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Updates to TMC support

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This commit is contained in:
Scott Lahteine 2018-01-09 19:05:37 -06:00
parent d1ce0bc071
commit 3df0d62725
11 changed files with 811 additions and 742 deletions
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710
Marlin/Marlin_main.cpp
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@ -305,6 +305,10 @@
#include <SPI.h>
#endif
#if HAS_TRINAMIC
#include "tmc_util.h"
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
#include "stepper_dac.h"
#endif
@ -2864,29 +2868,6 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
#endif
}
/**
* TMC2130 specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
* spreadCycle and stealthChop are mutually exclusive.
*/
#if ENABLED(SENSORLESS_HOMING)
template<typename TMC>
void tmc_sensorless_homing(TMC &st, bool enable=true) {
#if ENABLED(STEALTHCHOP)
if (enable) {
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
st.stealthChop(0);
}
else {
st.coolstep_min_speed(0);
st.stealthChop(1);
}
#endif
st.diag1_stall(enable ? 1 : 0);
}
#endif
/**
* Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and
@ -10305,379 +10286,14 @@ inline void gcode_M502() {
#endif // LIN_ADVANCE
#if HAS_TRINAMIC
static bool report_tmc_status = false;
const char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
enum TMC_AxisEnum {
TMC_X,
TMC_X2,
TMC_Y,
TMC_Y2,
TMC_Z,
TMC_Z2,
TMC_E0,
TMC_E1,
TMC_E2,
TMC_E3,
TMC_E4
};
#if ENABLED(TMC_DEBUG)
enum TMC_debug_enum {
TMC_CODES,
TMC_ENABLED,
TMC_CURRENT,
TMC_RMS_CURRENT,
TMC_MAX_CURRENT,
TMC_IRUN,
TMC_IHOLD,
TMC_CS_ACTUAL,
TMC_PWM_SCALE,
TMC_VSENSE,
TMC_STEALTHCHOP,
TMC_MICROSTEPS,
TMC_TSTEP,
TMC_TPWMTHRS,
TMC_TPWMTHRS_MMS,
TMC_OTPW,
TMC_OTPW_TRIGGERED,
TMC_TOFF,
TMC_TBL,
TMC_HEND,
TMC_HSTRT,
TMC_SGT
};
enum TMC_drv_status_enum {
TMC_DRV_CODES,
TMC_STST,
TMC_OLB,
TMC_OLA,
TMC_S2GB,
TMC_S2GA,
TMC_DRV_OTPW,
TMC_OT,
TMC_STALLGUARD,
TMC_DRV_CS_ACTUAL,
TMC_FSACTIVE,
TMC_SG_RESULT,
TMC_DRV_STATUS_HEX,
TMC_T157,
TMC_T150,
TMC_T143,
TMC_T120,
TMC_STEALTH,
TMC_S2VSB,
TMC_S2VSA
};
static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" = 0x");
for(int B=24; B>=8; B-=8){
MYSERIAL.print((drv_status>>(B+4))&0xF, HEX);
MYSERIAL.print((drv_status>>B)&0xF, HEX);
MYSERIAL.print(':');
}
MYSERIAL.print((drv_status>>4)&0xF, HEX);
MYSERIAL.print((drv_status)&0xF, HEX);
SERIAL_EOL();
}
#if ENABLED(HAVE_TMC2130)
static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
switch(i) {
case TMC_PWM_SCALE: MYSERIAL.print(st.PWM_SCALE(), DEC); break;
case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
case TMC_SGT: MYSERIAL.print(st.sgt(), DEC); break;
case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
default: break;
}
}
static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
switch(i) {
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_ECHOPGM("X"); break;
case TMC_SG_RESULT: MYSERIAL.print(st.sg_result(), DEC); break;
case TMC_FSACTIVE: if (st.fsactive()) SERIAL_ECHOPGM("X"); break;
default: break;
}
}
#endif
#if ENABLED(HAVE_TMC2208)
static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch(i) {
case TMC_TSTEP:
{
uint32_t data = 0;
st.TSTEP(&data);
MYSERIAL.print(data);
break;
}
case TMC_PWM_SCALE: MYSERIAL.print(st.pwm_scale_sum(), DEC); break;
case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_ECHOPGM("X"); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_ECHOPGM("X"); break;
default: break;
}
}
static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
switch(i) {
case TMC_T157: if (st.t157()) SERIAL_ECHOPGM("X"); break;
case TMC_T150: if (st.t150()) SERIAL_ECHOPGM("X"); break;
case TMC_T143: if (st.t143()) SERIAL_ECHOPGM("X"); break;
case TMC_T120: if (st.t120()) SERIAL_ECHOPGM("X"); break;
default: break;
}
}
#endif
template <typename TMC>
static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
SERIAL_ECHO('\t');
switch(i) {
case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
case TMC_RMS_CURRENT: 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
#if Z_IS_TRINAMIC
tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if Z2_IS_TRINAMIC
tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if E0_IS_TRINAMIC
tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if E1_IS_TRINAMIC
tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS+1]);
#endif
#if E2_IS_TRINAMIC
tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS+2]);
#endif
#if E3_IS_TRINAMIC
tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS+3]);
#endif
#if E4_IS_TRINAMIC
tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS+4]);
#endif
SERIAL_EOL();
}
static void drv_status_loop(const TMC_drv_status_enum i) {
#if X_IS_TRINAMIC
tmc_parse_drv_status(stepperX, TMC_X, i);
#endif
#if X2_IS_TRINAMIC
tmc_parse_drv_status(stepperX2, TMC_X2, i);
#endif
#if Y_IS_TRINAMIC
tmc_parse_drv_status(stepperY, TMC_Y, i);
#endif
#if Y2_IS_TRINAMIC
tmc_parse_drv_status(stepperY2, TMC_Y2, i);
#endif
#if Z_IS_TRINAMIC
tmc_parse_drv_status(stepperZ, TMC_Z, i);
#endif
#if Z2_IS_TRINAMIC
tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
#endif
#if E0_IS_TRINAMIC
tmc_parse_drv_status(stepperE0, TMC_E0, i);
#endif
#if E1_IS_TRINAMIC
tmc_parse_drv_status(stepperE1, TMC_E1, i);
#endif
#if E2_IS_TRINAMIC
tmc_parse_drv_status(stepperE2, TMC_E2, i);
#endif
#if E3_IS_TRINAMIC
tmc_parse_drv_status(stepperE3, TMC_E3, i);
#endif
#if E4_IS_TRINAMIC
tmc_parse_drv_status(stepperE4, TMC_E4, i);
#endif
SERIAL_EOL();
}
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);
}
if (parser.seen('S'))
tmc_set_report_status(parser.value_bool());
else
tmc_report_all();
}
#endif
template<typename TMC>
static void tmc_get_current(TMC &st, const char name[]) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" axis driver current: ");
SERIAL_ECHOLN(st.getCurrent());
}
template<typename TMC>
static void tmc_set_current(TMC &st, const char name[], const int mA) {
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
tmc_get_current(st, name);
}
template<typename TMC>
static void tmc_report_otpw(TMC &st, const char name[]) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
SERIAL_EOL();
}
template<typename TMC>
static void tmc_clear_otpw(TMC &st, const char name[]) {
st.clear_otpw();
SERIAL_ECHO(name);
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
template<typename TMC>
static void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" stealthChop max speed set to ");
SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
}
template<typename TMC>
static void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
tmc_get_pwmthrs(st, name, spmm);
}
template<typename TMC>
static void tmc_get_sgt(TMC &st, const char name[]) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
MYSERIAL.println(st.sgt(), DEC);
}
template<typename TMC>
static void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
st.sgt(sgt_val);
tmc_get_sgt(st, name);
}
#endif // TMC_DEBUG
/**
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
@ -10685,54 +10301,45 @@ inline void gcode_M502() {
*/
inline void gcode_M906() {
uint16_t values[XYZE];
LOOP_XYZE(i)
values[i] = parser.intval(axis_codes[i]);
LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
#define TMC_SET_GET_CURRENT(P,Q) do { \
if (values[P##_AXIS]) tmc_set_current(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS]); \
else tmc_get_current(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
#if X_IS_TRINAMIC
if (values[X_AXIS]) tmc_set_current(stepperX, extended_axis_codes[TMC_X], values[X_AXIS]);
else tmc_get_current(stepperX, extended_axis_codes[TMC_X]);
TMC_SET_GET_CURRENT(X,X);
#endif
#if X2_IS_TRINAMIC
if (values[X_AXIS]) tmc_set_current(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS]);
else tmc_get_current(stepperX2, extended_axis_codes[TMC_X2]);
TMC_SET_GET_CURRENT(X,X2);
#endif
#if Y_IS_TRINAMIC
if (values[Y_AXIS]) tmc_set_current(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS]);
else tmc_get_current(stepperY, extended_axis_codes[TMC_Y]);
TMC_SET_GET_CURRENT(Y,Y);
#endif
#if Y2_IS_TRINAMIC
if (values[Y_AXIS]) tmc_set_current(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS]);
else tmc_get_current(stepperY2, extended_axis_codes[TMC_Y2]);
TMC_SET_GET_CURRENT(Y,Y2);
#endif
#if Z_IS_TRINAMIC
if (values[Z_AXIS]) tmc_set_current(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS]);
else tmc_get_current(stepperZ, extended_axis_codes[TMC_Z]);
TMC_SET_GET_CURRENT(Z,Z);
#endif
#if Z2_IS_TRINAMIC
if (values[Z_AXIS]) tmc_set_current(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS]);
else tmc_get_current(stepperZ2, extended_axis_codes[TMC_Z2]);
TMC_SET_GET_CURRENT(Z,Z2);
#endif
#if E0_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS]);
else tmc_get_current(stepperE0, extended_axis_codes[TMC_E0]);
TMC_SET_GET_CURRENT(E,E0);
#endif
#if E1_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS]);
else tmc_get_current(stepperE1, extended_axis_codes[TMC_E1]);
TMC_SET_GET_CURRENT(E,E1);
#endif
#if E2_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS]);
else tmc_get_current(stepperE2, extended_axis_codes[TMC_E2]);
TMC_SET_GET_CURRENT(E,E2);
#endif
#if E3_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS]);
else tmc_get_current(stepperE3, extended_axis_codes[TMC_E3]);
TMC_SET_GET_CURRENT(E,E3);
#endif
#if E4_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_current(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS]);
else tmc_get_current(stepperE4, extended_axis_codes[TMC_E4]);
TMC_SET_GET_CURRENT(E,E4);
#endif
}
/**
@ -10786,55 +10393,44 @@ inline void gcode_M502() {
#if ENABLED(HYBRID_THRESHOLD)
inline void gcode_M913() {
uint16_t values[XYZE];
LOOP_XYZE(i)
values[i] = parser.intval(axis_codes[i]);
LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
#define TMC_SET_GET_PWMTHRS(P,Q) do { \
if (values[P##_AXIS]) tmc_set_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS], planner.axis_steps_per_mm[P##_AXIS]); \
else tmc_get_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], planner.axis_steps_per_mm[P##_AXIS]); } while(0)
#if X_IS_TRINAMIC
if (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]);
TMC_SET_GET_PWMTHRS(X,X);
#endif
#if X2_IS_TRINAMIC
if (values[X_AXIS]) tmc_set_pwmthrs(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]);
TMC_SET_GET_PWMTHRS(X,X2);
#endif
#if Y_IS_TRINAMIC
if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]);
TMC_SET_GET_PWMTHRS(Y,Y);
#endif
#if Y2_IS_TRINAMIC
if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]);
TMC_SET_GET_PWMTHRS(Y,Y2);
#endif
#if Z_IS_TRINAMIC
if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]);
TMC_SET_GET_PWMTHRS(Z,Z);
#endif
#if Z2_IS_TRINAMIC
if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]);
TMC_SET_GET_PWMTHRS(Z,Z2);
#endif
#if E0_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]);
TMC_SET_GET_PWMTHRS(E,E0);
#endif
#if E1_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]);
TMC_SET_GET_PWMTHRS(E,E1);
#endif
#if E2_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]);
TMC_SET_GET_PWMTHRS(E,E2);
#endif
#if E3_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]);
TMC_SET_GET_PWMTHRS(E,E3);
#endif
#if E4_IS_TRINAMIC
if (values[E_AXIS]) tmc_set_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]);
TMC_SET_GET_PWMTHRS(E,E4);
#endif
}
#endif // HYBRID_THRESHOLD
@ -10844,21 +10440,21 @@ inline void gcode_M502() {
*/
#if ENABLED(SENSORLESS_HOMING)
inline void gcode_M914() {
#define TMC_SET_GET_SGT(P,Q) do { \
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int()); \
else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]); } while(0)
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int());
else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
TMC_SET_GET_SGT(X,X);
#endif
#if ENABLED(X2_IS_TMC2130)
if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX2, extended_axis_codes[TMC_X2], parser.value_int());
else tmc_get_sgt(stepperX2, extended_axis_codes[TMC_X2]);
TMC_SET_GET_SGT(X,X2);
#endif
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY, extended_axis_codes[TMC_Y], parser.value_int());
else tmc_get_sgt(stepperY, extended_axis_codes[TMC_Y]);
TMC_SET_GET_SGT(Y,Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY2, extended_axis_codes[TMC_Y2], parser.value_int());
else tmc_get_sgt(stepperY2, extended_axis_codes[TMC_Y2]);
TMC_SET_GET_SGT(Y,Y2);
#endif
}
#endif // SENSORLESS_HOMING
@ -10866,7 +10462,7 @@ inline void gcode_M502() {
/**
* TMC Z axis calibration routine
*/
#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC)
#if ENABLED(TMC_Z_CALIBRATION)
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;
@ -10876,25 +10472,33 @@ inline void gcode_M502() {
return;
}
uint16_t Z_current_1 = stepperZ.getCurrent();
uint16_t Z2_current_1 = stepperZ.getCurrent();
#if Z_IS_TRINAMIC
uint16_t Z_current_1 = stepperZ.getCurrent(),
stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Z2_IS_TRINAMIC
uint16_t Z2_current_1 = stepperZ.getCurrent();
stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
#endif
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);
#if Z_IS_TRINAMIC
stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Z2_IS_TRINAMIC
stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
#endif
do_blocking_move_to_z(Z_MAX_POS);
soft_endstops_enabled = true;
SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
home_z_safely();
SERIAL_ECHOLNPGM("\nHoming Z due to lost steps");
enqueue_and_echo_commands_P(PSTR("G28 Z"));
}
#endif
@ -12133,7 +11737,7 @@ void process_parsed_command() {
#if ENABLED(SENSORLESS_HOMING)
case 914: gcode_M914(); break; // M914: Set SENSORLESS_HOMING sensitivity.
#endif
#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC)
#if ENABLED(TMC_Z_CALIBRATION)
case 915: gcode_M915(); break; // M915: TMC Z axis calibration routine
#endif
#endif
@ -13536,186 +13140,6 @@ void disable_all_steppers() {
disable_e_steppers();
}
#if ENABLED(MONITOR_DRIVER_STATUS)
/*
* 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.
*/
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
if (data.is_otpw && otpw_cnt==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(": ");
SERIAL_ECHO(axisID);
SERIAL_ECHOPGM(" driver overtemperature warning! (");
SERIAL_ECHO(st.getCurrent());
SERIAL_ECHOLN("mA)");
}
#if CURRENT_STEP_DOWN > 0
// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
if (data.is_otpw && !st.isEnabled() && otpw_cnt > 4) {
st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);
#if ENABLED(REPORT_CURRENT_CHANGE)
SERIAL_ECHO(axisID);
SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
#endif
}
#endif
if (data.is_otpw) {
otpw_cnt++;
st.flag_otpw = true;
}
else if (otpw_cnt>0) otpw_cnt--;
if (report_tmc_status) {
const uint32_t pwm_scale = get_pwm_scale(st);
SERIAL_ECHO(axisID);
SERIAL_ECHOPAIR(":", pwm_scale);
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");
}
return otpw_cnt;
}
void monitor_tmc_driver() {
static millis_t next_cOT = 0;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 500;
#if ENABLED(X_IS_TMC2130)|| (ENABLED(X_IS_TMC2208) && defined(X_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
static uint8_t x_otpw_cnt = 0;
x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
#endif
#if ENABLED(Y_IS_TMC2130)|| (ENABLED(Y_IS_TMC2208) && defined(Y_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
static uint8_t y_otpw_cnt = 0;
y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
#endif
#if ENABLED(Z_IS_TMC2130)|| (ENABLED(Z_IS_TMC2208) && defined(Z_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
static uint8_t z_otpw_cnt = 0;
z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
#endif
#if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && defined(X2_HARDWARE_SERIAL))
static uint8_t x2_otpw_cnt = 0;
x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
#endif
#if ENABLED(Y2_IS_TMC2130) || (ENABLED(Y2_IS_TMC2208) && defined(Y2_HARDWARE_SERIAL))
static uint8_t y2_otpw_cnt = 0;
y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
#endif
#if ENABLED(Z2_IS_TMC2130) || (ENABLED(Z2_IS_TMC2208) && defined(Z2_HARDWARE_SERIAL))
static uint8_t z2_otpw_cnt = 0;
z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
#endif
#if ENABLED(E0_IS_TMC2130)|| (ENABLED(E0_IS_TMC2208) && defined(E0_HARDWARE_SERIAL)) || ENABLED(IS_TRAMS)
static uint8_t e0_otpw_cnt = 0;
e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
#endif
#if ENABLED(E1_IS_TMC2130) || (ENABLED(E1_IS_TMC2208) && defined(E1_HARDWARE_SERIAL))
static uint8_t e1_otpw_cnt = 0;
e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
#endif
#if ENABLED(E2_IS_TMC2130) || (ENABLED(E2_IS_TMC2208) && defined(E2_HARDWARE_SERIAL))
static uint8_t e2_otpw_cnt = 0;
e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
#endif
#if ENABLED(E3_IS_TMC2130) || (ENABLED(E3_IS_TMC2208) && defined(E3_HARDWARE_SERIAL))
static uint8_t e3_otpw_cnt = 0;
e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
#endif
#if ENABLED(E4_IS_TMC2130) || (ENABLED(E4_IS_TMC2208) && defined(E4_HARDWARE_SERIAL))
static uint8_t e4_otpw_cnt = 0;
e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
#endif
if (report_tmc_status) SERIAL_EOL();
}
}
#endif // MONITOR_DRIVER_STATUS
/**
* Manage several activities:
* - Check for Filament Runout