|
|
|
|
*
|
|
|
|
|
|
|
|
* S1: Enable automatic current control
|
|
|
|
|
|
|
|
* S0: Disable
|
|
|
|
|
|
|
|
*/
|
|
|
|
*/
|
|
|
|
inline void gcode_M906() {
|
|
|
|
inline void gcode_M906() {
|
|
|
|
uint16_t values[XYZE];
|
|
|
|
uint16_t values[XYZE];
|
|
|
|
LOOP_XYZE(i)
|
|
|
|
LOOP_XYZE(i)
|
|
|
|
values[i] = parser.intval(axis_codes[i]);
|
|
|
|
values[i] = parser.intval(axis_codes[i]);
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(X_IS_TMC2130)
|
|
|
|
#if X_IS_TRINAMIC
|
|
|
|
if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
|
|
|
|
if (values[X_AXIS]) tmc_set_current(stepperX, extended_axis_codes[TMC_X], values[X_AXIS]);
|
|
|
|
else tmc2130_get_current(stepperX, 'X');
|
|
|
|
else tmc_get_current(stepperX, extended_axis_codes[TMC_X]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Y_IS_TMC2130)
|
|
|
|
#if X2_IS_TRINAMIC
|
|
|
|
if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
|
|
|
|
if (values[X_AXIS]) tmc_set_current(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS]);
|
|
|
|
else tmc2130_get_current(stepperY, 'Y');
|
|
|
|
else tmc_get_current(stepperX2, extended_axis_codes[TMC_X2]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Z_IS_TMC2130)
|
|
|
|
#if Y_IS_TRINAMIC
|
|
|
|
if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
|
|
|
|
if (values[Y_AXIS]) tmc_set_current(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS]);
|
|
|
|
else tmc2130_get_current(stepperZ, 'Z');
|
|
|
|
else tmc_get_current(stepperY, extended_axis_codes[TMC_Y]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E0_IS_TMC2130)
|
|
|
|
#if Y2_IS_TRINAMIC
|
|
|
|
if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
|
|
|
|
if (values[Y_AXIS]) tmc_set_current(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS]);
|
|
|
|
else tmc2130_get_current(stepperE0, 'E');
|
|
|
|
else tmc_get_current(stepperY2, extended_axis_codes[TMC_Y2]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if Z_IS_TRINAMIC
|
|
|
|
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
|
|
|
|
if (values[Z_AXIS]) tmc_set_current(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS]);
|
|
|
|
if (parser.seen('S')) auto_current_control = parser.value_bool();
|
|
|
|
else tmc_get_current(stepperZ, extended_axis_codes[TMC_Z]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if Z2_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[Z_AXIS]) tmc_set_current(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_current(stepperZ2, extended_axis_codes[TMC_Z2]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E0_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[E_AXIS]) tmc_set_current(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_current(stepperE0, extended_axis_codes[TMC_E0]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E1_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[E_AXIS]) tmc_set_current(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_current(stepperE1, extended_axis_codes[TMC_E1]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E2_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[E_AXIS]) tmc_set_current(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_current(stepperE2, extended_axis_codes[TMC_E2]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E3_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[E_AXIS]) tmc_set_current(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_current(stepperE3, extended_axis_codes[TMC_E3]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E4_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[E_AXIS]) tmc_set_current(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_current(stepperE4, extended_axis_codes[TMC_E4]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
/**
|
|
|
|
* M911: Report TMC2130 stepper driver overtemperature pre-warn flag
|
|
|
|
* M911: Report TMC stepper driver overtemperature pre-warn flag
|
|
|
|
* The flag is held by the library and persist until manually cleared by M912
|
|
|
|
* The flag is held by the library and persist until manually cleared by M912
|
|
|
|
*/
|
|
|
|
*/
|
|
|
|
inline void gcode_M911() {
|
|
|
|
inline void gcode_M911() {
|
|
|
|
const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'),
|
|
|
|
#if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS)
|
|
|
|
reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
|
|
|
|
tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]);
|
|
|
|
#if ENABLED(X_IS_TMC2130)
|
|
|
|
|
|
|
|
if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
|
|
|
|
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Y_IS_TMC2130)
|
|
|
|
#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX)) || ENABLED(IS_TRAMS)
|
|
|
|
if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
|
|
|
|
tmc_report_otpw(stepperY, extended_axis_codes[TMC_Y]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Z_IS_TMC2130)
|
|
|
|
#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX)) || ENABLED(IS_TRAMS)
|
|
|
|
if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
|
|
|
|
tmc_report_otpw(stepperZ, extended_axis_codes[TMC_Z]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E0_IS_TMC2130)
|
|
|
|
#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX)) || ENABLED(IS_TRAMS)
|
|
|
|
if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
|
|
|
|
tmc_report_otpw(stepperE0, extended_axis_codes[TMC_E0]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
/**
|
|
|
|
* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
|
|
|
|
* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
|
|
|
|
*/
|
|
|
|
*/
|
|
|
|
inline void gcode_M912() {
|
|
|
|
inline void gcode_M912() {
|
|
|
|
const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'),
|
|
|
|
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]),
|
|
|
|
clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
|
|
|
|
clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
|
|
|
|
#if ENABLED(X_IS_TMC2130)
|
|
|
|
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
|
|
|
|
if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
|
|
|
|
if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Y_IS_TMC2130)
|
|
|
|
#if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
|
|
|
|
if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
|
|
|
|
if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX))
|
|
|
|
|
|
|
|
if (clearY || clearAll) tmc_clear_otpw(stepperY, extended_axis_codes[TMC_Y]);
|
|
|
|
#endif
|
|
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|
#endif
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|
#if ENABLED(Z_IS_TMC2130)
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|
if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
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|
#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX))
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if (clearZ || clearAll) tmc_clear_otpw(stepperZ, extended_axis_codes[TMC_Z]);
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|
#endif
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|
#endif
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#if ENABLED(E0_IS_TMC2130)
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if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
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|
#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX))
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if (clearE || clearAll) tmc_clear_otpw(stepperE0, extended_axis_codes[TMC_E0]);
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|
#endif
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|
#endif
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|
}
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|
}
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@ -10316,21 +10671,52 @@ inline void gcode_M502() {
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LOOP_XYZE(i)
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LOOP_XYZE(i)
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values[i] = parser.intval(axis_codes[i]);
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values[i] = parser.intval(axis_codes[i]);
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#if ENABLED(X_IS_TMC2130)
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#if X_IS_TRINAMIC
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if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
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if (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
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else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
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else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]);
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#endif
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|
#endif
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#if ENABLED(Y_IS_TMC2130)
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#if X2_IS_TRINAMIC
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if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
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if (values[X_AXIS]) tmc_set_pwmthrs(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
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|
else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
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else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]);
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|
#endif
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#if Y_IS_TRINAMIC
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if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
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else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]);
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|
#endif
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|
#if Y2_IS_TRINAMIC
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|
if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
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|
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]);
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|
|
#endif
|
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|
|
#if Z_IS_TRINAMIC
|
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|
|
if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
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|
|
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if Z2_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if E0_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E1_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if E2_IS_TRINAMIC
|
|
|
|
|
|
|
|
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
|
|
|
|
else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Z_IS_TMC2130)
|
|
|
|
#if E3_IS_TRINAMIC
|
|
|
|
if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E0_IS_TMC2130)
|
|
|
|
#if E4_IS_TRINAMIC
|
|
|
|
if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif // HYBRID_THRESHOLD
|
|
|
|
#endif // HYBRID_THRESHOLD
|
|
|
|
@ -10340,18 +10726,61 @@ inline void gcode_M502() {
|
|
|
|
*/
|
|
|
|
*/
|
|
|
|
#if ENABLED(SENSORLESS_HOMING)
|
|
|
|
#if ENABLED(SENSORLESS_HOMING)
|
|
|
|
inline void gcode_M914() {
|
|
|
|
inline void gcode_M914() {
|
|
|
|
#if ENABLED(X_IS_TMC2130)
|
|
|
|
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
|
|
|
|
if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int());
|
|
|
|
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int());
|
|
|
|
else tmc2130_get_sgt(stepperX, 'X');
|
|
|
|
else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Y_IS_TMC2130)
|
|
|
|
#if ENABLED(X2_IS_TMC2130)
|
|
|
|
if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int());
|
|
|
|
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX2, extended_axis_codes[TMC_X2], parser.value_int());
|
|
|
|
else tmc2130_get_sgt(stepperY, 'Y');
|
|
|
|
else tmc_get_sgt(stepperX2, extended_axis_codes[TMC_X2]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
|
|
|
|
|
|
|
|
if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY, extended_axis_codes[TMC_Y], parser.value_int());
|
|
|
|
|
|
|
|
else tmc_get_sgt(stepperY, extended_axis_codes[TMC_Y]);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(Y2_IS_TMC2130)
|
|
|
|
|
|
|
|
if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY2, extended_axis_codes[TMC_Y2], parser.value_int());
|
|
|
|
|
|
|
|
else tmc_get_sgt(stepperY2, extended_axis_codes[TMC_Y2]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif // SENSORLESS_HOMING
|
|
|
|
#endif // SENSORLESS_HOMING
|
|
|
|
|
|
|
|
|
|
|
|
#endif // HAVE_TMC2130
|
|
|
|
/**
|
|
|
|
|
|
|
|
* TMC Z axis calibration routine
|
|
|
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC)
|
|
|
|
|
|
|
|
inline void gcode_M915() {
|
|
|
|
|
|
|
|
uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT;
|
|
|
|
|
|
|
|
uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (!axis_known_position[Z_AXIS]) {
|
|
|
|
|
|
|
|
SERIAL_ECHOLNPGM("\nPlease home Z axis first");
|
|
|
|
|
|
|
|
return;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
uint16_t Z_current_1 = stepperZ.getCurrent();
|
|
|
|
|
|
|
|
uint16_t Z2_current_1 = stepperZ.getCurrent();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
|
|
|
|
stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
|
|
|
|
SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
soft_endstops_enabled = false;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
do_blocking_move_to_z(Z_MAX_POS+_z);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
|
|
|
|
stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
do_blocking_move_to_z(Z_MAX_POS);
|
|
|
|
|
|
|
|
soft_endstops_enabled = true;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
|
|
|
|
|
|
|
|
home_z_safely();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#endif // HAS_TRINAMIC
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
/**
|
|
|
|
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
|
|
|
|
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
|
|
|
|
@ -11853,12 +12282,6 @@ void process_parsed_command() {
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAVE_TMC2130)
|
|
|
|
|
|
|
|
case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
|
|
|
|
|
|
|
|
gcode_M906();
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case 907: // M907: Set digital trimpot motor current using axis codes.
|
|
|
|
case 907: // M907: Set digital trimpot motor current using axis codes.
|
|
|
|
gcode_M907();
|
|
|
|
gcode_M907();
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
@ -11883,15 +12306,25 @@ void process_parsed_command() {
|
|
|
|
|
|
|
|
|
|
|
|
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
|
|
|
|
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAVE_TMC2130)
|
|
|
|
#if ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208)
|
|
|
|
case 911: // M911: Report TMC2130 prewarn triggered flags
|
|
|
|
case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
|
|
|
|
|
|
|
|
gcode_M906();
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case 911: // M911: Report TMC prewarn triggered flags
|
|
|
|
gcode_M911();
|
|
|
|
gcode_M911();
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
case 912: // M911: Clear TMC2130 prewarn triggered flags
|
|
|
|
case 912: // M911: Clear TMC prewarn triggered flags
|
|
|
|
gcode_M912();
|
|
|
|
gcode_M912();
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(TMC_DEBUG)
|
|
|
|
|
|
|
|
case 122: // Debug TMC steppers
|
|
|
|
|
|
|
|
gcode_M122();
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
|
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
|
|
|
case 913: // M913: Set HYBRID_THRESHOLD speed.
|
|
|
|
case 913: // M913: Set HYBRID_THRESHOLD speed.
|
|
|
|
gcode_M913();
|
|
|
|
gcode_M913();
|
|
|
|
@ -11903,6 +12336,12 @@ void process_parsed_command() {
|
|
|
|
gcode_M914();
|
|
|
|
gcode_M914();
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC)
|
|
|
|
|
|
|
|
case 915: // M915: TMC Z axis calibration routine
|
|
|
|
|
|
|
|
gcode_M915();
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if HAS_MICROSTEPS
|
|
|
|
#if HAS_MICROSTEPS
|
|
|
|
@ -13351,102 +13790,185 @@ void disable_all_steppers() {
|
|
|
|
disable_e_steppers();
|
|
|
|
disable_e_steppers();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(HAVE_TMC2130)
|
|
|
|
#if ENABLED(MONITOR_DRIVER_STATUS)
|
|
|
|
|
|
|
|
/*
|
|
|
|
void automatic_current_control(TMC2130Stepper &st, String axisID) {
|
|
|
|
* Check for over temperature or short to ground error flags.
|
|
|
|
// Check otpw even if we don't use automatic control. Allows for flag inspection.
|
|
|
|
* Report and log warning of overtemperature condition.
|
|
|
|
const bool is_otpw = st.checkOT();
|
|
|
|
* 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.
|
|
|
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
struct TMC_driver_data {
|
|
|
|
|
|
|
|
uint32_t drv_status;
|
|
|
|
|
|
|
|
bool is_otpw;
|
|
|
|
|
|
|
|
bool is_ot;
|
|
|
|
|
|
|
|
bool is_error;
|
|
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
#if ENABLED(HAVE_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 ENABLED(HAVE_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<typename TMC>
|
|
|
|
|
|
|
|
uint8_t monitor_tmc_driver(TMC &st, const char axisID, uint8_t otpw_cnt) {
|
|
|
|
|
|
|
|
TMC_driver_data data = get_driver_data(st);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(STOP_ON_ERROR)
|
|
|
|
|
|
|
|
if (data.is_error) {
|
|
|
|
|
|
|
|
SERIAL_EOL();
|
|
|
|
|
|
|
|
SERIAL_ECHO(axisID);
|
|
|
|
|
|
|
|
SERIAL_ECHO(" driver error detected:");
|
|
|
|
|
|
|
|
if (data.is_ot) SERIAL_ECHO("\novertemperature");
|
|
|
|
|
|
|
|
if (st.s2ga()) SERIAL_ECHO("\nshort to ground (coil A)");
|
|
|
|
|
|
|
|
if (st.s2gb()) SERIAL_ECHO("\nshort to ground (coil B)");
|
|
|
|
|
|
|
|
SERIAL_EOL();
|
|
|
|
|
|
|
|
#if ENABLED(TMC_DEBUG)
|
|
|
|
|
|
|
|
gcode_M122();
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
kill(PSTR("Driver error"));
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
// Report if a warning was triggered
|
|
|
|
// Report if a warning was triggered
|
|
|
|
static bool previous_otpw = false;
|
|
|
|
if (data.is_otpw && otpw_cnt==0) {
|
|
|
|
if (is_otpw && !previous_otpw) {
|
|
|
|
|
|
|
|
char timestamp[10];
|
|
|
|
char timestamp[10];
|
|
|
|
duration_t elapsed = print_job_timer.duration();
|
|
|
|
duration_t elapsed = print_job_timer.duration();
|
|
|
|
const bool has_days = (elapsed.value > 60*60*24L);
|
|
|
|
const bool has_days = (elapsed.value > 60*60*24L);
|
|
|
|
(void)elapsed.toDigital(timestamp, has_days);
|
|
|
|
(void)elapsed.toDigital(timestamp, has_days);
|
|
|
|
|
|
|
|
SERIAL_EOL();
|
|
|
|
SERIAL_ECHO(timestamp);
|
|
|
|
SERIAL_ECHO(timestamp);
|
|
|
|
SERIAL_ECHOPGM(": ");
|
|
|
|
SERIAL_ECHOPGM(": ");
|
|
|
|
SERIAL_ECHO(axisID);
|
|
|
|
SERIAL_ECHO(axisID);
|
|
|
|
SERIAL_ECHOLNPGM(" driver overtemperature warning!");
|
|
|
|
SERIAL_ECHOPGM(" driver overtemperature warning! (");
|
|
|
|
}
|
|
|
|
SERIAL_ECHO(st.getCurrent());
|
|
|
|
previous_otpw = is_otpw;
|
|
|
|
SERIAL_ECHOLN("mA)");
|
|
|
|
|
|
|
|
}
|
|
|
|
#if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
|
|
|
|
#if CURRENT_STEP_DOWN > 0
|
|
|
|
// Return if user has not enabled current control start with M906 S1.
|
|
|
|
// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
|
|
|
|
if (!auto_current_control) return;
|
|
|
|
if (data.is_otpw && !st.isEnabled() && otpw_cnt > 4) {
|
|
|
|
|
|
|
|
st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
/**
|
|
|
|
|
|
|
|
* Decrease current if is_otpw is true.
|
|
|
|
|
|
|
|
* Bail out if driver is disabled.
|
|
|
|
|
|
|
|
* Increase current if OTPW has not been triggered yet.
|
|
|
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
uint16_t current = st.getCurrent();
|
|
|
|
|
|
|
|
if (is_otpw) {
|
|
|
|
|
|
|
|
st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
|
|
|
|
#if ENABLED(REPORT_CURRENT_CHANGE)
|
|
|
|
#if ENABLED(REPORT_CURRENT_CHANGE)
|
|
|
|
SERIAL_ECHO(axisID);
|
|
|
|
SERIAL_ECHO(axisID);
|
|
|
|
SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
|
|
|
|
SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
else if (!st.isEnabled())
|
|
|
|
if (data.is_otpw) {
|
|
|
|
return;
|
|
|
|
otpw_cnt++;
|
|
|
|
|
|
|
|
st.flag_otpw = true;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
else if (otpw_cnt>0) otpw_cnt--;
|
|
|
|
|
|
|
|
|
|
|
|
else if (!is_otpw && !st.getOTPW()) {
|
|
|
|
if (report_tmc_status) {
|
|
|
|
current += CURRENT_STEP;
|
|
|
|
const uint32_t pwm_scale = get_pwm_scale(st);
|
|
|
|
if (current <= AUTO_ADJUST_MAX) {
|
|
|
|
|
|
|
|
st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
|
|
|
|
|
|
|
|
#if ENABLED(REPORT_CURRENT_CHANGE)
|
|
|
|
|
|
|
|
SERIAL_ECHO(axisID);
|
|
|
|
SERIAL_ECHO(axisID);
|
|
|
|
SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
|
|
|
|
SERIAL_ECHOPAIR(":", pwm_scale);
|
|
|
|
#endif
|
|
|
|
SERIAL_ECHO(" |0b"); MYSERIAL.print(get_status_response(st), BIN);
|
|
|
|
|
|
|
|
SERIAL_ECHO("| ");
|
|
|
|
|
|
|
|
if (data.is_error) SERIAL_ECHO('E');
|
|
|
|
|
|
|
|
else if (data.is_ot) SERIAL_ECHO('O');
|
|
|
|
|
|
|
|
else if (data.is_otpw) SERIAL_ECHO('W');
|
|
|
|
|
|
|
|
else if (otpw_cnt>0) MYSERIAL.print(otpw_cnt, DEC);
|
|
|
|
|
|
|
|
else if (st.flag_otpw) SERIAL_ECHO('F');
|
|
|
|
|
|
|
|
SERIAL_ECHO("\t");
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
SERIAL_EOL();
|
|
|
|
return otpw_cnt;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void checkOverTemp() {
|
|
|
|
void monitor_tmc_driver() {
|
|
|
|
static millis_t next_cOT = 0;
|
|
|
|
static millis_t next_cOT = 0;
|
|
|
|
if (ELAPSED(millis(), next_cOT)) {
|
|
|
|
if (ELAPSED(millis(), next_cOT)) {
|
|
|
|
next_cOT = millis() + 5000;
|
|
|
|
next_cOT = millis() + 500;
|
|
|
|
#if ENABLED(X_IS_TMC2130)
|
|
|
|
#if ENABLED(X_IS_TMC2130)|| (ENABLED(X_IS_TMC2208) && defined(X_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
|
|
|
|
automatic_current_control(stepperX, "X");
|
|
|
|
static uint8_t x_otpw_cnt = 0;
|
|
|
|
|
|
|
|
x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Y_IS_TMC2130)
|
|
|
|
#if ENABLED(Y_IS_TMC2130)|| (ENABLED(Y_IS_TMC2208) && defined(Y_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
|
|
|
|
automatic_current_control(stepperY, "Y");
|
|
|
|
static uint8_t y_otpw_cnt = 0;
|
|
|
|
|
|
|
|
y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Z_IS_TMC2130)
|
|
|
|
#if ENABLED(Z_IS_TMC2130)|| (ENABLED(Z_IS_TMC2208) && defined(Z_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
|
|
|
|
automatic_current_control(stepperZ, "Z");
|
|
|
|
static uint8_t z_otpw_cnt = 0;
|
|
|
|
|
|
|
|
z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(X2_IS_TMC2130)
|
|
|
|
#if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && defined(X2_HARDWARE_SERIAL))
|
|
|
|
automatic_current_control(stepperX2, "X2");
|
|
|
|
static uint8_t x2_otpw_cnt = 0;
|
|
|
|
|
|
|
|
x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Y2_IS_TMC2130)
|
|
|
|
#if ENABLED(Y2_IS_TMC2130) || (ENABLED(Y2_IS_TMC2208) && defined(Y2_HARDWARE_SERIAL))
|
|
|
|
automatic_current_control(stepperY2, "Y2");
|
|
|
|
static uint8_t y2_otpw_cnt = 0;
|
|
|
|
|
|
|
|
y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Z2_IS_TMC2130)
|
|
|
|
#if ENABLED(Z2_IS_TMC2130) || (ENABLED(Z2_IS_TMC2208) && defined(Z2_HARDWARE_SERIAL))
|
|
|
|
automatic_current_control(stepperZ2, "Z2");
|
|
|
|
static uint8_t z2_otpw_cnt = 0;
|
|
|
|
|
|
|
|
z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E0_IS_TMC2130)
|
|
|
|
#if ENABLED(E0_IS_TMC2130)|| (ENABLED(E0_IS_TMC2208) && defined(E0_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
|
|
|
|
automatic_current_control(stepperE0, "E0");
|
|
|
|
static uint8_t e0_otpw_cnt = 0;
|
|
|
|
|
|
|
|
e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E1_IS_TMC2130)
|
|
|
|
#if ENABLED(E1_IS_TMC2130) || (ENABLED(E1_IS_TMC2208) && defined(E1_HARDWARE_SERIAL))
|
|
|
|
automatic_current_control(stepperE1, "E1");
|
|
|
|
static uint8_t e1_otpw_cnt = 0;
|
|
|
|
|
|
|
|
e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E2_IS_TMC2130)
|
|
|
|
#if ENABLED(E2_IS_TMC2130) || (ENABLED(E2_IS_TMC2208) && defined(E2_HARDWARE_SERIAL))
|
|
|
|
automatic_current_control(stepperE2, "E2");
|
|
|
|
static uint8_t e2_otpw_cnt = 0;
|
|
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e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
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#endif
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#endif
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#if ENABLED(E3_IS_TMC2130)
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#if ENABLED(E3_IS_TMC2130) || (ENABLED(E3_IS_TMC2208) && defined(E3_HARDWARE_SERIAL))
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automatic_current_control(stepperE3, "E3");
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static uint8_t e3_otpw_cnt = 0;
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e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
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#endif
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#endif
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#if ENABLED(E4_IS_TMC2130)
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#if ENABLED(E4_IS_TMC2130) || (ENABLED(E4_IS_TMC2208) && defined(E4_HARDWARE_SERIAL))
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automatic_current_control(stepperE4, "E4");
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static uint8_t e4_otpw_cnt = 0;
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e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
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#endif
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#endif
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if (report_tmc_status) SERIAL_EOL();
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}
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}
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}
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}
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#endif // HAVE_TMC2130
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#endif // MONITOR_DRIVER_STATUS
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/**
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/**
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* Manage several activities:
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* Manage several activities:
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@ -13622,8 +14144,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
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handle_status_leds();
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handle_status_leds();
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#endif
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#endif
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#if ENABLED(HAVE_TMC2130)
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#if ENABLED(MONITOR_DRIVER_STATUS)
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checkOverTemp();
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monitor_tmc_driver();
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#endif
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#endif
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planner.check_axes_activity();
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planner.check_axes_activity();
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@ -13782,6 +14304,10 @@ void setup() {
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SERIAL_PROTOCOLLNPGM("start");
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SERIAL_PROTOCOLLNPGM("start");
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SERIAL_ECHO_START();
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SERIAL_ECHO_START();
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#if ENABLED(HAVE_TMC2208)
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tmc2208_serial_begin();
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#endif
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// Check startup - does nothing if bootloader sets MCUSR to 0
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// Check startup - does nothing if bootloader sets MCUSR to 0
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byte mcu = MCUSR;
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byte mcu = MCUSR;
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if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
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if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
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teemuatlut
7 years ago
committed by