Migrate to a new TMC library (#11943)
This commit is contained in:
teemuatlut
committed by
Scott Lahteine
Scott Lahteine
parent
2abf3d258d
commit
c3229e1b34
@@ -23,91 +23,132 @@
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#ifndef _TMC_UTIL_H_
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#define _TMC_UTIL_H_
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#include "../inc/MarlinConfigPre.h"
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#if HAS_DRIVER(TMC2130)
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#include <TMC2130Stepper.h>
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#include "../inc/MarlinConfig.h"
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#if HAS_TRINAMIC
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#include <TMCStepper.h>
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#endif
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#if HAS_DRIVER(TMC2208)
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#include <TMC2208Stepper.h>
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#endif
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#define TMC_X_LABEL 'X', '0'
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#define TMC_Y_LABEL 'Y', '0'
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#define TMC_Z_LABEL 'Z', '0'
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extern bool report_tmc_status;
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#define TMC_X2_LABEL 'X', '2'
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#define TMC_Y2_LABEL 'Y', '2'
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#define TMC_Z2_LABEL 'Z', '2'
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#define TMC_Z3_LABEL 'Z', '3'
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enum TMC_AxisEnum : char {
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TMC_X, TMC_Y, TMC_Z
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
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, TMC_X2
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#endif
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#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
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, TMC_Y2
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#endif
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#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
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, TMC_Z2
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#endif
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#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
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, TMC_Z3
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#endif
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#if E_STEPPERS
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, TMC_E0
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#if E_STEPPERS > 1
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, TMC_E1
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#if E_STEPPERS > 2
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, TMC_E2
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#if E_STEPPERS > 3
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, TMC_E3
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#if E_STEPPERS > 4
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, TMC_E4
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#if E_STEPPERS > 5
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, TMC_E5
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#endif // E_STEPPERS > 5
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#endif // E_STEPPERS > 4
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#endif // E_STEPPERS > 3
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#endif // E_STEPPERS > 2
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#endif // E_STEPPERS > 1
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#endif // E_STEPPERS
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#define TMC_E0_LABEL 'E', '0'
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#define TMC_E1_LABEL 'E', '1'
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#define TMC_E2_LABEL 'E', '2'
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#define TMC_E3_LABEL 'E', '3'
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#define TMC_E4_LABEL 'E', '4'
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#define TMC_E5_LABEL 'E', '5'
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template<char AXIS_LETTER, char DRIVER_ID>
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class TMCStorage {
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protected:
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// Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class"
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TMCStorage() {}
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uint16_t val_mA = 0;
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public:
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#if ENABLED(MONITOR_DRIVER_STATUS)
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uint8_t otpw_count = 0;
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bool flag_otpw = false;
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bool getOTPW() { return flag_otpw; }
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void clear_otpw() { flag_otpw = 0; }
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#endif
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uint16_t getMilliamps() { return val_mA; }
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void printLabel() {
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SERIAL_CHAR(AXIS_LETTER);
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if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
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}
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};
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template<class TMC, char AXIS_LETTER, char DRIVER_ID>
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class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
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public:
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TMCMarlin(uint16_t cs_pin, float RS) :
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TMC(cs_pin, RS)
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{}
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TMCMarlin(uint16_t CS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
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TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
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{}
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uint16_t rms_current() { return TMC::rms_current(); }
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void rms_current(uint16_t mA) {
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this->val_mA = mA;
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TMC::rms_current(mA);
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}
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void rms_current(uint16_t mA, float mult) {
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this->val_mA = mA;
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TMC::rms_current(mA, mult);
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}
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};
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template<char AXIS_LETTER, char DRIVER_ID>
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class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
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public:
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TMCMarlin(Stream * SerialPort, float RS, bool has_rx=true) :
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TMC2208Stepper(SerialPort, RS, has_rx=true)
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{}
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TMCMarlin(uint16_t RX, uint16_t TX, float RS, bool has_rx=true) :
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TMC2208Stepper(RX, TX, RS, has_rx=true)
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{}
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uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
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void rms_current(uint16_t mA) {
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this->val_mA = mA;
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TMC2208Stepper::rms_current(mA);
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}
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void rms_current(uint16_t mA, float mult) {
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this->val_mA = mA;
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TMC2208Stepper::rms_current(mA, mult);
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}
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};
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constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
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return 12650000UL * msteps / (256 * thrs * spmm);
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}
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void _tmc_say_axis(const TMC_AxisEnum axis);
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void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr);
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void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw);
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void _tmc_say_otpw_cleared(const TMC_AxisEnum axis);
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void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs);
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void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt);
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template<typename TMC>
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void tmc_get_current(TMC &st, const TMC_AxisEnum axis) {
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_tmc_say_current(axis, st.getCurrent());
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void tmc_get_current(TMC &st) {
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st.printLabel();
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SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps());
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}
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template<typename TMC>
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void tmc_set_current(TMC &st, const int mA) {
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
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st.rms_current(mA);
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}
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#if ENABLED(MONITOR_DRIVER_STATUS)
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template<typename TMC>
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void tmc_report_otpw(TMC &st) {
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st.printLabel();
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SERIAL_ECHOPGM(" temperature prewarn triggered: ");
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serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
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SERIAL_EOL();
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}
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template<typename TMC>
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void tmc_clear_otpw(TMC &st) {
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st.clear_otpw();
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st.printLabel();
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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#endif
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template<typename TMC>
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void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) {
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_tmc_say_otpw(axis, st.getOTPW());
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}
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template<typename TMC>
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void tmc_clear_otpw(TMC &st, const TMC_AxisEnum axis) {
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st.clear_otpw();
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_tmc_say_otpw_cleared(axis);
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}
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template<typename TMC>
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void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) {
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_tmc_say_pwmthrs(axis, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
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void tmc_get_pwmthrs(TMC &st, const uint16_t spmm) {
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st.printLabel();
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SERIAL_ECHOLNPAIR(" stealthChop max speed: ", _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
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}
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template<typename TMC>
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void tmc_set_pwmthrs(TMC &st, const int32_t thrs, const uint32_t spmm) {
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st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
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}
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template<typename TMC>
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void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) {
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_tmc_say_sgt(axis, st.sgt());
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void tmc_get_sgt(TMC &st) {
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st.printLabel();
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SERIAL_ECHOPGM(" homing sensitivity: ");
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SERIAL_PRINTLN(st.sgt(), DEC);
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}
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template<typename TMC>
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void tmc_set_sgt(TMC &st, const int8_t sgt_val) {
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