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Add support for Triple-Z steppers/endstops

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This commit is contained in:
Holger Müller
2018-06-19 18:55:49 +02:00
committed by Scott Lahteine
parent bc06406d7d
commit 1a6f2b29b8
37 changed files with 901 additions and 155 deletions
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34
Marlin/src/gcode/calibrate/M666.cpp
View File

@ -59,44 +59,60 @@
#endif
}
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#include "../../module/endstops.h"
/**
* M666: Set Dual Endstops offsets for X, Y, and/or Z.
* With no parameters report current offsets.
*
* For Triple Z Endstops:
* Set Z2 Only: M666 S2 Z<offset>
* Set Z3 Only: M666 S3 Z<offset>
* Set Both: M666 Z<offset>
*/
void GcodeSuite::M666() {
bool report = true;
#if ENABLED(X_DUAL_ENDSTOPS)
if (parser.seen('X')) {
endstops.x_endstop_adj = parser.value_linear_units();
endstops.x2_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (parser.seen('Y')) {
endstops.y_endstop_adj = parser.value_linear_units();
endstops.y2_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
#if ENABLED(Z_TRIPLE_ENDSTOPS)
if (parser.seen('Z')) {
endstops.z_endstop_adj = parser.value_linear_units();
const int ind = parser.intval('S');
const float z_adj = parser.value_linear_units();
if (!ind || ind == 2) endstops.z2_endstop_adj = z_adj;
if (!ind || ind == 3) endstops.z3_endstop_adj = z_adj;
report = false;
}
#elif Z_MULTI_ENDSTOPS
if (parser.seen('Z')) {
endstops.z2_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
if (report) {
SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): ");
#if ENABLED(X_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" X", endstops.x_endstop_adj);
SERIAL_ECHOPAIR(" X2:", endstops.x2_endstop_adj);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" Y", endstops.y_endstop_adj);
SERIAL_ECHOPAIR(" Y2:", endstops.y2_endstop_adj);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" Z", endstops.z_endstop_adj);
#if Z_MULTI_ENDSTOPS
SERIAL_ECHOPAIR(" Z2:", endstops.z2_endstop_adj);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
SERIAL_ECHOPAIR(" Z3:", endstops.z3_endstop_adj);
#endif
SERIAL_EOL();
}

6
Marlin/src/gcode/feature/trinamic/M906.cpp
View File

@ -64,6 +64,9 @@ void GcodeSuite::M906() {
#if AXIS_IS_TMC(Z2)
if (index == 1) TMC_SET_CURRENT(Z2);
#endif
#if AXIS_IS_TMC(Z3)
if (index == 2) TMC_SET_CURRENT(Z3);
#endif
break;
case E_AXIS: {
if (get_target_extruder_from_command()) return;
@ -107,6 +110,9 @@ void GcodeSuite::M906() {
#if AXIS_IS_TMC(Z2)
TMC_SAY_CURRENT(Z2);
#endif
#if AXIS_IS_TMC(Z3)
TMC_SAY_CURRENT(Z3);
#endif
#if AXIS_IS_TMC(E0)
TMC_SAY_CURRENT(E0);
#endif

63
Marlin/src/gcode/feature/trinamic/M911-M915.cpp
View File

@ -56,6 +56,9 @@ void GcodeSuite::M911() {
#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
@ -75,7 +78,7 @@ void GcodeSuite::M911() {
/**
* 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, and E[index].
* 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:
@ -93,51 +96,54 @@ void GcodeSuite::M912() {
hasNone = !hasX && !hasY && !hasZ && !hasE;
#if M91x_USE(X) || M91x_USE(X2)
const uint8_t xval = parser.byteval(axis_codes[X_AXIS], 10);
const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
#if M91x_USE(X)
if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX, TMC_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 == 10)) tmc_clear_otpw(stepperX2, TMC_X2);
if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2, TMC_X2);
#endif
#endif
#if M91x_USE(Y) || M91x_USE(Y2)
const uint8_t yval = parser.byteval(axis_codes[Y_AXIS], 10);
const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
#if M91x_USE(Y)
if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY, TMC_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 == 10)) tmc_clear_otpw(stepperY2, TMC_Y2);
if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2, TMC_Y2);
#endif
#endif
#if M91x_USE(Z) || M91x_USE(Z2)
const uint8_t zval = parser.byteval(axis_codes[Z_AXIS], 10);
#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 == 10)) tmc_clear_otpw(stepperZ, TMC_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 == 10)) tmc_clear_otpw(stepperZ2, TMC_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 uint8_t eval = parser.byteval(axis_codes[E_AXIS], 10);
const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
#if M91x_USE_E(0)
if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0, TMC_E0);
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 == 10)) tmc_clear_otpw(stepperE1, TMC_E1);
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 == 10)) tmc_clear_otpw(stepperE2, TMC_E2);
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 == 10)) tmc_clear_otpw(stepperE3, TMC_E3);
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 == 10)) tmc_clear_otpw(stepperE4, TMC_E4);
if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4, TMC_E4);
#endif
#endif
}
@ -178,7 +184,10 @@ void GcodeSuite::M912() {
if (index < 2) TMC_SET_PWMTHRS(Z,Z);
#endif
#if AXIS_HAS_STEALTHCHOP(Z2)
if (!(index & 1)) TMC_SET_PWMTHRS(Z,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: {
@ -223,6 +232,9 @@ void GcodeSuite::M912() {
#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
@ -282,7 +294,10 @@ void GcodeSuite::M912() {
if (index < 2) TMC_SET_SGT(Z);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
if (!(index & 1)) TMC_SET_SGT(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
@ -313,6 +328,9 @@ void GcodeSuite::M912() {
#if AXIS_HAS_STALLGUARD(Z2)
TMC_SAY_SGT(Z2);
#endif
#if AXIS_HAS_STALLGUARD(Z3)
TMC_SAY_SGT(Z3);
#endif
#endif
}
}
@ -339,6 +357,10 @@ void GcodeSuite::M912() {
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);
@ -352,6 +374,9 @@ void GcodeSuite::M912() {
#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;