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@ -36,8 +36,6 @@
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#include "../module/planner.h"
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#include "../module/planner.h"
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#endif
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#endif
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bool report_tmc_status = false;
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/**
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/**
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* Check for over temperature or short to ground error flags.
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* Check for over temperature or short to ground error flags.
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* Report and log warning of overtemperature condition.
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* Report and log warning of overtemperature condition.
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@ -46,6 +44,8 @@ bool report_tmc_status = false;
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* and so we don't repeatedly report warning before the condition is cleared.
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* and so we don't repeatedly report warning before the condition is cleared.
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*/
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*/
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#if ENABLED(MONITOR_DRIVER_STATUS)
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#if ENABLED(MONITOR_DRIVER_STATUS)
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static bool report_tmc_status = false;
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struct TMC_driver_data {
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struct TMC_driver_data {
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uint32_t drv_status;
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uint32_t drv_status;
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bool is_otpw;
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bool is_otpw;
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@ -95,13 +95,13 @@ bool report_tmc_status = false;
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#endif
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#endif
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template<typename TMC>
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template<typename TMC>
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void monitor_tmc_driver(TMC &st, const TMC_AxisEnum axis, uint8_t &otpw_cnt) {
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void monitor_tmc_driver(TMC &st) {
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TMC_driver_data data = get_driver_data(st);
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TMC_driver_data data = get_driver_data(st);
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#if ENABLED(STOP_ON_ERROR)
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#if ENABLED(STOP_ON_ERROR)
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if (data.is_error) {
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if (data.is_error) {
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SERIAL_EOL();
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SERIAL_EOL();
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_tmc_say_axis(axis);
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st.printLabel();
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SERIAL_ECHOLNPGM(" driver error detected:");
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SERIAL_ECHOLNPGM(" driver error detected:");
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if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
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if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
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if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");
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if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");
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@ -114,7 +114,7 @@ bool report_tmc_status = false;
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#endif
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#endif
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// Report if a warning was triggered
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// Report if a warning was triggered
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if (data.is_otpw && otpw_cnt == 0) {
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if (data.is_otpw && st.otpw_count == 0) {
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char timestamp[10];
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char timestamp[10];
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duration_t elapsed = print_job_timer.duration();
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duration_t elapsed = print_job_timer.duration();
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const bool has_days = (elapsed.value > 60*60*24L);
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const bool has_days = (elapsed.value > 60*60*24L);
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@ -122,38 +122,38 @@ bool report_tmc_status = false;
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SERIAL_EOL();
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SERIAL_EOL();
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SERIAL_ECHO(timestamp);
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SERIAL_ECHO(timestamp);
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SERIAL_ECHOPGM(": ");
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SERIAL_ECHOPGM(": ");
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_tmc_say_axis(axis);
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st.printLabel();
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SERIAL_ECHOPGM(" driver overtemperature warning! (");
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SERIAL_ECHOPGM(" driver overtemperature warning! (");
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SERIAL_ECHO(st.getCurrent());
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SERIAL_ECHO(st.getMilliamps());
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SERIAL_ECHOLNPGM("mA)");
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SERIAL_ECHOLNPGM("mA)");
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}
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}
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#if CURRENT_STEP_DOWN > 0
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#if CURRENT_STEP_DOWN > 0
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// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
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// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
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if (data.is_otpw && st.isEnabled() && otpw_cnt > 4) {
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if (data.is_otpw && st.isEnabled() && st.otpw_count > 4) {
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st.setCurrent(st.getCurrent() - (CURRENT_STEP_DOWN), R_SENSE, HOLD_MULTIPLIER);
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st.rms_current(st.getMilliamps() - (CURRENT_STEP_DOWN));
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#if ENABLED(REPORT_CURRENT_CHANGE)
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#if ENABLED(REPORT_CURRENT_CHANGE)
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_tmc_say_axis(axis);
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st.printLabel();
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SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
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SERIAL_ECHOLNPAIR(" current decreased to ", st.getMilliamps());
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#endif
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#endif
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}
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}
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#endif
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#endif
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if (data.is_otpw) {
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if (data.is_otpw) {
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otpw_cnt++;
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st.otpw_count++;
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st.flag_otpw = true;
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st.flag_otpw = true;
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}
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}
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else if (otpw_cnt > 0) otpw_cnt = 0;
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else if (st.otpw_count > 0) st.otpw_count = 0;
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if (report_tmc_status) {
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if (report_tmc_status) {
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const uint32_t pwm_scale = get_pwm_scale(st);
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const uint32_t pwm_scale = get_pwm_scale(st);
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_tmc_say_axis(axis);
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st.printLabel();
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SERIAL_ECHOPAIR(":", pwm_scale);
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SERIAL_ECHOPAIR(":", pwm_scale);
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SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
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SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
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SERIAL_ECHOPGM("| ");
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SERIAL_ECHOPGM("| ");
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if (data.is_error) SERIAL_CHAR('E');
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if (data.is_error) SERIAL_CHAR('E');
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else if (data.is_ot) SERIAL_CHAR('O');
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else if (data.is_ot) SERIAL_CHAR('O');
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else if (data.is_otpw) SERIAL_CHAR('W');
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else if (data.is_otpw) SERIAL_CHAR('W');
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else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
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else if (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
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else if (st.flag_otpw) SERIAL_CHAR('F');
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else if (st.flag_otpw) SERIAL_CHAR('F');
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SERIAL_CHAR('\t');
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SERIAL_CHAR('\t');
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}
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}
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@ -166,56 +166,43 @@ bool report_tmc_status = false;
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if (ELAPSED(millis(), next_cOT)) {
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if (ELAPSED(millis(), next_cOT)) {
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next_cOT = millis() + 500;
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next_cOT = millis() + 500;
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#if HAS_HW_COMMS(X)
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#if HAS_HW_COMMS(X)
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static uint8_t x_otpw_cnt = 0;
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monitor_tmc_driver(stepperX);
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monitor_tmc_driver(stepperX, TMC_X, x_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(Y)
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#if HAS_HW_COMMS(Y)
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static uint8_t y_otpw_cnt = 0;
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monitor_tmc_driver(stepperY);
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monitor_tmc_driver(stepperY, TMC_Y, y_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(Z)
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#if HAS_HW_COMMS(Z)
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static uint8_t z_otpw_cnt = 0;
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monitor_tmc_driver(stepperZ);
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monitor_tmc_driver(stepperZ, TMC_Z, z_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(X2)
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#if HAS_HW_COMMS(X2)
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static uint8_t x2_otpw_cnt = 0;
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monitor_tmc_driver(stepperX2);
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monitor_tmc_driver(stepperX2, TMC_X, x2_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(Y2)
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#if HAS_HW_COMMS(Y2)
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static uint8_t y2_otpw_cnt = 0;
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monitor_tmc_driver(stepperY2);
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monitor_tmc_driver(stepperY2, TMC_Y, y2_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(Z2)
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#if HAS_HW_COMMS(Z2)
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static uint8_t z2_otpw_cnt = 0;
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monitor_tmc_driver(stepperZ2);
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monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(Z3)
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#if HAS_HW_COMMS(Z3)
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static uint8_t z3_otpw_cnt = 0;
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monitor_tmc_driver(stepperZ3);
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monitor_tmc_driver(stepperZ3, TMC_Z, z3_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(E0)
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#if HAS_HW_COMMS(E0)
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static uint8_t e0_otpw_cnt = 0;
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monitor_tmc_driver(stepperE0);
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monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(E1)
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#if HAS_HW_COMMS(E1)
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static uint8_t e1_otpw_cnt = 0;
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monitor_tmc_driver(stepperE1);
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monitor_tmc_driver(stepperE1, TMC_E1, e1_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(E2)
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#if HAS_HW_COMMS(E2)
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static uint8_t e2_otpw_cnt = 0;
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monitor_tmc_driver(stepperE2);
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monitor_tmc_driver(stepperE2, TMC_E2, e2_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(E3)
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#if HAS_HW_COMMS(E3)
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static uint8_t e3_otpw_cnt = 0;
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monitor_tmc_driver(stepperE3);
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monitor_tmc_driver(stepperE3, TMC_E3, e3_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(E4)
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#if HAS_HW_COMMS(E4)
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static uint8_t e4_otpw_cnt = 0;
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monitor_tmc_driver(stepperE4);
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monitor_tmc_driver(stepperE4, TMC_E4, e4_otpw_cnt);
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#endif
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#endif
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#if HAS_HW_COMMS(E5)
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#if HAS_HW_COMMS(E5)
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static uint8_t e5_otpw_cnt = 0;
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monitor_tmc_driver(stepperE5);
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monitor_tmc_driver(stepperE5, TMC_E5, e5_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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if (report_tmc_status) SERIAL_EOL();
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@ -224,100 +211,6 @@ bool report_tmc_status = false;
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#endif // MONITOR_DRIVER_STATUS
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#endif // MONITOR_DRIVER_STATUS
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void _tmc_say_axis(const TMC_AxisEnum axis) {
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static const char ext_X[] PROGMEM = "X", ext_Y[] PROGMEM = "Y", ext_Z[] PROGMEM = "Z"
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
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, ext_X2[] PROGMEM = "X2"
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#endif
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#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
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, ext_Y2[] PROGMEM = "Y2"
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#endif
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#if Z_MULTI_STEPPER_DRIVERS
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, ext_Z2[] PROGMEM = "Z2"
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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, ext_Z3[] PROGMEM = "Z3"
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#endif
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#endif
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#if E_STEPPERS
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, ext_E0[] PROGMEM = "E0"
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#if E_STEPPERS > 1
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, ext_E1[] PROGMEM = "E1"
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#if E_STEPPERS > 2
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, ext_E2[] PROGMEM = "E2"
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#if E_STEPPERS > 3
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, ext_E3[] PROGMEM = "E3"
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#if E_STEPPERS > 4
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, ext_E4[] PROGMEM = "E4"
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#if E_STEPPERS > 5
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, ext_E5[] PROGMEM = "E5"
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#endif
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#endif
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#endif
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#endif
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#endif
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#endif
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;
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static PGM_P const tmc_axes[] PROGMEM = {
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ext_X, ext_Y, ext_Z
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
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, ext_X2
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#endif
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#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
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, ext_Y2
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#endif
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#if Z_MULTI_STEPPER_DRIVERS
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, ext_Z2
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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, ext_Z3
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#endif
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#endif
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#if E_STEPPERS
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, ext_E0
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#if E_STEPPERS > 1
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, ext_E1
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#if E_STEPPERS > 2
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, ext_E2
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#if E_STEPPERS > 3
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, ext_E3
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#if E_STEPPERS > 4
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, ext_E4
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#if E_STEPPERS > 5
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, ext_E5
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#endif
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#endif
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#endif
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#endif
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#endif
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#endif
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};
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serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));
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}
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void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr) {
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_tmc_say_axis(axis);
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SERIAL_ECHOLNPAIR(" driver current: ", curr);
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}
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void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw) {
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_tmc_say_axis(axis);
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SERIAL_ECHOPGM(" temperature prewarn triggered: ");
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serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
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SERIAL_EOL();
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}
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void _tmc_say_otpw_cleared(const TMC_AxisEnum axis) {
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_tmc_say_axis(axis);
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs) {
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_tmc_say_axis(axis);
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SERIAL_ECHOLNPAIR(" stealthChop max speed: ", thrs);
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}
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void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
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_tmc_say_axis(axis);
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SERIAL_ECHOPGM(" homing sensitivity: ");
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SERIAL_PRINTLN(sgt, DEC);
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}
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#if ENABLED(TMC_DEBUG)
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|
#if ENABLED(TMC_DEBUG)
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enum TMC_debug_enum : char {
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enum TMC_debug_enum : char {
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|
@ -366,9 +259,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
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TMC_S2VSB,
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|
TMC_S2VSB,
|
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TMC_S2VSA
|
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TMC_S2VSA
|
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|
};
|
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|
};
|
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|
static void drv_status_print_hex(const TMC_AxisEnum axis, const uint32_t drv_status) {
|
|
|
|
static void drv_status_print_hex(const uint32_t drv_status) {
|
|
|
|
_tmc_say_axis(axis);
|
|
|
|
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|
|
|
SERIAL_ECHOPGM(" = 0x");
|
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|
|
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|
|
for (int B = 24; B >= 8; B -= 8){
|
|
|
|
for (int B = 24; B >= 8; B -= 8){
|
|
|
|
SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
|
|
|
|
SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
|
|
|
|
SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
|
|
|
|
SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
|
|
|
|
@ -379,17 +270,19 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
SERIAL_EOL();
|
|
|
|
SERIAL_EOL();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
template<class TMC>
|
|
|
|
|
|
|
|
static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
|
|
|
|
|
|
|
|
|
|
|
|
#if HAS_DRIVER(TMC2130)
|
|
|
|
#if HAS_DRIVER(TMC2130)
|
|
|
|
static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
|
|
|
|
static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
|
|
|
|
switch (i) {
|
|
|
|
switch (i) {
|
|
|
|
case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
|
|
|
|
case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
|
|
|
|
case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
|
|
|
|
|
|
|
|
case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
|
|
|
|
case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
|
|
|
|
case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
case TMC_STEALTHCHOP: serialprintPGM(st.en_pwm_mode() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
default: break;
|
|
|
|
default: break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
|
|
|
|
static void _tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
|
|
|
|
switch (i) {
|
|
|
|
switch (i) {
|
|
|
|
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
|
|
|
|
case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
|
|
|
|
@ -402,7 +295,6 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
#if HAS_DRIVER(TMC2208)
|
|
|
|
#if HAS_DRIVER(TMC2208)
|
|
|
|
static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
|
|
|
|
static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
|
|
|
|
switch (i) {
|
|
|
|
switch (i) {
|
|
|
|
case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); SERIAL_PROTOCOL(data); break; }
|
|
|
|
|
|
|
|
case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
|
|
|
|
case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
|
|
|
|
case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
|
|
|
|
@ -410,7 +302,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
default: break;
|
|
|
|
default: break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
|
|
|
|
static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
|
|
|
|
switch (i) {
|
|
|
|
switch (i) {
|
|
|
|
case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
|
|
|
|
@ -422,12 +314,12 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
template <typename TMC>
|
|
|
|
template <typename TMC>
|
|
|
|
static void tmc_status(TMC &st, const TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
|
|
|
|
static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
|
|
|
|
SERIAL_ECHO('\t');
|
|
|
|
SERIAL_ECHO('\t');
|
|
|
|
switch (i) {
|
|
|
|
switch (i) {
|
|
|
|
case TMC_CODES: _tmc_say_axis(axis); break;
|
|
|
|
case TMC_CODES: st.printLabel(); break;
|
|
|
|
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
|
|
|
|
case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
|
|
|
|
case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
|
|
|
|
case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;
|
|
|
|
case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;
|
|
|
|
case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
|
|
|
|
case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
|
|
|
|
case TMC_IRUN:
|
|
|
|
case TMC_IRUN:
|
|
|
|
@ -442,10 +334,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
SERIAL_PRINT(st.cs_actual(), DEC);
|
|
|
|
SERIAL_PRINT(st.cs_actual(), DEC);
|
|
|
|
SERIAL_ECHOPGM("/31");
|
|
|
|
SERIAL_ECHOPGM("/31");
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
|
|
|
|
case TMC_VSENSE: print_vsense(st); break;
|
|
|
|
case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
|
|
|
|
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
|
|
|
|
|
|
|
|
case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
|
|
|
|
case TMC_TPWMTHRS: {
|
|
|
|
case TMC_TPWMTHRS: {
|
|
|
|
uint32_t tpwmthrs_val = st.TPWMTHRS();
|
|
|
|
uint32_t tpwmthrs_val = st.TPWMTHRS();
|
|
|
|
SERIAL_ECHO(tpwmthrs_val);
|
|
|
|
SERIAL_ECHO(tpwmthrs_val);
|
|
|
|
@ -470,10 +361,10 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
template <typename TMC>
|
|
|
|
template <typename TMC>
|
|
|
|
static void tmc_parse_drv_status(TMC &st, const TMC_AxisEnum axis, const TMC_drv_status_enum i) {
|
|
|
|
static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
|
|
|
|
SERIAL_CHAR('\t');
|
|
|
|
SERIAL_CHAR('\t');
|
|
|
|
switch (i) {
|
|
|
|
switch (i) {
|
|
|
|
case TMC_DRV_CODES: _tmc_say_axis(axis); break;
|
|
|
|
case TMC_DRV_CODES: st.printLabel(); break;
|
|
|
|
case TMC_STST: if (st.stst()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_STST: if (st.stst()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_OLB: if (st.olb()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_OLB: if (st.olb()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_OLA: if (st.ola()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_OLA: if (st.ola()) SERIAL_CHAR('X'); break;
|
|
|
|
@ -482,69 +373,73 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break;
|
|
|
|
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
|
|
|
|
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
|
|
|
|
case TMC_DRV_STATUS_HEX:drv_status_print_hex(axis, st.DRV_STATUS()); break;
|
|
|
|
case TMC_DRV_STATUS_HEX:
|
|
|
|
default: tmc_parse_drv_status(st, i); break;
|
|
|
|
st.printLabel();
|
|
|
|
|
|
|
|
SERIAL_ECHOPGM("\t0x");
|
|
|
|
|
|
|
|
drv_status_print_hex(st.DRV_STATUS());
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
default: _tmc_parse_drv_status(st, i); break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
static void tmc_debug_loop(const TMC_debug_enum i) {
|
|
|
|
static void tmc_debug_loop(const TMC_debug_enum i) {
|
|
|
|
#if AXIS_IS_TMC(X)
|
|
|
|
#if AXIS_IS_TMC(X)
|
|
|
|
tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
|
|
|
|
tmc_status(stepperX, i, planner.axis_steps_per_mm[X_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(X2)
|
|
|
|
#if AXIS_IS_TMC(X2)
|
|
|
|
tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
|
|
|
|
tmc_status(stepperX2, i, planner.axis_steps_per_mm[X_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if AXIS_IS_TMC(Y)
|
|
|
|
#if AXIS_IS_TMC(Y)
|
|
|
|
tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
|
|
|
|
tmc_status(stepperY, i, planner.axis_steps_per_mm[Y_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(Y2)
|
|
|
|
#if AXIS_IS_TMC(Y2)
|
|
|
|
tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
|
|
|
|
tmc_status(stepperY2, i, planner.axis_steps_per_mm[Y_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if AXIS_IS_TMC(Z)
|
|
|
|
#if AXIS_IS_TMC(Z)
|
|
|
|
tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
tmc_status(stepperZ, i, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(Z2)
|
|
|
|
#if AXIS_IS_TMC(Z2)
|
|
|
|
tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
tmc_status(stepperZ2, i, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(Z3)
|
|
|
|
#if AXIS_IS_TMC(Z3)
|
|
|
|
tmc_status(stepperZ3, TMC_Z3, i, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
tmc_status(stepperZ3, i, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if AXIS_IS_TMC(E0)
|
|
|
|
#if AXIS_IS_TMC(E0)
|
|
|
|
tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
tmc_status(stepperE0, i, planner.axis_steps_per_mm[E_AXIS]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E1)
|
|
|
|
#if AXIS_IS_TMC(E1)
|
|
|
|
tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
tmc_status(stepperE1, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
+ 1
|
|
|
|
+ 1
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
]);
|
|
|
|
]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E2)
|
|
|
|
#if AXIS_IS_TMC(E2)
|
|
|
|
tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
tmc_status(stepperE2, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
+ 2
|
|
|
|
+ 2
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
]);
|
|
|
|
]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E3)
|
|
|
|
#if AXIS_IS_TMC(E3)
|
|
|
|
tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
tmc_status(stepperE3, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
+ 3
|
|
|
|
+ 3
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
]);
|
|
|
|
]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E4)
|
|
|
|
#if AXIS_IS_TMC(E4)
|
|
|
|
tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
tmc_status(stepperE4, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
+ 4
|
|
|
|
+ 4
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
]);
|
|
|
|
]);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E5)
|
|
|
|
#if AXIS_IS_TMC(E5)
|
|
|
|
tmc_status(stepperE5, TMC_E5, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
tmc_status(stepperE5, i, planner.axis_steps_per_mm[E_AXIS
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
|
|
+ 5
|
|
|
|
+ 5
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
@ -556,46 +451,46 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
|
|
|
|
|
|
|
|
static void drv_status_loop(const TMC_drv_status_enum i) {
|
|
|
|
static void drv_status_loop(const TMC_drv_status_enum i) {
|
|
|
|
#if AXIS_IS_TMC(X)
|
|
|
|
#if AXIS_IS_TMC(X)
|
|
|
|
tmc_parse_drv_status(stepperX, TMC_X, i);
|
|
|
|
tmc_parse_drv_status(stepperX, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(X2)
|
|
|
|
#if AXIS_IS_TMC(X2)
|
|
|
|
tmc_parse_drv_status(stepperX2, TMC_X2, i);
|
|
|
|
tmc_parse_drv_status(stepperX2, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if AXIS_IS_TMC(Y)
|
|
|
|
#if AXIS_IS_TMC(Y)
|
|
|
|
tmc_parse_drv_status(stepperY, TMC_Y, i);
|
|
|
|
tmc_parse_drv_status(stepperY, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(Y2)
|
|
|
|
#if AXIS_IS_TMC(Y2)
|
|
|
|
tmc_parse_drv_status(stepperY2, TMC_Y2, i);
|
|
|
|
tmc_parse_drv_status(stepperY2, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if AXIS_IS_TMC(Z)
|
|
|
|
#if AXIS_IS_TMC(Z)
|
|
|
|
tmc_parse_drv_status(stepperZ, TMC_Z, i);
|
|
|
|
tmc_parse_drv_status(stepperZ, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(Z2)
|
|
|
|
#if AXIS_IS_TMC(Z2)
|
|
|
|
tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
|
|
|
|
tmc_parse_drv_status(stepperZ2, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(Z3)
|
|
|
|
#if AXIS_IS_TMC(Z3)
|
|
|
|
tmc_parse_drv_status(stepperZ3, TMC_Z3, i);
|
|
|
|
tmc_parse_drv_status(stepperZ3, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#if AXIS_IS_TMC(E0)
|
|
|
|
#if AXIS_IS_TMC(E0)
|
|
|
|
tmc_parse_drv_status(stepperE0, TMC_E0, i);
|
|
|
|
tmc_parse_drv_status(stepperE0, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E1)
|
|
|
|
#if AXIS_IS_TMC(E1)
|
|
|
|
tmc_parse_drv_status(stepperE1, TMC_E1, i);
|
|
|
|
tmc_parse_drv_status(stepperE1, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E2)
|
|
|
|
#if AXIS_IS_TMC(E2)
|
|
|
|
tmc_parse_drv_status(stepperE2, TMC_E2, i);
|
|
|
|
tmc_parse_drv_status(stepperE2, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E3)
|
|
|
|
#if AXIS_IS_TMC(E3)
|
|
|
|
tmc_parse_drv_status(stepperE3, TMC_E3, i);
|
|
|
|
tmc_parse_drv_status(stepperE3, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E4)
|
|
|
|
#if AXIS_IS_TMC(E4)
|
|
|
|
tmc_parse_drv_status(stepperE4, TMC_E4, i);
|
|
|
|
tmc_parse_drv_status(stepperE4, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_IS_TMC(E5)
|
|
|
|
#if AXIS_IS_TMC(E5)
|
|
|
|
tmc_parse_drv_status(stepperE5, TMC_E5, i);
|
|
|
|
tmc_parse_drv_status(stepperE5, i);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
SERIAL_EOL();
|
|
|
|
SERIAL_EOL();
|
|
|
|
@ -620,7 +515,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
TMC_REPORT("Run current", TMC_IRUN);
|
|
|
|
TMC_REPORT("Run current", TMC_IRUN);
|
|
|
|
TMC_REPORT("Hold current", TMC_IHOLD);
|
|
|
|
TMC_REPORT("Hold current", TMC_IHOLD);
|
|
|
|
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
|
|
|
|
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
|
|
|
|
TMC_REPORT("PWM scale\t", TMC_PWM_SCALE);
|
|
|
|
TMC_REPORT("PWM scale", TMC_PWM_SCALE);
|
|
|
|
TMC_REPORT("vsense\t", TMC_VSENSE);
|
|
|
|
TMC_REPORT("vsense\t", TMC_VSENSE);
|
|
|
|
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
|
|
|
|
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
|
|
|
|
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
|
|
|
|
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
|
|
|
|
@ -657,7 +552,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
DRV_REPORT("s2vsa\t", TMC_S2VSA);
|
|
|
|
DRV_REPORT("s2vsa\t", TMC_S2VSA);
|
|
|
|
DRV_REPORT("s2vsb\t", TMC_S2VSB);
|
|
|
|
DRV_REPORT("s2vsb\t", TMC_S2VSB);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
DRV_REPORT("Driver registers:", TMC_DRV_STATUS_HEX);
|
|
|
|
DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
|
|
|
|
SERIAL_EOL();
|
|
|
|
SERIAL_EOL();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
@ -666,9 +561,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
#if USE_SENSORLESS
|
|
|
|
#if USE_SENSORLESS
|
|
|
|
|
|
|
|
|
|
|
|
void tmc_stallguard(TMC2130Stepper &st, const bool enable/*=true*/) {
|
|
|
|
void tmc_stallguard(TMC2130Stepper &st, const bool enable/*=true*/) {
|
|
|
|
st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
|
|
|
|
st.TCOOLTHRS(enable ? 0xFFFFF : 0);
|
|
|
|
#if ENABLED(STEALTHCHOP)
|
|
|
|
#if ENABLED(STEALTHCHOP)
|
|
|
|
st.stealthChop(!enable);
|
|
|
|
st.en_pwm_mode(!enable);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
st.diag1_stall(enable ? 1 : 0);
|
|
|
|
st.diag1_stall(enable ? 1 : 0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
@ -676,45 +571,46 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
|
|
|
|
#endif // USE_SENSORLESS
|
|
|
|
#endif // USE_SENSORLESS
|
|
|
|
|
|
|
|
|
|
|
|
#if HAS_DRIVER(TMC2130)
|
|
|
|
#if HAS_DRIVER(TMC2130)
|
|
|
|
|
|
|
|
#define IS_TMC_SPI(ST) AXIS_DRIVER_TYPE(ST, TMC2130)
|
|
|
|
#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
|
|
|
|
#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
|
|
|
|
void tmc_init_cs_pins() {
|
|
|
|
void tmc_init_cs_pins() {
|
|
|
|
#if AXIS_DRIVER_TYPE(X, TMC2130)
|
|
|
|
#if IS_TMC_SPI(X)
|
|
|
|
SET_CS_PIN(X);
|
|
|
|
SET_CS_PIN(X);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(Y, TMC2130)
|
|
|
|
#if IS_TMC_SPI(Y)
|
|
|
|
SET_CS_PIN(Y);
|
|
|
|
SET_CS_PIN(Y);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(Z, TMC2130)
|
|
|
|
#if IS_TMC_SPI(Z)
|
|
|
|
SET_CS_PIN(Z);
|
|
|
|
SET_CS_PIN(Z);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(X2, TMC2130)
|
|
|
|
#if IS_TMC_SPI(X2)
|
|
|
|
SET_CS_PIN(X2);
|
|
|
|
SET_CS_PIN(X2);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(Y2, TMC2130)
|
|
|
|
#if IS_TMC_SPI(Y2)
|
|
|
|
SET_CS_PIN(Y2);
|
|
|
|
SET_CS_PIN(Y2);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
|
|
|
|
#if IS_TMC_SPI(Z2)
|
|
|
|
SET_CS_PIN(Z2);
|
|
|
|
SET_CS_PIN(Z2);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(Z3, TMC2130)
|
|
|
|
#if IS_TMC_SPI(Z3)
|
|
|
|
SET_CS_PIN(Z3);
|
|
|
|
SET_CS_PIN(Z3);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(E0, TMC2130)
|
|
|
|
#if IS_TMC_SPI(E0)
|
|
|
|
SET_CS_PIN(E0);
|
|
|
|
SET_CS_PIN(E0);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(E1, TMC2130)
|
|
|
|
#if IS_TMC_SPI(E1)
|
|
|
|
SET_CS_PIN(E1);
|
|
|
|
SET_CS_PIN(E1);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(E2, TMC2130)
|
|
|
|
#if IS_TMC_SPI(E2)
|
|
|
|
SET_CS_PIN(E2);
|
|
|
|
SET_CS_PIN(E2);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(E3, TMC2130)
|
|
|
|
#if IS_TMC_SPI(E3)
|
|
|
|
SET_CS_PIN(E3);
|
|
|
|
SET_CS_PIN(E3);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(E4, TMC2130)
|
|
|
|
#if IS_TMC_SPI(E4)
|
|
|
|
SET_CS_PIN(E4);
|
|
|
|
SET_CS_PIN(E4);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if AXIS_DRIVER_TYPE(E5, TMC2130)
|
|
|
|
#if IS_TMC_SPI(E5)
|
|
|
|
SET_CS_PIN(E5);
|
|
|
|
SET_CS_PIN(E5);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
teemuatlut
6 years ago
committed by