Marlin_Firmware/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"

/**
 * M911: Report TMC stepper driver overtemperature pre-warn flag
 * The flag is held by the library and persist until manually cleared by M912
 */
void GcodeSuite::M911() {
  #if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS)
    tmc_report_otpw(stepperX, TMC_X);
  #endif
  #if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX)) || ENABLED(IS_TRAMS)
    tmc_report_otpw(stepperY, TMC_Y);
  #endif
  #if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX)) || ENABLED(IS_TRAMS)
    tmc_report_otpw(stepperZ, TMC_Z);
  #endif
  #if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX)) || ENABLED(IS_TRAMS)
    tmc_report_otpw(stepperE0, TMC_E0);
  #endif
}

/**
 * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
 */
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, TMC_X);
  #endif
  #if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
    if (clearX || clearAll) tmc_clear_otpw(stepperX, TMC_X);
  #endif

  #if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX))
    if (clearY || clearAll) tmc_clear_otpw(stepperY, TMC_Y);
  #endif

  #if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX))
    if (clearZ || clearAll) tmc_clear_otpw(stepperZ, TMC_Z);
  #endif

  #if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX))
    if (clearE || clearAll) tmc_clear_otpw(stepperE0, TMC_E0);
  #endif
}

/**
 * M913: Set HYBRID_THRESHOLD speed.
 */
#if ENABLED(HYBRID_THRESHOLD)
  void GcodeSuite::M913() {
    #define TMC_SAY_PWMTHRS(P,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[P##_AXIS])
    #define TMC_SET_PWMTHRS(P,Q) tmc_set_pwmthrs(stepper##Q, TMC_##Q, value, planner.axis_steps_per_mm[P##_AXIS])
    #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, TMC_E##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 X_IS_TRINAMIC
            if (index == 0) TMC_SET_PWMTHRS(X,X);
          #endif
          #if X2_IS_TRINAMIC
            if (index == 1) TMC_SET_PWMTHRS(X,X2);
          #endif
          break;
        case Y_AXIS:
          #if Y_IS_TRINAMIC
            if (index == 0) TMC_SET_PWMTHRS(Y,Y);
          #endif
          #if Y2_IS_TRINAMIC
            if (index == 1) TMC_SET_PWMTHRS(Y,Y2);
          #endif
          break;
        case Z_AXIS:
          #if Z_IS_TRINAMIC
            if (index == 0) TMC_SET_PWMTHRS(Z,Z);
          #endif
          #if Z2_IS_TRINAMIC
            if (index == 1) TMC_SET_PWMTHRS(Z,Z2);
          #endif
          break;
        case E_AXIS: {
          if (get_target_extruder_from_command()) return;
          switch (target_extruder) {
            #if E0_IS_TRINAMIC
              case 0: TMC_SET_PWMTHRS_E(0); break;
            #endif
            #if E_STEPPERS > 1 && E1_IS_TRINAMIC
              case 1: TMC_SET_PWMTHRS_E(1); break;
            #endif
            #if E_STEPPERS > 2 && E2_IS_TRINAMIC
              case 2: TMC_SET_PWMTHRS_E(2); break;
            #endif
            #if E_STEPPERS > 3 && E3_IS_TRINAMIC
              case 3: TMC_SET_PWMTHRS_E(3); break;
            #endif
            #if E_STEPPERS > 4 && E4_IS_TRINAMIC
              case 4: TMC_SET_PWMTHRS_E(4); break;
            #endif
          }
        } break;
      }
    }

    if (report) LOOP_XYZE(i) switch (i) {
      case X_AXIS:
        #if X_IS_TRINAMIC
          TMC_SAY_PWMTHRS(X,X);
        #endif
        #if X2_IS_TRINAMIC
          TMC_SAY_PWMTHRS(X,X2);
        #endif
        break;
      case Y_AXIS:
        #if Y_IS_TRINAMIC
          TMC_SAY_PWMTHRS(Y,Y);
        #endif
        #if Y2_IS_TRINAMIC
          TMC_SAY_PWMTHRS(Y,Y2);
        #endif
        break;
      case Z_AXIS:
        #if Z_IS_TRINAMIC
          TMC_SAY_PWMTHRS(Z,Z);
        #endif
        #if Z2_IS_TRINAMIC
          TMC_SAY_PWMTHRS(Z,Z2);
        #endif
        break;
      case E_AXIS:
        #if E0_IS_TRINAMIC
          TMC_SAY_PWMTHRS_E(0);
        #endif
        #if E_STEPPERS > 1 && E1_IS_TRINAMIC
          TMC_SAY_PWMTHRS_E(1);
        #endif
        #if E_STEPPERS > 2 && E2_IS_TRINAMIC
          TMC_SAY_PWMTHRS_E(2);
        #endif
        #if E_STEPPERS > 3 && E3_IS_TRINAMIC
          TMC_SAY_PWMTHRS_E(3);
        #endif
        #if E_STEPPERS > 4 && E4_IS_TRINAMIC
          TMC_SAY_PWMTHRS_E(4);
        #endif
        break;
    }
  }
#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, TMC_##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(), -63, 64);
      report = false;
      switch (i) {
        case X_AXIS:
          #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
            if (index == 0) TMC_SET_SGT(X);
          #endif
          #if ENABLED(X2_IS_TMC2130)
            if (index == 1) TMC_SET_SGT(X2);
          #endif
          break;
        case Y_AXIS:
          #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
            if (index == 0) TMC_SET_SGT(Y);
          #endif
          #if ENABLED(Y2_IS_TMC2130)
            if (index == 1) TMC_SET_SGT(Y2);
          #endif
          break;
        case Z_AXIS:
          #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
            if (index == 0) TMC_SET_SGT(Z);
          #endif
          #if ENABLED(Z2_IS_TMC2130)
            if (index == 1) TMC_SET_SGT(Z2);
          #endif
          break;
      }
    }

    if (report) LOOP_XYZ(i) switch (i) {
      case X_AXIS:
        #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
          TMC_SAY_SGT(X);
        #endif
        #if ENABLED(X2_IS_TMC2130)
          TMC_SAY_SGT(X2);
        #endif
        break;
      case Y_AXIS:
        #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
          TMC_SAY_SGT(Y);
        #endif
        #if ENABLED(Y2_IS_TMC2130)
          TMC_SAY_SGT(Y2);
        #endif
        break;
      case Z_AXIS:
        #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
          TMC_SAY_SGT(Z);
        #endif
        #if ENABLED(Z2_IS_TMC2130)
          TMC_SAY_SGT(Z2);
        #endif
        break;
    }
  }
#endif // SENSORLESS_HOMING

/**
 * TMC Z axis calibration routine
 */
#if ENABLED(TMC_Z_CALIBRATION)
  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;
    }

    #if Z_IS_TRINAMIC
      uint16_t Z_current_1 = stepperZ.getCurrent();
      stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if Z2_IS_TRINAMIC
      uint16_t Z2_current_1 = stepperZ2.getCurrent();
      stepperZ2.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 Z_IS_TRINAMIC
      stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if Z2_IS_TRINAMIC
      stepperZ2.setCurrent(Z2_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