402 lines
15 KiB
C++
402 lines
15 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfig.h"
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#include "../lcd/marlinui.h"
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#if HAS_TRINAMIC_CONFIG
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#include <TMCStepper.h>
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#include "../module/planner.h"
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#define CHOPPER_DEFAULT_12V { 3, -1, 1 }
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#define CHOPPER_DEFAULT_19V { 4, 1, 1 }
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#define CHOPPER_DEFAULT_24V { 4, 2, 1 }
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#define CHOPPER_DEFAULT_36V { 5, 2, 4 }
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#define CHOPPER_PRUSAMK3_24V { 3, -2, 6 }
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#define CHOPPER_MARLIN_119 { 5, 2, 3 }
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#define CHOPPER_09STEP_24V { 3, -1, 5 }
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#if ENABLED(MONITOR_DRIVER_STATUS) && !defined(MONITOR_DRIVER_STATUS_INTERVAL_MS)
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#define MONITOR_DRIVER_STATUS_INTERVAL_MS 500U
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#endif
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constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const uint32_t spmm) {
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return 12650000UL * msteps / (256 * thrs * spmm);
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}
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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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public:
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uint16_t val_mA = 0;
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#if ENABLED(MONITOR_DRIVER_STATUS)
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uint8_t otpw_count = 0,
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error_count = 0;
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bool flag_otpw = false;
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inline bool getOTPW() { return flag_otpw; }
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inline void clear_otpw() { flag_otpw = 0; }
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#endif
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inline uint16_t getMilliamps() { return val_mA; }
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inline 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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struct {
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TERN_(HAS_STEALTHCHOP, bool stealthChop_enabled = false);
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TERN_(HYBRID_THRESHOLD, uint8_t hybrid_thrs = 0);
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TERN_(USE_SENSORLESS, int16_t homing_thrs = 0);
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} stored;
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};
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template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_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(const uint16_t cs_pin, const float RS) :
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TMC(cs_pin, RS)
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{}
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TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t axis_chain_index) :
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TMC(cs_pin, RS, axis_chain_index)
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{}
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TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) :
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TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
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{}
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TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) :
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TMC(CS, RS, pinMOSI, pinMISO, pinSCK, axis_chain_index)
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{}
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inline uint16_t rms_current() { return TMC::rms_current(); }
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inline 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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inline void rms_current(const uint16_t mA, const 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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inline uint16_t get_microstep_counter() { return TMC::MSCNT(); }
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#if HAS_STEALTHCHOP
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inline bool get_stealthChop() { return this->en_pwm_mode(); }
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inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; }
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inline void refresh_stepping_mode() { this->en_pwm_mode(this->stored.stealthChop_enabled); }
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inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
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inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
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#endif
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#if ENABLED(HYBRID_THRESHOLD)
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uint32_t get_pwm_thrs() {
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return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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}
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void set_pwm_thrs(const uint32_t thrs) {
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TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
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TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
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}
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#endif
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#if USE_SENSORLESS
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inline int16_t homing_threshold() { return TMC::sgt(); }
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void homing_threshold(int16_t sgt_val) {
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sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
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TMC::sgt(sgt_val);
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TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
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}
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#if ENABLED(SPI_ENDSTOPS)
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bool test_stall_status();
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#endif
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#endif
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#if HAS_LCD_MENU
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inline void refresh_stepper_current() { rms_current(this->val_mA); }
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#if ENABLED(HYBRID_THRESHOLD)
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inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
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#endif
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#if USE_SENSORLESS
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inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
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#endif
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#endif
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static constexpr int8_t sgt_min = -64,
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sgt_max = 63;
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};
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
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public:
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TMCMarlin(Stream * SerialPort, const float RS, const uint8_t) :
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TMC2208Stepper(SerialPort, RS)
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{}
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TMCMarlin(Stream * SerialPort, const float RS, uint8_t addr, const uint16_t mul_pin1, const uint16_t mul_pin2) :
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TMC2208Stepper(SerialPort, RS, addr, mul_pin1, mul_pin2)
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{}
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TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t) :
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TMC2208Stepper(RX, TX, RS)
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{}
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uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
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inline void rms_current(const 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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inline void rms_current(const uint16_t mA, const 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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inline uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); }
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#if HAS_STEALTHCHOP
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inline bool get_stealthChop() { return !this->en_spreadCycle(); }
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inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; }
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inline void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
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inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
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inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
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#endif
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#if ENABLED(HYBRID_THRESHOLD)
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uint32_t get_pwm_thrs() {
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return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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}
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void set_pwm_thrs(const uint32_t thrs) {
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TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
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TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
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}
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#endif
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#if HAS_LCD_MENU
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inline void refresh_stepper_current() { rms_current(this->val_mA); }
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#if ENABLED(HYBRID_THRESHOLD)
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inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
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#endif
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#endif
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};
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2209Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
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public:
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TMCMarlin(Stream * SerialPort, const float RS, const uint8_t addr) :
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TMC2209Stepper(SerialPort, RS, addr)
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{}
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TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t addr) :
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TMC2209Stepper(RX, TX, RS, addr)
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{}
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uint8_t get_address() { return slave_address; }
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uint16_t rms_current() { return TMC2209Stepper::rms_current(); }
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inline void rms_current(const uint16_t mA) {
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this->val_mA = mA;
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TMC2209Stepper::rms_current(mA);
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}
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inline void rms_current(const uint16_t mA, const float mult) {
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this->val_mA = mA;
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TMC2209Stepper::rms_current(mA, mult);
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}
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inline uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); }
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#if HAS_STEALTHCHOP
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inline bool get_stealthChop() { return !this->en_spreadCycle(); }
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inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; }
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inline void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
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inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
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inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
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#endif
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#if ENABLED(HYBRID_THRESHOLD)
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uint32_t get_pwm_thrs() {
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return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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}
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void set_pwm_thrs(const uint32_t thrs) {
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TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
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TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
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}
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#endif
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#if USE_SENSORLESS
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inline int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
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void homing_threshold(int16_t sgt_val) {
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sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
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TMC2209Stepper::SGTHRS(sgt_val);
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TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
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}
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#endif
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#if HAS_LCD_MENU
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inline void refresh_stepper_current() { rms_current(this->val_mA); }
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#if ENABLED(HYBRID_THRESHOLD)
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inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
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#endif
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#if USE_SENSORLESS
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inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
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#endif
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#endif
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static constexpr uint8_t sgt_min = 0,
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sgt_max = 255;
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};
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
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public:
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TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t) :
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TMC2660Stepper(cs_pin, RS)
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{}
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TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t) :
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TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK)
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{}
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inline uint16_t rms_current() { return TMC2660Stepper::rms_current(); }
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inline void rms_current(const uint16_t mA) {
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this->val_mA = mA;
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TMC2660Stepper::rms_current(mA);
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}
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inline uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); }
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#if USE_SENSORLESS
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inline int16_t homing_threshold() { return TMC2660Stepper::sgt(); }
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void homing_threshold(int16_t sgt_val) {
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sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
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TMC2660Stepper::sgt(sgt_val);
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TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
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}
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#endif
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#if HAS_LCD_MENU
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inline void refresh_stepper_current() { rms_current(this->val_mA); }
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#if USE_SENSORLESS
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inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
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#endif
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#endif
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static constexpr int8_t sgt_min = -64,
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sgt_max = 63;
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};
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template<typename TMC>
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void tmc_print_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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#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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serialprint_truefalse(st.getOTPW());
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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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#if ENABLED(HYBRID_THRESHOLD)
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template<typename TMC>
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void tmc_print_pwmthrs(TMC &st) {
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st.printLabel();
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SERIAL_ECHOLNPAIR(" stealthChop max speed: ", st.get_pwm_thrs());
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}
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#endif
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#if USE_SENSORLESS
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template<typename TMC>
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void tmc_print_sgt(TMC &st) {
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st.printLabel();
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SERIAL_ECHOPGM(" homing sensitivity: ");
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SERIAL_PRINTLN(st.homing_threshold(), DEC);
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}
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#endif
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void monitor_tmc_drivers();
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void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z, const bool test_e);
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#if ENABLED(TMC_DEBUG)
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#if ENABLED(MONITOR_DRIVER_STATUS)
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void tmc_set_report_interval(const uint16_t update_interval);
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#endif
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void tmc_report_all(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
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void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
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#endif
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/**
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* TMC2130-specific sensorless homing using stallGuard2.
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* stallGuard2 only works when in spreadCycle mode.
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* spreadCycle and stealthChop are mutually-exclusive.
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*
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* Defined here because of limitations with templates and headers.
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*/
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#if USE_SENSORLESS
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// Track enabled status of stealthChop and only re-enable where applicable
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struct sensorless_t { bool x, y, z, x2, y2, z2, z3, z4; };
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#if ENABLED(IMPROVE_HOMING_RELIABILITY)
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extern millis_t sg_guard_period;
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constexpr uint16_t default_sg_guard_duration = 400;
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struct slow_homing_t {
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xy_ulong_t acceleration;
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TERN_(HAS_CLASSIC_JERK, xy_float_t jerk_xy);
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};
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#endif
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bool tmc_enable_stallguard(TMC2130Stepper &st);
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void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
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bool tmc_enable_stallguard(TMC2209Stepper &st);
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void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth);
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bool tmc_enable_stallguard(TMC2660Stepper);
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void tmc_disable_stallguard(TMC2660Stepper, const bool);
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#if ENABLED(SPI_ENDSTOPS)
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template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() {
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this->switchCSpin(LOW);
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// read stallGuard flag from TMC library, will handle HW and SW SPI
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TMC2130_n::DRV_STATUS_t drv_status{0};
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drv_status.sr = this->DRV_STATUS();
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this->switchCSpin(HIGH);
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return drv_status.stallGuard;
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}
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#endif // SPI_ENDSTOPS
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#endif // USE_SENSORLESS
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#if HAS_TMC_SPI
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void tmc_init_cs_pins();
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#endif
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#endif // HAS_TRINAMIC_CONFIG
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