/** * 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 . * */ #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; LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) { report = false; switch (i) { case X_AXIS: #if X_IS_TRINAMIC TMC_SET_PWMTHRS(X,X); #endif #if X2_IS_TRINAMIC TMC_SET_PWMTHRS(X,X2); #endif break; case Y_AXIS: #if Y_IS_TRINAMIC TMC_SET_PWMTHRS(Y,Y); #endif #if Y2_IS_TRINAMIC TMC_SET_PWMTHRS(Y,Y2); #endif break; case Z_AXIS: #if Z_IS_TRINAMIC TMC_SET_PWMTHRS(Z,Z); #endif #if Z2_IS_TRINAMIC TMC_SET_PWMTHRS(Z,Z2); #endif break; case E_AXIS: #if E0_IS_TRINAMIC TMC_SET_PWMTHRS_E(0); #endif #if E1_IS_TRINAMIC TMC_SET_PWMTHRS_E(1); #endif #if E2_IS_TRINAMIC TMC_SET_PWMTHRS_E(2); #endif #if E3_IS_TRINAMIC TMC_SET_PWMTHRS_E(3); #endif #if E4_IS_TRINAMIC TMC_SET_PWMTHRS_E(4); #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 E1_IS_TRINAMIC TMC_SAY_PWMTHRS_E(1); #endif #if E2_IS_TRINAMIC TMC_SAY_PWMTHRS_E(2); #endif #if E3_IS_TRINAMIC TMC_SAY_PWMTHRS_E(3); #endif #if 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; 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) TMC_SET_SGT(X); #endif #if ENABLED(X2_IS_TMC2130) TMC_SET_SGT(X2); #endif break; case Y_AXIS: #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) TMC_SET_SGT(Y); #endif #if ENABLED(Y2_IS_TMC2130) TMC_SET_SGT(Y2); #endif break; case Z_AXIS: #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) TMC_SET_SGT(Z); #endif #if ENABLED(Z2_IS_TMC2130) 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