/** * 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 . * */ #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" #define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && PIN_EXISTS(ST##_SERIAL_RX))) #define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N)) /** * 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, TMC_X); #endif #if M91x_USE(X2) tmc_report_otpw(stepperX2, TMC_X2); #endif #if M91x_USE(Y) tmc_report_otpw(stepperY, TMC_Y); #endif #if M91x_USE(Y2) tmc_report_otpw(stepperY2, TMC_Y2); #endif #if M91x_USE(Z) tmc_report_otpw(stepperZ, TMC_Z); #endif #if M91x_USE(Z2) tmc_report_otpw(stepperZ2, TMC_Z2); #endif #if M91x_USE(Z3) tmc_report_otpw(stepperZ3, TMC_Z3); #endif #if M91x_USE_E(0) tmc_report_otpw(stepperE0, TMC_E0); #endif #if M91x_USE_E(1) tmc_report_otpw(stepperE1, TMC_E1); #endif #if M91x_USE_E(2) tmc_report_otpw(stepperE2, TMC_E2); #endif #if M91x_USE_E(3) tmc_report_otpw(stepperE3, TMC_E3); #endif #if M91x_USE_E(4) tmc_report_otpw(stepperE4, TMC_E4); #endif #if M91x_USE_E(5) tmc_report_otpw(stepperE5, TMC_E5); #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() { const bool hasX = parser.seen(axis_codes[X_AXIS]), hasY = parser.seen(axis_codes[Y_AXIS]), hasZ = parser.seen(axis_codes[Z_AXIS]), hasE = parser.seen(axis_codes[E_AXIS]), hasNone = !hasX && !hasY && !hasZ && !hasE; #if M91x_USE(X) || M91x_USE(X2) 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, TMC_X); #endif #if M91x_USE(X2) if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2, TMC_X2); #endif #endif #if M91x_USE(Y) || M91x_USE(Y2) 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, TMC_Y); #endif #if M91x_USE(Y2) if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2, TMC_Y2); #endif #endif #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3) 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, TMC_Z); #endif #if M91x_USE(Z2) if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2, TMC_Z2); #endif #if M91x_USE(Z3) if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3, TMC_Z3); #endif #endif #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) 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, TMC_E0); #endif #if M91x_USE_E(1) if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1, TMC_E1); #endif #if M91x_USE_E(2) if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2, TMC_E2); #endif #if M91x_USE_E(3) if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3, TMC_E3); #endif #if M91x_USE_E(4) if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4, TMC_E4); #endif #if M91x_USE_E(5) if (hasNone || eval == 5 || (hasE && eval == 10)) tmc_clear_otpw(stepperE5, TMC_E5); #endif #endif } /** * M913: Set HYBRID_THRESHOLD speed. */ #if ENABLED(HYBRID_THRESHOLD) void GcodeSuite::M913() { #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[_AXIS(A)]) #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.axis_steps_per_mm[_AXIS(A)]) #define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0) #define TMC_SET_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, value, planner.axis_steps_per_mm[E_AXIS_N]); }while(0) bool report = true; const uint8_t index = parser.byteval('I'); 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 SENSORLESS_HOMING sensitivity. */ #if ENABLED(SENSORLESS_HOMING) void GcodeSuite::M914() { #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##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 // SENSORLESS_HOMING /** * 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.getCurrent(); stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER); #endif #if AXIS_IS_TMC(Z2) const uint16_t Z2_current_1 = stepperZ2.getCurrent(); stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER); #endif #if Z3_IS_TRINAMIC const uint16_t Z3_current_1 = stepperZ3.getCurrent(); stepperZ3.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER); #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.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER); #endif #if AXIS_IS_TMC(Z2) stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER); #endif #if AXIS_IS_TMC(Z3) stepperZ3.setCurrent(Z3_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"); enqueue_and_echo_commands_P(PSTR("G28 Z")); } #endif #endif // HAS_TRINAMIC