194 lines
6.3 KiB
C++
194 lines
6.3 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../../inc/MarlinConfig.h"
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#if HAS_TRINAMIC
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#include "../../gcode.h"
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#include "../../../feature/tmc_util.h"
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#include "../../../module/stepper_indirection.h"
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#include "../../../module/planner.h"
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#include "../../queue.h"
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/**
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* M911: Report TMC 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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void GcodeSuite::M911() {
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#if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]);
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#endif
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#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperY, extended_axis_codes[TMC_Y]);
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#endif
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#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperZ, extended_axis_codes[TMC_Z]);
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#endif
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#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX)) || ENABLED(IS_TRAMS)
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tmc_report_otpw(stepperE0, extended_axis_codes[TMC_E0]);
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#endif
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}
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/**
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* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
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*/
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void GcodeSuite::M912() {
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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]),
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clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
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if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
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#endif
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#if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
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if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
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#endif
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#if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX))
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if (clearY || clearAll) tmc_clear_otpw(stepperY, extended_axis_codes[TMC_Y]);
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#endif
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#if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX))
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if (clearZ || clearAll) tmc_clear_otpw(stepperZ, extended_axis_codes[TMC_Z]);
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#endif
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#if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX))
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if (clearE || clearAll) tmc_clear_otpw(stepperE0, extended_axis_codes[TMC_E0]);
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#endif
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}
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/**
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* M913: Set HYBRID_THRESHOLD speed.
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*/
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#if ENABLED(HYBRID_THRESHOLD)
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void GcodeSuite::M913() {
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uint16_t values[XYZE];
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LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
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#define TMC_SET_GET_PWMTHRS(P,Q) do { \
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if (values[P##_AXIS]) tmc_set_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS], planner.axis_steps_per_mm[P##_AXIS]); \
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else tmc_get_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], planner.axis_steps_per_mm[P##_AXIS]); } while(0)
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#if X_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(X,X);
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#endif
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#if X2_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(X,X2);
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#endif
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#if Y_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(Y,Y);
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#endif
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#if Y2_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(Y,Y2);
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#endif
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#if Z_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(Z,Z);
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#endif
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#if Z2_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(Z,Z2);
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#endif
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#if E0_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(E,E0);
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#endif
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#if E1_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(E,E1);
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#endif
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#if E2_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(E,E2);
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#endif
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#if E3_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(E,E3);
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#endif
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#if E4_IS_TRINAMIC
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TMC_SET_GET_PWMTHRS(E,E4);
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#endif
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}
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#endif // HYBRID_THRESHOLD
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/**
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* M914: Set SENSORLESS_HOMING sensitivity.
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*/
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#if ENABLED(SENSORLESS_HOMING)
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void GcodeSuite::M914() {
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#define TMC_SET_GET_SGT(P,Q) do { \
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if (parser.seen(axis_codes[P##_AXIS])) tmc_set_sgt(stepper##Q, extended_axis_codes[TMC_##Q], parser.value_int()); \
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else tmc_get_sgt(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SET_GET_SGT(X,X);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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TMC_SET_GET_SGT(X,X2);
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#endif
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#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
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TMC_SET_GET_SGT(Y,Y);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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TMC_SET_GET_SGT(Y,Y2);
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#endif
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}
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#endif // SENSORLESS_HOMING
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/**
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* TMC Z axis calibration routine
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*/
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#if ENABLED(TMC_Z_CALIBRATION)
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void GcodeSuite::M915() {
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uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT;
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uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT;
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if (!axis_known_position[Z_AXIS]) {
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SERIAL_ECHOLNPGM("\nPlease home Z axis first");
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return;
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}
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#if Z_IS_TRINAMIC
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uint16_t Z_current_1 = stepperZ.getCurrent();
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stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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#endif
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#if Z2_IS_TRINAMIC
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uint16_t Z2_current_1 = stepperZ2.getCurrent();
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stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
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#endif
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SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
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soft_endstops_enabled = false;
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do_blocking_move_to_z(Z_MAX_POS+_z);
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#if Z_IS_TRINAMIC
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stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
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#endif
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#if Z2_IS_TRINAMIC
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stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
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#endif
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do_blocking_move_to_z(Z_MAX_POS);
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soft_endstops_enabled = true;
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SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
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enqueue_and_echo_commands_P(PSTR("G28 Z"));
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}
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#endif
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#endif // HAS_TRINAMIC
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