Marlin_Firmware/Marlin/src/feature/tmc_util.h

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/**
* 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/>.
*
*/
#ifndef _TMC_UTIL_H_
#define _TMC_UTIL_H_
#include <TMC2130Stepper.h>
#include "../inc/MarlinConfig.h"
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extern bool report_tmc_status;
extern char extended_axis_codes[11][3];
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enum TMC_AxisEnum {
TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2,
TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4
};
template<typename TMC>
void tmc_get_current(TMC &st, const char name[]);
template<typename TMC>
void tmc_set_current(TMC &st, const char name[], const int mA);
template<typename TMC>
void tmc_report_otpw(TMC &st, const char name[]);
template<typename TMC>
void tmc_clear_otpw(TMC &st, const char name[]);
template<typename TMC>
void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm);
template<typename TMC>
void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm);
template<typename TMC>
void tmc_get_sgt(TMC &st, const char name[]);
template<typename TMC>
void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val);
void _M122();
void monitor_tmc_driver();
/**
* 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 ENABLED(SENSORLESS_HOMING)
template<typename TMC>
void tmc_sensorless_homing(TMC &st, bool enable=true) {
#if ENABLED(STEALTHCHOP)
if (enable) {
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
st.stealthChop(0);
}
else {
st.coolstep_min_speed(0);
st.stealthChop(1);
}
#endif
st.diag1_stall(enable ? 1 : 0);
}
#endif
#endif // _TMC_UTIL_H_