muele-marlin/Marlin/src/gcode/feature/trinamic/M911-M915.cpp

/**
 * 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"
#include "../../queue.h"

#if ENABLED(MONITOR_DRIVER_STATUS)

  #define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2208))
  #define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))

  #define M91x_SOME_X (M91x_USE(X) || M91x_USE(X2))
  #define M91x_SOME_Y (M91x_USE(Y) || M91x_USE(Y2))
  #define M91x_SOME_Z (M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3))
  #define M91x_SOME_E (M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5))

  #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_SOME_E
    #error "MONITOR_DRIVER_STATUS requires at least one TMC2130 or TMC2208."
  #endif

  /**
   * M911: Report TMC stepper driver overtemperature pre-warn flag
   *       This flag is held by the library, persisting until cleared by M912
   */
  void GcodeSuite::M911() {
    #if M91x_USE(X)
      tmc_report_otpw(stepperX);
    #endif
    #if M91x_USE(X2)
      tmc_report_otpw(stepperX2);
    #endif
    #if M91x_USE(Y)
      tmc_report_otpw(stepperY);
    #endif
    #if M91x_USE(Y2)
      tmc_report_otpw(stepperY2);
    #endif
    #if M91x_USE(Z)
      tmc_report_otpw(stepperZ);
    #endif
    #if M91x_USE(Z2)
      tmc_report_otpw(stepperZ2);
    #endif
    #if M91x_USE(Z3)
      tmc_report_otpw(stepperZ3);
    #endif
    #if M91x_USE_E(0)
      tmc_report_otpw(stepperE0);
    #endif
    #if M91x_USE_E(1)
      tmc_report_otpw(stepperE1);
    #endif
    #if M91x_USE_E(2)
      tmc_report_otpw(stepperE2);
    #endif
    #if M91x_USE_E(3)
      tmc_report_otpw(stepperE3);
    #endif
    #if M91x_USE_E(4)
      tmc_report_otpw(stepperE4);
    #endif
    #if M91x_USE_E(5)
      tmc_report_otpw(stepperE5);
    #endif
  }

  /**
   * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
   *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3 and E[index].
   *       If no axes are given, clear all.
   *
   * Examples:
   *       M912 X   ; clear X and X2
   *       M912 X1  ; clear X1 only
   *       M912 X2  ; clear X2 only
   *       M912 X E ; clear X, X2, and all E
   *       M912 E1  ; clear E1 only
   */
  void GcodeSuite::M912() {
    #if M91x_SOME_X
      const bool hasX = parser.seen(axis_codes[X_AXIS]);
    #else
      constexpr bool hasX = false;
    #endif

    #if M91x_SOME_Y
      const bool hasY = parser.seen(axis_codes[Y_AXIS]);
    #else
      constexpr bool hasY = false;
    #endif

    #if M91x_SOME_Z
      const bool hasZ = parser.seen(axis_codes[Z_AXIS]);
    #else
      constexpr bool hasZ = false;
    #endif

    #if M91x_SOME_E
      const bool hasE = parser.seen(axis_codes[E_AXIS]);
    #else
      constexpr bool hasE = false;
    #endif

    const bool hasNone = !hasX && !hasY && !hasZ && !hasE;

    #if M91x_SOME_X
      const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
      #if M91x_USE(X)
        if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX);
      #endif
      #if M91x_USE(X2)
        if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2);
      #endif
    #endif

    #if M91x_SOME_Y
      const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
      #if M91x_USE(Y)
        if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY);
      #endif
      #if M91x_USE(Y2)
        if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2);
      #endif
    #endif

    #if M91x_SOME_Z
      const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
      #if M91x_USE(Z)
        if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ);
      #endif
      #if M91x_USE(Z2)
        if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2);
      #endif
      #if M91x_USE(Z3)
        if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3);
      #endif
    #endif

    #if M91x_SOME_E
      const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
      #if M91x_USE_E(0)
        if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0);
      #endif
      #if M91x_USE_E(1)
        if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1);
      #endif
      #if M91x_USE_E(2)
        if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2);
      #endif
      #if M91x_USE_E(3)
        if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3);
      #endif
      #if M91x_USE_E(4)
        if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4);
      #endif
      #if M91x_USE_E(5)
        if (hasNone || eval == 5 || (hasE && eval < 0)) tmc_clear_otpw(stepperE5);
      #endif
    #endif
  }

#endif // MONITOR_DRIVER_STATUS

/**
 * M913: Set HYBRID_THRESHOLD speed.
 */
#if ENABLED(HYBRID_THRESHOLD)
  void GcodeSuite::M913() {
    #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, planner.settings.axis_steps_per_mm[_AXIS(A)])
    #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.settings.axis_steps_per_mm[_AXIS(A)])
    #define TMC_SAY_PWMTHRS_E(E) tmc_get_pwmthrs(stepperE##E, planner.settings.axis_steps_per_mm[E_AXIS_N(E)])
    #define TMC_SET_PWMTHRS_E(E) tmc_set_pwmthrs(stepperE##E, value, planner.settings.axis_steps_per_mm[E_AXIS_N(E)])

    bool report = true;
    #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3)
      const uint8_t index = parser.byteval('I');
    #endif
    LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) {
      report = false;
      switch (i) {
        case X_AXIS:
          #if AXIS_HAS_STEALTHCHOP(X)
            if (index < 2) TMC_SET_PWMTHRS(X,X);
          #endif
          #if AXIS_HAS_STEALTHCHOP(X2)
            if (!(index & 1)) TMC_SET_PWMTHRS(X,X2);
          #endif
          break;
        case Y_AXIS:
          #if AXIS_HAS_STEALTHCHOP(Y)
            if (index < 2) TMC_SET_PWMTHRS(Y,Y);
          #endif
          #if AXIS_HAS_STEALTHCHOP(Y2)
            if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2);
          #endif
          break;
        case Z_AXIS:
          #if AXIS_HAS_STEALTHCHOP(Z)
            if (index < 2) TMC_SET_PWMTHRS(Z,Z);
          #endif
          #if AXIS_HAS_STEALTHCHOP(Z2)
            if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2);
          #endif
          #if AXIS_HAS_STEALTHCHOP(Z3)
            if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3);
          #endif
          break;
        case E_AXIS: {
          if (get_target_extruder_from_command()) return;
          switch (target_extruder) {
            #if AXIS_HAS_STEALTHCHOP(E0)
              case 0: TMC_SET_PWMTHRS_E(0); break;
            #endif
            #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
              case 1: TMC_SET_PWMTHRS_E(1); break;
            #endif
            #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
              case 2: TMC_SET_PWMTHRS_E(2); break;
            #endif
            #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
              case 3: TMC_SET_PWMTHRS_E(3); break;
            #endif
            #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
              case 4: TMC_SET_PWMTHRS_E(4); break;
            #endif
            #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
              case 5: TMC_SET_PWMTHRS_E(5); break;
            #endif
          }
        } break;
      }
    }

    if (report) {
      #if AXIS_HAS_STEALTHCHOP(X)
        TMC_SAY_PWMTHRS(X,X);
      #endif
      #if AXIS_HAS_STEALTHCHOP(X2)
        TMC_SAY_PWMTHRS(X,X2);
      #endif
      #if AXIS_HAS_STEALTHCHOP(Y)
        TMC_SAY_PWMTHRS(Y,Y);
      #endif
      #if AXIS_HAS_STEALTHCHOP(Y2)
        TMC_SAY_PWMTHRS(Y,Y2);
      #endif
      #if AXIS_HAS_STEALTHCHOP(Z)
        TMC_SAY_PWMTHRS(Z,Z);
      #endif
      #if AXIS_HAS_STEALTHCHOP(Z2)
        TMC_SAY_PWMTHRS(Z,Z2);
      #endif
      #if AXIS_HAS_STEALTHCHOP(Z3)
        TMC_SAY_PWMTHRS(Z,Z3);
      #endif
      #if AXIS_HAS_STEALTHCHOP(E0)
        TMC_SAY_PWMTHRS_E(0);
      #endif
      #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
        TMC_SAY_PWMTHRS_E(1);
      #endif
      #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
        TMC_SAY_PWMTHRS_E(2);
      #endif
      #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
        TMC_SAY_PWMTHRS_E(3);
      #endif
      #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
        TMC_SAY_PWMTHRS_E(4);
      #endif
      #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
        TMC_SAY_PWMTHRS_E(5);
      #endif
    }
  }
#endif // HYBRID_THRESHOLD

/**
 * M914: Set StallGuard sensitivity.
 */
#if USE_SENSORLESS
  void GcodeSuite::M914() {
    #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q)
    #define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)

    bool report = true;
    const uint8_t index = parser.byteval('I');
    LOOP_XYZ(i) if (parser.seen(axis_codes[i])) {
      const int8_t value = (int8_t)constrain(parser.value_int(), -64, 63);
      report = false;
      switch (i) {
        #if X_SENSORLESS
          case X_AXIS:
            #if AXIS_HAS_STALLGUARD(X)
              if (index < 2) TMC_SET_SGT(X);
            #endif
            #if AXIS_HAS_STALLGUARD(X2)
              if (!(index & 1)) TMC_SET_SGT(X2);
            #endif
            break;
        #endif
        #if Y_SENSORLESS
          case Y_AXIS:
            #if AXIS_HAS_STALLGUARD(Y)
              if (index < 2) TMC_SET_SGT(Y);
            #endif
            #if AXIS_HAS_STALLGUARD(Y2)
              if (!(index & 1)) TMC_SET_SGT(Y2);
            #endif
            break;
        #endif
        #if Z_SENSORLESS
          case Z_AXIS:
            #if AXIS_HAS_STALLGUARD(Z)
              if (index < 2) TMC_SET_SGT(Z);
            #endif
            #if AXIS_HAS_STALLGUARD(Z2)
              if (index == 0 || index == 2) TMC_SET_SGT(Z2);
            #endif
            #if AXIS_HAS_STALLGUARD(Z3)
              if (index == 0 || index == 3) TMC_SET_SGT(Z3);
            #endif
            break;
        #endif
      }
    }

    if (report) {
      #if X_SENSORLESS
        #if AXIS_HAS_STALLGUARD(X)
          TMC_SAY_SGT(X);
        #endif
        #if AXIS_HAS_STALLGUARD(X2)
          TMC_SAY_SGT(X2);
        #endif
      #endif
      #if Y_SENSORLESS
        #if AXIS_HAS_STALLGUARD(Y)
          TMC_SAY_SGT(Y);
        #endif
        #if AXIS_HAS_STALLGUARD(Y2)
          TMC_SAY_SGT(Y2);
        #endif
      #endif
      #if Z_SENSORLESS
        #if AXIS_HAS_STALLGUARD(Z)
          TMC_SAY_SGT(Z);
        #endif
        #if AXIS_HAS_STALLGUARD(Z2)
          TMC_SAY_SGT(Z2);
        #endif
        #if AXIS_HAS_STALLGUARD(Z3)
          TMC_SAY_SGT(Z3);
        #endif
      #endif
    }
  }
#endif // USE_SENSORLESS

/**
 * TMC Z axis calibration routine
 */
#if ENABLED(TMC_Z_CALIBRATION)
  void GcodeSuite::M915() {
    const uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT,
                   _z = parser.seenval('Z') ? parser.value_linear_units() : CALIBRATION_EXTRA_HEIGHT;

    if (!TEST(axis_known_position, Z_AXIS)) {
      SERIAL_ECHOLNPGM("\nPlease home Z axis first");
      return;
    }

    #if AXIS_IS_TMC(Z)
      const uint16_t Z_current_1 = stepperZ.getMilliamps();
      stepperZ.rms_current(_rms);
    #endif
    #if AXIS_IS_TMC(Z2)
      const uint16_t Z2_current_1 = stepperZ2.getMilliamps();
      stepperZ2.rms_current(_rms);
    #endif
    #if AXIS_IS_TMC(Z3)
      const uint16_t Z3_current_1 = stepperZ3.getMilliamps();
      stepperZ3.rms_current(_rms);
    #endif

    SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);

    soft_endstops_enabled = false;

    do_blocking_move_to_z(Z_MAX_POS+_z);

    #if AXIS_IS_TMC(Z)
      stepperZ.rms_current(Z_current_1);
    #endif
    #if AXIS_IS_TMC(Z2)
      stepperZ2.rms_current(Z2_current_1);
    #endif
    #if AXIS_IS_TMC(Z3)
      stepperZ3.rms_current(Z3_current_1);
    #endif

    do_blocking_move_to_z(Z_MAX_POS);
    soft_endstops_enabled = true;

    SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
    enqueue_and_echo_commands_P(PSTR("G28 Z"));
  }
#endif

#endif // HAS_TRINAMIC