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muele-marlin/Marlin/src/feature/tmc_util.h
InsanityAutomation 0fcf2b1110 Quad Z stepper support (#16277)
2020-01-19 23:35:07 -06:00

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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
#include "../lcd/ultralcd.h"
#if HAS_TRINAMIC
#include <TMCStepper.h>
#include "../module/planner.h"
#define CHOPPER_DEFAULT_12V { 3, -1, 1 }
#define CHOPPER_DEFAULT_19V { 4, 1, 1 }
#define CHOPPER_DEFAULT_24V { 4, 2, 1 }
#define CHOPPER_DEFAULT_36V { 5, 2, 4 }
#define CHOPPER_PRUSAMK3_24V { 3, -2, 6 }
#define CHOPPER_MARLIN_119 { 5, 2, 3 }
#if ENABLED(MONITOR_DRIVER_STATUS) && !defined(MONITOR_DRIVER_STATUS_INTERVAL_MS)
#define MONITOR_DRIVER_STATUS_INTERVAL_MS 500u
#endif
constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const uint32_t spmm) {
return 12650000UL * msteps / (256 * thrs * spmm);
}
template<char AXIS_LETTER, char DRIVER_ID>
class TMCStorage {
protected:
// Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class"
TMCStorage() {}
public:
uint16_t val_mA = 0;
#if ENABLED(MONITOR_DRIVER_STATUS)
uint8_t otpw_count = 0,
error_count = 0;
bool flag_otpw = false;
inline bool getOTPW() { return flag_otpw; }
inline void clear_otpw() { flag_otpw = 0; }
#endif
inline uint16_t getMilliamps() { return val_mA; }
inline void printLabel() {
SERIAL_CHAR(AXIS_LETTER);
if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
}
struct {
#if HAS_STEALTHCHOP
bool stealthChop_enabled = false;
#endif
#if ENABLED(HYBRID_THRESHOLD)
uint8_t hybrid_thrs = 0;
#endif
#if USE_SENSORLESS
int16_t homing_thrs = 0;
#endif
} stored;
};
template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(const uint16_t cs_pin, const float RS) :
TMC(cs_pin, RS)
{}
TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t axis_chain_index) :
TMC(cs_pin, RS, axis_chain_index)
{}
TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) :
TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
{}
TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) :
TMC(CS, RS, pinMOSI, pinMISO, pinSCK, axis_chain_index)
{}
inline uint16_t rms_current() { return TMC::rms_current(); }
inline void rms_current(uint16_t mA) {
this->val_mA = mA;
TMC::rms_current(mA);
}
inline void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC::rms_current(mA, mult);
}
#if HAS_STEALTHCHOP
inline void refresh_stepping_mode() { this->en_pwm_mode(this->stored.stealthChop_enabled); }
inline bool get_stealthChop_status() { return this->en_pwm_mode(); }
#endif
#if ENABLED(HYBRID_THRESHOLD)
uint32_t get_pwm_thrs() {
return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
}
void set_pwm_thrs(const uint32_t thrs) {
TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
#if HAS_LCD_MENU
this->stored.hybrid_thrs = thrs;
#endif
}
#endif
#if USE_SENSORLESS
inline int16_t homing_threshold() { return TMC::sgt(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC::sgt(sgt_val);
#if HAS_LCD_MENU
this->stored.homing_thrs = sgt_val;
#endif
}
#if ENABLED(SPI_ENDSTOPS)
bool test_stall_status();
#endif
#endif
#if HAS_LCD_MENU
inline void refresh_stepper_current() { rms_current(this->val_mA); }
#if ENABLED(HYBRID_THRESHOLD)
inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
#endif
#if USE_SENSORLESS
inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
#endif
static constexpr int8_t sgt_min = -64,
sgt_max = 63;
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(Stream * SerialPort, const float RS, const uint8_t) :
TMC2208Stepper(SerialPort, RS)
{}
TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t, const bool has_rx=true) :
TMC2208Stepper(RX, TX, RS, has_rx)
{}
uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
inline void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2208Stepper::rms_current(mA);
}
inline void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC2208Stepper::rms_current(mA, mult);
}
#if HAS_STEALTHCHOP
inline void refresh_stepping_mode() { en_spreadCycle(!this->stored.stealthChop_enabled); }
inline bool get_stealthChop_status() { return !this->en_spreadCycle(); }
#endif
#if ENABLED(HYBRID_THRESHOLD)
uint32_t get_pwm_thrs() {
return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
}
void set_pwm_thrs(const uint32_t thrs) {
TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
#if HAS_LCD_MENU
this->stored.hybrid_thrs = thrs;
#endif
}
#endif
#if HAS_LCD_MENU
inline void refresh_stepper_current() { rms_current(this->val_mA); }
#if ENABLED(HYBRID_THRESHOLD)
inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
#endif
#endif
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2209Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(Stream * SerialPort, const float RS, const uint8_t addr) :
TMC2209Stepper(SerialPort, RS, addr)
{}
TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t addr, const bool) :
TMC2209Stepper(RX, TX, RS, addr)
{}
uint8_t get_address() { return slave_address; }
uint16_t rms_current() { return TMC2209Stepper::rms_current(); }
inline void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2209Stepper::rms_current(mA);
}
inline void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC2209Stepper::rms_current(mA, mult);
}
#if HAS_STEALTHCHOP
inline void refresh_stepping_mode() { en_spreadCycle(!this->stored.stealthChop_enabled); }
inline bool get_stealthChop_status() { return !this->en_spreadCycle(); }
#endif
#if ENABLED(HYBRID_THRESHOLD)
uint32_t get_pwm_thrs() {
return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
}
void set_pwm_thrs(const uint32_t thrs) {
TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
#if HAS_LCD_MENU
this->stored.hybrid_thrs = thrs;
#endif
}
#endif
#if USE_SENSORLESS
inline int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC2209Stepper::SGTHRS(sgt_val);
#if HAS_LCD_MENU
this->stored.homing_thrs = sgt_val;
#endif
}
#endif
#if HAS_LCD_MENU
inline void refresh_stepper_current() { rms_current(this->val_mA); }
#if ENABLED(HYBRID_THRESHOLD)
inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
#endif
#if USE_SENSORLESS
inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
#endif
static constexpr uint8_t sgt_min = 0,
sgt_max = 255;
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t) :
TMC2660Stepper(cs_pin, RS)
{}
TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t) :
TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK)
{}
inline uint16_t rms_current() { return TMC2660Stepper::rms_current(); }
inline void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2660Stepper::rms_current(mA);
}
#if USE_SENSORLESS
inline int16_t homing_threshold() { return TMC2660Stepper::sgt(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC2660Stepper::sgt(sgt_val);
#if HAS_LCD_MENU
this->stored.homing_thrs = sgt_val;
#endif
}
#endif
#if HAS_LCD_MENU
inline void refresh_stepper_current() { rms_current(this->val_mA); }
#if USE_SENSORLESS
inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
#endif
static constexpr int8_t sgt_min = -64,
sgt_max = 63;
};
template<typename TMC>
void tmc_print_current(TMC &st) {
st.printLabel();
SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps());
}
#if ENABLED(MONITOR_DRIVER_STATUS)
template<typename TMC>
void tmc_report_otpw(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" temperature prewarn triggered: ");
serialprint_truefalse(st.getOTPW());
SERIAL_EOL();
}
template<typename TMC>
void tmc_clear_otpw(TMC &st) {
st.clear_otpw();
st.printLabel();
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
#endif
#if ENABLED(HYBRID_THRESHOLD)
template<typename TMC>
void tmc_print_pwmthrs(TMC &st) {
st.printLabel();
SERIAL_ECHOLNPAIR(" stealthChop max speed: ", st.get_pwm_thrs());
}
#endif
#if USE_SENSORLESS
template<typename TMC>
void tmc_print_sgt(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" homing sensitivity: ");
SERIAL_PRINTLN(st.homing_threshold(), DEC);
}
#endif
void monitor_tmc_drivers();
void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z, const bool test_e);
#if ENABLED(TMC_DEBUG)
#if ENABLED(MONITOR_DRIVER_STATUS)
void tmc_set_report_interval(const uint16_t update_interval);
#endif
void tmc_report_all(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
#endif
/**
* TMC2130-specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
* spreadCycle and stealthChop are mutually-exclusive.
*
* Defined here because of limitations with templates and headers.
*/
#if USE_SENSORLESS
// Track enabled status of stealthChop and only re-enable where applicable
struct sensorless_t { bool x, y, z, x2, y2, z2, z3, z4; };
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
extern millis_t sg_guard_period;
constexpr uint16_t default_sg_guard_duration = 400;
struct slow_homing_t {
xy_ulong_t acceleration;
#if HAS_CLASSIC_JERK
xy_float_t jerk_xy;
#endif
};
#endif
bool tmc_enable_stallguard(TMC2130Stepper &st);
void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
bool tmc_enable_stallguard(TMC2209Stepper &st);
void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth);
bool tmc_enable_stallguard(TMC2660Stepper);
void tmc_disable_stallguard(TMC2660Stepper, const bool);
#if ENABLED(SPI_ENDSTOPS)
template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() {
this->switchCSpin(LOW);
// read stallGuard flag from TMC library, will handle HW and SW SPI
TMC2130_n::DRV_STATUS_t drv_status{0};
drv_status.sr = this->DRV_STATUS();
this->switchCSpin(HIGH);
return drv_status.stallGuard;
}
#endif // SPI_ENDSTOPS
#endif // USE_SENSORLESS
#if TMC_HAS_SPI
void tmc_init_cs_pins();
#endif
#endif // HAS_TRINAMIC
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