196 lines
8.4 KiB
C++
196 lines
8.4 KiB
C++
|
/**
|
||
|
|
* Marlin 3D Printer Firmware
|
||
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||
|
|
*
|
||
|
|
* Based on Sprinter and grbl.
|
||
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
||
|
|
*
|
||
|
|
* This program is free software: you can redistribute it and/or modify
|
||
|
|
* it under the terms of the GNU General Public License as published by
|
||
|
|
* the Free Software Foundation, either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This program is distributed in the hope that it will be useful,
|
||
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
* GNU General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License
|
||
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "../../../inc/MarlinConfig.h"
|
||
|
|
|
||
|
|
#if HAS_TRINAMIC
|
||
|
|
|
||
|
|
#include "../../gcode.h"
|
||
|
|
#include "../../../feature/tmc_util.h"
|
||
|
|
#include "../../../module/stepper_indirection.h"
|
||
|
|
#include "../../../module/planner.h"
|
||
|
|
|
||
|
|
/**
|
||
|
|
* M911: Report TMC stepper driver overtemperature pre-warn flag
|
||
|
|
* The flag is held by the library and persist until manually cleared by M912
|
||
|
|
*/
|
||
|
|
inline void GcodeSuite::M911() {
|
||
|
|
#if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS)
|
||
|
|
tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]);
|
||
|
|
#endif
|
||
|
|
#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX)) || ENABLED(IS_TRAMS)
|
||
|
|
tmc_report_otpw(stepperY, extended_axis_codes[TMC_Y]);
|
||
|
|
#endif
|
||
|
|
#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX)) || ENABLED(IS_TRAMS)
|
||
|
|
tmc_report_otpw(stepperZ, extended_axis_codes[TMC_Z]);
|
||
|
|
#endif
|
||
|
|
#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX)) || ENABLED(IS_TRAMS)
|
||
|
|
tmc_report_otpw(stepperE0, extended_axis_codes[TMC_E0]);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
|
||
|
|
*/
|
||
|
|
inline void GcodeSuite::M912() {
|
||
|
|
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);
|
||
|
|
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
|
||
|
|
if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
|
||
|
|
#endif
|
||
|
|
#if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
|
||
|
|
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
|
||
|
|
|
||
|
|
#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX))
|
||
|
|
if (clearZ || clearAll) tmc_clear_otpw(stepperZ, extended_axis_codes[TMC_Z]);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX))
|
||
|
|
if (clearE || clearAll) tmc_clear_otpw(stepperE0, extended_axis_codes[TMC_E0]);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* M913: Set HYBRID_THRESHOLD speed.
|
||
|
|
*/
|
||
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
||
|
|
inline void GcodeSuite::M913() {
|
||
|
|
uint16_t values[XYZE];
|
||
|
|
LOOP_XYZE(i)
|
||
|
|
values[i] = parser.intval(axis_codes[i]);
|
||
|
|
|
||
|
|
#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]);
|
||
|
|
#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]);
|
||
|
|
#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]);
|
||
|
|
#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]);
|
||
|
|
#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]);
|
||
|
|
#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
|
||
|
|
#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]);
|
||
|
|
#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]);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif // HYBRID_THRESHOLD
|
||
|
|
|
||
|
|
/**
|
||
|
|
* M914: Set SENSORLESS_HOMING sensitivity.
|
||
|
|
*/
|
||
|
|
#if ENABLED(SENSORLESS_HOMING)
|
||
|
|
inline void GcodeSuite::M914() {
|
||
|
|
#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]);
|
||
|
|
#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]);
|
||
|
|
#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 // SENSORLESS_HOMING
|
||
|
|
|
||
|
|
/**
|
||
|
|
* TMC Z axis calibration routine
|
||
|
|
*/
|
||
|
|
#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC)
|
||
|
|
inline void GcodeSuite::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
|