TMC2130 Library: @teemuatlut replaces @makertum
This commit is contained in:
Scott Lahteine
@ -189,10 +189,13 @@
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* M666 - Set delta endstop adjustment. (Requires DELTA)
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* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
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* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
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* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
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* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
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* M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
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* M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
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* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
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* M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
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* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
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* M350 - Set microstepping mode. (Requires digital microstepping pins.)
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* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
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*
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@ -6127,58 +6130,6 @@ inline void gcode_M120() { endstops.enable_globally(true); }
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*/
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inline void gcode_M121() { endstops.enable_globally(false); }
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#if ENABLED(HAVE_TMC2130DRIVER)
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/**
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* M122: Output Trinamic TMC2130 status to serial output. Very bad formatting.
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*/
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static void tmc2130_report(Trinamic_TMC2130 &stepr, const char *name) {
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stepr.read_STAT();
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SERIAL_PROTOCOL(name);
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SERIAL_PROTOCOL(": ");
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stepr.isReset() ? SERIAL_PROTOCOLPGM("RESET ") : SERIAL_PROTOCOLPGM("----- ");
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stepr.isError() ? SERIAL_PROTOCOLPGM("ERROR ") : SERIAL_PROTOCOLPGM("----- ");
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stepr.isStallguard() ? SERIAL_PROTOCOLPGM("SLGRD ") : SERIAL_PROTOCOLPGM("----- ");
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stepr.isStandstill() ? SERIAL_PROTOCOLPGM("STILL ") : SERIAL_PROTOCOLPGM("----- ");
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SERIAL_PROTOCOLLN(stepr.debug());
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}
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inline void gcode_M122() {
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SERIAL_PROTOCOLLNPGM("Reporting TMC2130 status");
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#if ENABLED(X_IS_TMC2130)
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tmc2130_report(stepperX, "X");
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#endif
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#if ENABLED(X2_IS_TMC2130)
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tmc2130_report(stepperX2, "X2");
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#endif
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#if ENABLED(Y_IS_TMC2130)
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tmc2130_report(stepperY, "Y");
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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tmc2130_report(stepperY2, "Y2");
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#endif
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#if ENABLED(Z_IS_TMC2130)
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tmc2130_report(stepperZ, "Z");
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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tmc2130_report(stepperZ2, "Z2");
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#endif
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#if ENABLED(E0_IS_TMC2130)
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tmc2130_report(stepperE0, "E0");
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#endif
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#if ENABLED(E1_IS_TMC2130)
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tmc2130_report(stepperE1, "E1");
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#endif
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#if ENABLED(E2_IS_TMC2130)
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tmc2130_report(stepperE2, "E2");
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#endif
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#if ENABLED(E3_IS_TMC2130)
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tmc2130_report(stepperE3, "E3");
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#endif
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}
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#endif // HAVE_TMC2130DRIVER
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#if ENABLED(BLINKM) || ENABLED(RGB_LED)
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void set_led_color(const uint8_t r, const uint8_t g, const uint8_t b) {
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@ -7610,7 +7561,7 @@ inline void gcode_M503() {
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SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
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}
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#endif // M605
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#endif // DUAL_NOZZLE_DUPLICATION_MODE
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#if ENABLED(LIN_ADVANCE)
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/**
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@ -7637,7 +7588,99 @@ inline void gcode_M503() {
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if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Automatic");
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}
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}
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#endif
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#endif // LIN_ADVANCE
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#if ENABLED(HAVE_TMC2130)
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static void tmc2130_print_current(const int mA, const char name) {
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SERIAL_CHAR(name);
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SERIAL_ECHOPGM(" axis driver current: ");
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SERIAL_ECHOLN(mA);
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}
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static void tmc2130_set_current(const int mA, TMC2130Stepper &st, const char name) {
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tmc2130_print_current(mA, name);
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st.setCurrent(mA, 0.11, 0.5);
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}
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static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
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tmc2130_print_current(st.getCurrent(), name);
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}
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static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
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SERIAL_CHAR(name);
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
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serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
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}
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static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
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st.clear_otpw();
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SERIAL_CHAR(name);
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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/**
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* M906: Set motor current in milliamps using axis codes X, Y, Z, E
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*
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* Report driver currents when no axis specified
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*/
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inline void gcode_M906() {
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uint16_t values[NUM_AXIS];
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LOOP_XYZE(i)
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values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
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#if ENABLED(X_IS_TMC2130)
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if (values[X_AXIS]) tmc2130_set_current(values[X_AXIS], stepperX, 'X');
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else tmc2130_get_current(stepperX, 'X');
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (values[Y_AXIS]) tmc2130_set_current(values[Y_AXIS], stepperY, 'Y');
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else tmc2130_get_current(stepperY, 'Y');
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#endif
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#if ENABLED(Z_IS_TMC2130)
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if (values[Z_AXIS]) tmc2130_set_current(values[Z_AXIS], stepperZ, 'Z');
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else tmc2130_get_current(stepperZ, 'Z');
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#endif
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#if ENABLED(E0_IS_TMC2130)
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if (values[E_AXIS]) tmc2130_set_current(values[E_AXIS], stepperE0, 'E');
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else tmc2130_get_current(stepperE0, 'E');
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#endif
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}
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/**
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* M911: Report TMC2130 stepper driver overtemperature pre-warn flag
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* The flag is held by the library and persist until manually cleared by M912
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*/
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inline void gcode_M911() {
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#if ENABLED(X_IS_TMC2130)
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tmc2130_report_otpw(stepperX, 'X');
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#endif
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#if ENABLED(Y_IS_TMC2130)
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tmc2130_report_otpw(stepperY, 'Y');
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#endif
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#if ENABLED(Z_IS_TMC2130)
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tmc2130_report_otpw(stepperZ, 'Z');
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#endif
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#if ENABLED(E0_IS_TMC2130)
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tmc2130_report_otpw(stepperE0, 'E');
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#endif
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}
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/**
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* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
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*/
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inline void gcode_M912() {
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#if ENABLED(X_IS_TMC2130)
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if (code_seen('X')) tmc2130_clear_otpw(stepperX, 'X');
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#endif
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#if ENABLED(Y_IS_TMC2130)
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if (code_seen('Y')) tmc2130_clear_otpw(stepperY, 'Y');
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#endif
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#if ENABLED(Z_IS_TMC2130)
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if (code_seen('Z')) tmc2130_clear_otpw(stepperZ, 'Z');
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#endif
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#if ENABLED(E0_IS_TMC2130)
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if (code_seen('E')) tmc2130_clear_otpw(stepperE0, 'E');
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#endif
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}
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#endif // HAVE_TMC2130
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/**
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* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
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@ -8600,12 +8643,6 @@ void process_next_command() {
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gcode_M121();
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break;
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#if ENABLED(HAVE_TMC2130DRIVER)
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case 122: // M122: Diagnose, used to debug TMC2130
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gcode_M122();
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break;
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#endif
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#if ENABLED(ULTIPANEL)
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case 145: // M145: Set material heatup parameters
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@ -8882,6 +8919,12 @@ void process_next_command() {
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break;
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#endif
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#if ENABLED(HAVE_TMC2130)
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case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
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gcode_M906();
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break;
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#endif
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case 907: // M907: Set digital trimpot motor current using axis codes.
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gcode_M907();
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break;
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@ -8906,6 +8949,16 @@ void process_next_command() {
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#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
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#if ENABLED(HAVE_TMC2130)
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case 911: // M911: Report TMC2130 prewarn triggered flags
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gcode_M911();
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break;
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case 912: // M911: Clear TMC2130 prewarn triggered flags
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gcode_M912();
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break;
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#endif
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#if HAS_MICROSTEPS
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case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
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@ -10169,6 +10222,65 @@ void disable_all_steppers() {
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disable_e3();
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}
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#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
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void automatic_current_control(const TMC2130Stepper &st) {
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#if CURRENT_STEP > 0
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const bool is_otpw = st.checkOT(), // Check otpw even if we don't adjust. Allows for flag inspection.
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is_otpw_triggered = st.getOTPW();
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if (!is_otpw && !is_otpw_triggered) {
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// OTPW bit not triggered yet -> Increase current
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const uint16_t current = st.getCurrent() + CURRENT_STEP;
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if (current <= AUTO_ADJUST_MAX) st.SilentStepStick2130(current);
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}
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else if (is_otpw && is_otpw_triggered) {
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// OTPW bit triggered, triggered flag raised -> Decrease current
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st.SilentStepStick2130((float)st.getCurrent() - CURRENT_STEP);
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}
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// OTPW bit cleared (we've cooled down), triggered flag still raised until manually cleared -> Do nothing, we're good
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#endif
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}
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void checkOverTemp() {
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static millis_t next_cOT = 0;
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if (ELAPSED(millis(), next_cOT)) {
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next_cOT = millis() + 5000;
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#if ENABLED(X_IS_TMC2130)
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automatic_current_control(stepperX);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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automatic_current_control(stepperY);
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#endif
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#if ENABLED(Z_IS_TMC2130)
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automatic_current_control(stepperZ);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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automatic_current_control(stepperX2);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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automatic_current_control(stepperY2);
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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automatic_current_control(stepperZ2);
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#endif
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#if ENABLED(E0_IS_TMC2130)
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automatic_current_control(stepperE0);
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#endif
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#if ENABLED(E1_IS_TMC2130)
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automatic_current_control(stepperE1);
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#endif
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#if ENABLED(E2_IS_TMC2130)
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automatic_current_control(stepperE2);
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#endif
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#if ENABLED(E3_IS_TMC2130)
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automatic_current_control(stepperE3);
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#endif
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}
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}
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#endif // AUTOMATIC_CURRENT_CONTROL
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/**
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* Manage several activities:
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* - Check for Filament Runout
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@ -10360,6 +10472,10 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
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handle_status_leds();
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#endif
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#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
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checkOverTemp();
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#endif
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planner.check_axes_activity();
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}
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