1054 lines
32 KiB
C++
1054 lines
32 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 "tmc_util.h"
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#include "../Marlin.h"
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#include "../module/stepper_indirection.h"
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#include "../module/printcounter.h"
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#include "../libs/duration_t.h"
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#include "../gcode/gcode.h"
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#if ENABLED(TMC_DEBUG)
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#include "../module/planner.h"
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#include "../libs/hex_print_routines.h"
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#if ENABLED(MONITOR_DRIVER_STATUS)
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static bool report_tmc_status; // = false;
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#endif
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#endif
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#if HAS_LCD_MENU
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#include "../module/stepper.h"
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#endif
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/**
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* Check for over temperature or short to ground error flags.
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* Report and log warning of overtemperature condition.
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* Reduce driver current in a persistent otpw condition.
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* Keep track of otpw counter so we don't reduce current on a single instance,
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* and so we don't repeatedly report warning before the condition is cleared.
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*/
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#if ENABLED(MONITOR_DRIVER_STATUS)
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struct TMC_driver_data {
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uint32_t drv_status;
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bool is_otpw,
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is_ot,
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is_s2ga,
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is_s2gb,
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is_error;
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};
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#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
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#if ENABLED(TMC_DEBUG)
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static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
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static uint8_t get_status_response(TMC2130Stepper &st, uint32_t) { return st.status_response & 0xF; }
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#endif
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static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
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constexpr uint32_t OTPW_bm = 0x4000000UL;
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constexpr uint8_t OTPW_bp = 26;
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constexpr uint32_t OT_bm = 0x2000000UL;
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constexpr uint8_t OT_bp = 25;
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constexpr uint8_t S2GA_bp = 27;
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constexpr uint8_t S2GB_bp = 28;
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TMC_driver_data data;
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data.drv_status = st.DRV_STATUS();
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data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
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data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
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data.is_s2ga = (data.drv_status >> S2GA_bp) & 0b1;
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data.is_s2gb = (data.drv_status >> S2GB_bp) & 0b1;
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return data;
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}
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#endif
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#if HAS_DRIVER(TMC2208)
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#if ENABLED(TMC_DEBUG)
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static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
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static uint8_t get_status_response(TMC2208Stepper &st, uint32_t drv_status) {
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uint8_t gstat = st.GSTAT();
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uint8_t response = 0;
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response |= (drv_status >> (31 - 3)) & 0b1000;
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response |= gstat & 0b11;
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return response;
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}
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#endif
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static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
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constexpr uint32_t OTPW_bm = 0b1ul;
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constexpr uint8_t OTPW_bp = 0;
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constexpr uint32_t OT_bm = 0b10ul;
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constexpr uint8_t OT_bp = 1;
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constexpr uint8_t S2GA_bp = 2;
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constexpr uint8_t S2GB_bp = 3;
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TMC_driver_data data;
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data.drv_status = st.DRV_STATUS();
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data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
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data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
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data.is_s2ga = (data.drv_status >> S2GA_bp) & 0b1;
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data.is_s2gb = (data.drv_status >> S2GB_bp) & 0b1;
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return data;
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}
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#endif
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#if HAS_DRIVER(TMC2660)
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#if ENABLED(TMC_DEBUG)
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static uint32_t get_pwm_scale(TMC2660Stepper) { return 0; }
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static uint8_t get_status_response(TMC2660Stepper, uint32_t drv_status) {
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return drv_status & 0xFF;
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}
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#endif
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static TMC_driver_data get_driver_data(TMC2660Stepper &st) {
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constexpr uint32_t OTPW_bm = 0x4UL;
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constexpr uint8_t OTPW_bp = 2;
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constexpr uint32_t OT_bm = 0x2UL;
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constexpr uint8_t OT_bp = 1;
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TMC_driver_data data;
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data.drv_status = st.DRVSTATUS();
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data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
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data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
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return data;
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}
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#endif
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#if ENABLED(STOP_ON_ERROR)
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void report_driver_error(const TMC_driver_data &data) {
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SERIAL_ECHOPGM(" driver error detected: 0x");
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SERIAL_PRINTLN(data.drv_status, HEX);
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if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
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if (data.is_s2ga) SERIAL_ECHOLNPGM("short to ground (coil A)");
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if (data.is_s2gb) SERIAL_ECHOLNPGM("short to ground (coil B)");
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#if ENABLED(TMC_DEBUG)
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tmc_report_all(true, true, true, true);
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#endif
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kill(PSTR("Driver error"));
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}
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#endif
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template<typename TMC>
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void report_driver_otpw(TMC &st) {
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char timestamp[14];
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duration_t elapsed = print_job_timer.duration();
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const bool has_days = (elapsed.value > 60*60*24L);
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(void)elapsed.toDigital(timestamp, has_days);
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SERIAL_EOL();
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SERIAL_ECHO(timestamp);
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SERIAL_ECHOPGM(": ");
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st.printLabel();
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SERIAL_ECHOPGM(" driver overtemperature warning! (");
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SERIAL_ECHO(st.getMilliamps());
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SERIAL_ECHOLNPGM("mA)");
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}
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template<typename TMC>
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void report_polled_driver_data(TMC &st, const TMC_driver_data &data) {
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const uint32_t pwm_scale = get_pwm_scale(st);
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st.printLabel();
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SERIAL_ECHOPAIR(":", pwm_scale);
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SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st, data.drv_status), BIN);
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SERIAL_ECHOPGM("| ");
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if (st.error_count) SERIAL_CHAR('E');
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else if (data.is_ot) SERIAL_CHAR('O');
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else if (data.is_otpw) SERIAL_CHAR('W');
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else if (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
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else if (st.flag_otpw) SERIAL_CHAR('F');
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SERIAL_CHAR('\t');
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}
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template<typename TMC>
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void monitor_tmc_driver(TMC &st) {
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TMC_driver_data data = get_driver_data(st);
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if ((data.drv_status == 0xFFFFFFFF) || (data.drv_status == 0x0)) return;
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if (data.is_ot /* | data.s2ga | data.s2gb*/) st.error_count++;
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else if (st.error_count > 0) st.error_count--;
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#if ENABLED(STOP_ON_ERROR)
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if (st.error_count >= 10) {
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SERIAL_EOL();
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st.printLabel();
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report_driver_error(data);
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}
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#endif
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// Report if a warning was triggered
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if (data.is_otpw && st.otpw_count == 0) {
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report_driver_otpw(st);
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}
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#if CURRENT_STEP_DOWN > 0
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// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
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if (data.is_otpw && st.otpw_count > 4) {
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uint16_t I_rms = st.getMilliamps();
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if (st.isEnabled() && I_rms > 100) {
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st.rms_current(I_rms - (CURRENT_STEP_DOWN));
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#if ENABLED(REPORT_CURRENT_CHANGE)
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st.printLabel();
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SERIAL_ECHOLNPAIR(" current decreased to ", st.getMilliamps());
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#endif
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}
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}
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#endif
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if (data.is_otpw) {
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st.otpw_count++;
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st.flag_otpw = true;
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}
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else if (st.otpw_count > 0) st.otpw_count = 0;
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#if ENABLED(TMC_DEBUG)
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if (report_tmc_status) {
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report_polled_driver_data(st, data);
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}
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#endif
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}
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#define HAS_HW_COMMS(ST) AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160) || (AXIS_DRIVER_TYPE(ST, TMC2208) && defined(ST##_HARDWARE_SERIAL))
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void monitor_tmc_driver() {
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static millis_t next_poll = 0;
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const millis_t ms = millis();
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if (ELAPSED(ms, next_poll)) {
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next_poll = ms + 500;
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#if HAS_HW_COMMS(X)
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monitor_tmc_driver(stepperX);
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#endif
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#if HAS_HW_COMMS(Y)
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monitor_tmc_driver(stepperY);
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#endif
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#if HAS_HW_COMMS(Z)
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monitor_tmc_driver(stepperZ);
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#endif
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#if HAS_HW_COMMS(X2)
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monitor_tmc_driver(stepperX2);
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#endif
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#if HAS_HW_COMMS(Y2)
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monitor_tmc_driver(stepperY2);
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#endif
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#if HAS_HW_COMMS(Z2)
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monitor_tmc_driver(stepperZ2);
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#endif
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#if HAS_HW_COMMS(Z3)
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monitor_tmc_driver(stepperZ3);
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#endif
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#if HAS_HW_COMMS(E0)
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monitor_tmc_driver(stepperE0);
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#endif
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#if HAS_HW_COMMS(E1)
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monitor_tmc_driver(stepperE1);
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#endif
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#if HAS_HW_COMMS(E2)
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monitor_tmc_driver(stepperE2);
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#endif
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#if HAS_HW_COMMS(E3)
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monitor_tmc_driver(stepperE3);
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#endif
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#if HAS_HW_COMMS(E4)
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monitor_tmc_driver(stepperE4);
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#endif
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#if HAS_HW_COMMS(E5)
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monitor_tmc_driver(stepperE5);
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#endif
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#if ENABLED(TMC_DEBUG)
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if (report_tmc_status) SERIAL_EOL();
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#endif
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}
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}
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#endif // MONITOR_DRIVER_STATUS
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#if ENABLED(TMC_DEBUG)
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/**
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* M122 S[1,0] Enable periodic status reports
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*/
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#if ENABLED(MONITOR_DRIVER_STATUS)
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void tmc_set_report_status(const bool status) {
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if ((report_tmc_status = status))
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SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
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}
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#endif
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enum TMC_debug_enum : char {
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TMC_CODES,
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TMC_ENABLED,
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TMC_CURRENT,
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TMC_RMS_CURRENT,
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TMC_MAX_CURRENT,
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TMC_IRUN,
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TMC_IHOLD,
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TMC_GLOBAL_SCALER,
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TMC_CS_ACTUAL,
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TMC_PWM_SCALE,
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TMC_VSENSE,
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TMC_STEALTHCHOP,
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TMC_MICROSTEPS,
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TMC_TSTEP,
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TMC_TPWMTHRS,
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TMC_TPWMTHRS_MMS,
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TMC_OTPW,
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TMC_OTPW_TRIGGERED,
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TMC_TOFF,
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TMC_TBL,
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TMC_HEND,
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TMC_HSTRT,
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TMC_SGT
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};
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enum TMC_drv_status_enum : char {
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TMC_DRV_CODES,
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TMC_STST,
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TMC_OLB,
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TMC_OLA,
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TMC_S2GB,
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TMC_S2GA,
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TMC_DRV_OTPW,
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TMC_OT,
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TMC_STALLGUARD,
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TMC_DRV_CS_ACTUAL,
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TMC_FSACTIVE,
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TMC_SG_RESULT,
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TMC_DRV_STATUS_HEX,
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TMC_T157,
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TMC_T150,
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TMC_T143,
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TMC_T120,
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TMC_STEALTH,
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TMC_S2VSB,
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TMC_S2VSA
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};
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enum TMC_get_registers_enum : char {
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TMC_AXIS_CODES,
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TMC_GET_GCONF,
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TMC_GET_IHOLD_IRUN,
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TMC_GET_GSTAT,
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TMC_GET_IOIN,
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TMC_GET_TPOWERDOWN,
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TMC_GET_TSTEP,
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TMC_GET_TPWMTHRS,
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TMC_GET_TCOOLTHRS,
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TMC_GET_THIGH,
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TMC_GET_CHOPCONF,
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TMC_GET_COOLCONF,
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TMC_GET_PWMCONF,
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TMC_GET_PWM_SCALE,
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TMC_GET_DRV_STATUS,
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TMC_GET_DRVCONF,
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TMC_GET_DRVCTRL,
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TMC_GET_DRVSTATUS,
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TMC_GET_SGCSCONF,
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TMC_GET_SMARTEN
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};
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template<class TMC>
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static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
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#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
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static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
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switch (i) {
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case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
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case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.en_pwm_mode() ? PSTR("true") : PSTR("false")); break;
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default: break;
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}
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}
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static void _tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
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switch (i) {
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case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
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case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
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case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('X'); break;
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case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
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default: break;
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}
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}
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#endif
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#if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160)
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template<char AXIS_LETTER, char DRIVER_ID> void print_vsense(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID> &st) { UNUSED(st); }
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template<char AXIS_LETTER, char DRIVER_ID> void print_vsense(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID> &st) { UNUSED(st); }
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static void tmc_status(TMC2160Stepper &st, const TMC_debug_enum i) {
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switch (i) {
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case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
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case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.en_pwm_mode() ? PSTR("true") : PSTR("false")); break;
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case TMC_GLOBAL_SCALER:
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{
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uint16_t value = st.GLOBAL_SCALER();
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SERIAL_PRINT(value ? value : 256, DEC);
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SERIAL_ECHOPGM("/256");
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}
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break;
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default: break;
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}
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}
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#endif
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#if HAS_DRIVER(TMC2208)
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static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
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switch (i) {
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case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
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case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
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case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('X'); break;
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default: break;
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}
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}
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static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
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switch (i) {
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case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
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case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
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case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break;
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case TMC_T120: if (st.t120()) SERIAL_CHAR('X'); break;
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case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
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default: break;
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}
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}
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#endif
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#if HAS_DRIVER(TMC2660)
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static void _tmc_parse_drv_status(TMC2660Stepper, const TMC_drv_status_enum) { }
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#endif
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template <typename TMC>
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static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
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SERIAL_CHAR('\t');
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switch (i) {
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case TMC_CODES: st.printLabel(); break;
|
|
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
|
|
case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
|
|
case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break;
|
|
case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
|
|
case TMC_IRUN:
|
|
SERIAL_PRINT(st.irun(), DEC);
|
|
SERIAL_ECHOPGM("/31");
|
|
break;
|
|
case TMC_IHOLD:
|
|
SERIAL_PRINT(st.ihold(), DEC);
|
|
SERIAL_ECHOPGM("/31");
|
|
break;
|
|
case TMC_CS_ACTUAL:
|
|
SERIAL_PRINT(st.cs_actual(), DEC);
|
|
SERIAL_ECHOPGM("/31");
|
|
break;
|
|
case TMC_VSENSE: print_vsense(st); break;
|
|
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
|
|
case TMC_TSTEP: {
|
|
uint32_t tstep_value = st.TSTEP();
|
|
if (tstep_value == 0xFFFFF) SERIAL_ECHOPGM("max");
|
|
else SERIAL_ECHO(tstep_value);
|
|
}
|
|
break;
|
|
case TMC_TPWMTHRS: {
|
|
uint32_t tpwmthrs_val = st.TPWMTHRS();
|
|
SERIAL_ECHO(tpwmthrs_val);
|
|
}
|
|
break;
|
|
case TMC_TPWMTHRS_MMS: {
|
|
uint32_t tpwmthrs_val = st.TPWMTHRS();
|
|
if (tpwmthrs_val)
|
|
SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm));
|
|
else
|
|
SERIAL_CHAR('-');
|
|
}
|
|
break;
|
|
case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
|
|
#if ENABLED(MONITOR_DRIVER_STATUS)
|
|
case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
|
|
#endif
|
|
case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
|
|
case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
|
|
case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;
|
|
case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;
|
|
default: tmc_status(st, i); break;
|
|
}
|
|
}
|
|
|
|
#if HAS_DRIVER(TMC2660)
|
|
template<char AXIS_LETTER, char DRIVER_ID>
|
|
void tmc_status(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const TMC_debug_enum i, const float) {
|
|
SERIAL_CHAR('\t');
|
|
switch (i) {
|
|
case TMC_CODES: st.printLabel(); break;
|
|
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
|
|
case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
|
|
case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break;
|
|
case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
|
|
case TMC_IRUN:
|
|
SERIAL_PRINT(st.cs(), DEC);
|
|
SERIAL_ECHOPGM("/31");
|
|
break;
|
|
case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.165") : PSTR("0=.310")); break;
|
|
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
|
|
//case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
|
|
//case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
|
|
case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
|
|
case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
|
|
case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
|
|
case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;
|
|
case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;
|
|
default: break;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
template <typename TMC>
|
|
static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
|
|
SERIAL_CHAR('\t');
|
|
switch (i) {
|
|
case TMC_DRV_CODES: st.printLabel(); break;
|
|
case TMC_STST: if (st.stst()) SERIAL_CHAR('X'); break;
|
|
case TMC_OLB: if (st.olb()) SERIAL_CHAR('X'); break;
|
|
case TMC_OLA: if (st.ola()) SERIAL_CHAR('X'); break;
|
|
case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('X'); break;
|
|
case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('X'); break;
|
|
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break;
|
|
case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break;
|
|
case TMC_DRV_STATUS_HEX: {
|
|
const uint32_t drv_status = st.DRV_STATUS();
|
|
SERIAL_CHAR('\t');
|
|
st.printLabel();
|
|
SERIAL_CHAR('\t');
|
|
print_hex_long(drv_status, ':');
|
|
if (drv_status == 0xFFFFFFFF || drv_status == 0) SERIAL_ECHOPGM("\t Bad response!");
|
|
SERIAL_EOL();
|
|
break;
|
|
}
|
|
default: _tmc_parse_drv_status(st, i); break;
|
|
}
|
|
}
|
|
|
|
static void tmc_debug_loop(const TMC_debug_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) {
|
|
if (print_x) {
|
|
#if AXIS_IS_TMC(X)
|
|
tmc_status(stepperX, i, planner.settings.axis_steps_per_mm[X_AXIS]);
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
tmc_status(stepperX2, i, planner.settings.axis_steps_per_mm[X_AXIS]);
|
|
#endif
|
|
}
|
|
|
|
if (print_y) {
|
|
#if AXIS_IS_TMC(Y)
|
|
tmc_status(stepperY, i, planner.settings.axis_steps_per_mm[Y_AXIS]);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
tmc_status(stepperY2, i, planner.settings.axis_steps_per_mm[Y_AXIS]);
|
|
#endif
|
|
}
|
|
|
|
if (print_z) {
|
|
#if AXIS_IS_TMC(Z)
|
|
tmc_status(stepperZ, i, planner.settings.axis_steps_per_mm[Z_AXIS]);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
tmc_status(stepperZ2, i, planner.settings.axis_steps_per_mm[Z_AXIS]);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
tmc_status(stepperZ3, i, planner.settings.axis_steps_per_mm[Z_AXIS]);
|
|
#endif
|
|
}
|
|
|
|
if (print_e) {
|
|
#if AXIS_IS_TMC(E0)
|
|
tmc_status(stepperE0, i, planner.settings.axis_steps_per_mm[E_AXIS]);
|
|
#endif
|
|
#if AXIS_IS_TMC(E1)
|
|
tmc_status(stepperE1, i, planner.settings.axis_steps_per_mm[E_AXIS
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
+ 1
|
|
#endif
|
|
]);
|
|
#endif
|
|
#if AXIS_IS_TMC(E2)
|
|
tmc_status(stepperE2, i, planner.settings.axis_steps_per_mm[E_AXIS
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
+ 2
|
|
#endif
|
|
]);
|
|
#endif
|
|
#if AXIS_IS_TMC(E3)
|
|
tmc_status(stepperE3, i, planner.settings.axis_steps_per_mm[E_AXIS
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
+ 3
|
|
#endif
|
|
]);
|
|
#endif
|
|
#if AXIS_IS_TMC(E4)
|
|
tmc_status(stepperE4, i, planner.settings.axis_steps_per_mm[E_AXIS
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
+ 4
|
|
#endif
|
|
]);
|
|
#endif
|
|
#if AXIS_IS_TMC(E5)
|
|
tmc_status(stepperE5, i, planner.settings.axis_steps_per_mm[E_AXIS
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
+ 5
|
|
#endif
|
|
]);
|
|
#endif
|
|
}
|
|
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
static void drv_status_loop(const TMC_drv_status_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) {
|
|
if (print_x) {
|
|
#if AXIS_IS_TMC(X)
|
|
tmc_parse_drv_status(stepperX, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
tmc_parse_drv_status(stepperX2, i);
|
|
#endif
|
|
}
|
|
|
|
if (print_y) {
|
|
#if AXIS_IS_TMC(Y)
|
|
tmc_parse_drv_status(stepperY, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
tmc_parse_drv_status(stepperY2, i);
|
|
#endif
|
|
}
|
|
|
|
if (print_z) {
|
|
#if AXIS_IS_TMC(Z)
|
|
tmc_parse_drv_status(stepperZ, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
tmc_parse_drv_status(stepperZ2, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
tmc_parse_drv_status(stepperZ3, i);
|
|
#endif
|
|
}
|
|
|
|
if (print_e) {
|
|
#if AXIS_IS_TMC(E0)
|
|
tmc_parse_drv_status(stepperE0, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E1)
|
|
tmc_parse_drv_status(stepperE1, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E2)
|
|
tmc_parse_drv_status(stepperE2, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E3)
|
|
tmc_parse_drv_status(stepperE3, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E4)
|
|
tmc_parse_drv_status(stepperE4, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E5)
|
|
tmc_parse_drv_status(stepperE5, i);
|
|
#endif
|
|
}
|
|
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
/**
|
|
* M122 report functions
|
|
*/
|
|
|
|
void tmc_report_all(bool print_x, const bool print_y, const bool print_z, const bool print_e) {
|
|
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, print_x, print_y, print_z, print_e); }while(0)
|
|
#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, print_x, print_y, print_z, print_e); }while(0)
|
|
TMC_REPORT("\t", TMC_CODES);
|
|
TMC_REPORT("Enabled\t", TMC_ENABLED);
|
|
TMC_REPORT("Set current", TMC_CURRENT);
|
|
TMC_REPORT("RMS current", TMC_RMS_CURRENT);
|
|
TMC_REPORT("MAX current", TMC_MAX_CURRENT);
|
|
TMC_REPORT("Run current", TMC_IRUN);
|
|
TMC_REPORT("Hold current", TMC_IHOLD);
|
|
#if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160)
|
|
TMC_REPORT("Global scaler", TMC_GLOBAL_SCALER);
|
|
#endif
|
|
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
|
|
TMC_REPORT("PWM scale", TMC_PWM_SCALE);
|
|
TMC_REPORT("vsense\t", TMC_VSENSE);
|
|
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
|
|
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
|
|
TMC_REPORT("tstep\t", TMC_TSTEP);
|
|
TMC_REPORT("pwm\nthreshold\t", TMC_TPWMTHRS);
|
|
TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);
|
|
TMC_REPORT("OT prewarn", TMC_OTPW);
|
|
#if ENABLED(MONITOR_DRIVER_STATUS)
|
|
TMC_REPORT("OT prewarn has\n"
|
|
"been triggered", TMC_OTPW_TRIGGERED);
|
|
#endif
|
|
TMC_REPORT("off time\t", TMC_TOFF);
|
|
TMC_REPORT("blank time", TMC_TBL);
|
|
TMC_REPORT("hysteresis\n-end\t", TMC_HEND);
|
|
TMC_REPORT("-start\t", TMC_HSTRT);
|
|
TMC_REPORT("Stallguard thrs", TMC_SGT);
|
|
|
|
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
|
|
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
|
|
DRV_REPORT("stallguard\t", TMC_STALLGUARD);
|
|
DRV_REPORT("sg_result\t", TMC_SG_RESULT);
|
|
DRV_REPORT("fsactive\t", TMC_FSACTIVE);
|
|
#endif
|
|
DRV_REPORT("stst\t", TMC_STST);
|
|
DRV_REPORT("olb\t", TMC_OLB);
|
|
DRV_REPORT("ola\t", TMC_OLA);
|
|
DRV_REPORT("s2gb\t", TMC_S2GB);
|
|
DRV_REPORT("s2ga\t", TMC_S2GA);
|
|
DRV_REPORT("otpw\t", TMC_DRV_OTPW);
|
|
DRV_REPORT("ot\t", TMC_OT);
|
|
#if HAS_DRIVER(TMC2208)
|
|
DRV_REPORT("157C\t", TMC_T157);
|
|
DRV_REPORT("150C\t", TMC_T150);
|
|
DRV_REPORT("143C\t", TMC_T143);
|
|
DRV_REPORT("120C\t", TMC_T120);
|
|
DRV_REPORT("s2vsa\t", TMC_S2VSA);
|
|
DRV_REPORT("s2vsb\t", TMC_S2VSB);
|
|
#endif
|
|
DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
#define PRINT_TMC_REGISTER(REG_CASE) case TMC_GET_##REG_CASE: print_hex_long(st.REG_CASE(), ':'); break
|
|
|
|
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
|
|
static void tmc_get_ic_registers(TMC2130Stepper &st, const TMC_get_registers_enum i) {
|
|
switch (i) {
|
|
PRINT_TMC_REGISTER(TCOOLTHRS);
|
|
PRINT_TMC_REGISTER(THIGH);
|
|
PRINT_TMC_REGISTER(COOLCONF);
|
|
default: SERIAL_CHAR('\t'); break;
|
|
}
|
|
}
|
|
#endif
|
|
#if HAS_DRIVER(TMC2208)
|
|
static void tmc_get_ic_registers(TMC2208Stepper, const TMC_get_registers_enum) { SERIAL_CHAR('\t'); }
|
|
#endif
|
|
|
|
#if HAS_TRINAMIC
|
|
template<class TMC>
|
|
static void tmc_get_registers(TMC &st, const TMC_get_registers_enum i) {
|
|
switch (i) {
|
|
case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break;
|
|
PRINT_TMC_REGISTER(GCONF);
|
|
PRINT_TMC_REGISTER(IHOLD_IRUN);
|
|
PRINT_TMC_REGISTER(GSTAT);
|
|
PRINT_TMC_REGISTER(IOIN);
|
|
PRINT_TMC_REGISTER(TPOWERDOWN);
|
|
PRINT_TMC_REGISTER(TSTEP);
|
|
PRINT_TMC_REGISTER(TPWMTHRS);
|
|
PRINT_TMC_REGISTER(CHOPCONF);
|
|
PRINT_TMC_REGISTER(PWMCONF);
|
|
PRINT_TMC_REGISTER(PWM_SCALE);
|
|
PRINT_TMC_REGISTER(DRV_STATUS);
|
|
default: tmc_get_ic_registers(st, i); break;
|
|
}
|
|
SERIAL_CHAR('\t');
|
|
}
|
|
#endif
|
|
#if HAS_DRIVER(TMC2660)
|
|
template <char AXIS_LETTER, char DRIVER_ID>
|
|
static void tmc_get_registers(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const TMC_get_registers_enum i) {
|
|
switch (i) {
|
|
case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break;
|
|
PRINT_TMC_REGISTER(DRVCONF);
|
|
PRINT_TMC_REGISTER(DRVCTRL);
|
|
PRINT_TMC_REGISTER(CHOPCONF);
|
|
PRINT_TMC_REGISTER(DRVSTATUS);
|
|
PRINT_TMC_REGISTER(SGCSCONF);
|
|
PRINT_TMC_REGISTER(SMARTEN);
|
|
default: SERIAL_CHAR('\t'); break;
|
|
}
|
|
SERIAL_CHAR('\t');
|
|
}
|
|
#endif
|
|
|
|
static void tmc_get_registers(TMC_get_registers_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) {
|
|
if (print_x) {
|
|
#if AXIS_IS_TMC(X)
|
|
tmc_get_registers(stepperX, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
tmc_get_registers(stepperX2, i);
|
|
#endif
|
|
}
|
|
|
|
if (print_y) {
|
|
#if AXIS_IS_TMC(Y)
|
|
tmc_get_registers(stepperY, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
tmc_get_registers(stepperY2, i);
|
|
#endif
|
|
}
|
|
|
|
if (print_z) {
|
|
#if AXIS_IS_TMC(Z)
|
|
tmc_get_registers(stepperZ, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
tmc_get_registers(stepperZ2, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
tmc_get_registers(stepperZ3, i);
|
|
#endif
|
|
}
|
|
|
|
if (print_e) {
|
|
#if AXIS_IS_TMC(E0)
|
|
tmc_get_registers(stepperE0, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E1)
|
|
tmc_get_registers(stepperE1, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E2)
|
|
tmc_get_registers(stepperE2, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E3)
|
|
tmc_get_registers(stepperE3, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E4)
|
|
tmc_get_registers(stepperE4, i);
|
|
#endif
|
|
#if AXIS_IS_TMC(E5)
|
|
tmc_get_registers(stepperE5, i);
|
|
#endif
|
|
}
|
|
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
void tmc_get_registers(bool print_x, bool print_y, bool print_z, bool print_e) {
|
|
#define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, print_x, print_y, print_z, print_e); }while(0)
|
|
#define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME)
|
|
_TMC_GET_REG("\t", TMC_AXIS_CODES);
|
|
TMC_GET_REG(GCONF, "\t\t");
|
|
TMC_GET_REG(IHOLD_IRUN, "\t");
|
|
TMC_GET_REG(GSTAT, "\t\t");
|
|
TMC_GET_REG(IOIN, "\t\t");
|
|
TMC_GET_REG(TPOWERDOWN, "\t");
|
|
TMC_GET_REG(TSTEP, "\t\t");
|
|
TMC_GET_REG(TPWMTHRS, "\t");
|
|
TMC_GET_REG(TCOOLTHRS, "\t");
|
|
TMC_GET_REG(THIGH, "\t\t");
|
|
TMC_GET_REG(CHOPCONF, "\t");
|
|
TMC_GET_REG(COOLCONF, "\t");
|
|
TMC_GET_REG(PWMCONF, "\t");
|
|
TMC_GET_REG(PWM_SCALE, "\t");
|
|
TMC_GET_REG(DRV_STATUS, "\t");
|
|
}
|
|
|
|
#endif // TMC_DEBUG
|
|
|
|
#if USE_SENSORLESS
|
|
|
|
bool tmc_enable_stallguard(TMC2130Stepper &st) {
|
|
bool stealthchop_was_enabled = st.en_pwm_mode();
|
|
|
|
st.TCOOLTHRS(0xFFFFF);
|
|
st.en_pwm_mode(false);
|
|
st.diag1_stall(true);
|
|
|
|
return stealthchop_was_enabled;
|
|
}
|
|
void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth) {
|
|
st.TCOOLTHRS(0);
|
|
st.en_pwm_mode(restore_stealth);
|
|
st.diag1_stall(false);
|
|
}
|
|
bool tmc_enable_stallguard(TMC2660Stepper) {
|
|
// TODO
|
|
return false;
|
|
}
|
|
void tmc_disable_stallguard(TMC2660Stepper, const bool) {};
|
|
|
|
#endif // USE_SENSORLESS
|
|
|
|
#if TMC_HAS_SPI
|
|
#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
|
|
void tmc_init_cs_pins() {
|
|
#if AXIS_HAS_SPI(X)
|
|
SET_CS_PIN(X);
|
|
#endif
|
|
#if AXIS_HAS_SPI(Y)
|
|
SET_CS_PIN(Y);
|
|
#endif
|
|
#if AXIS_HAS_SPI(Z)
|
|
SET_CS_PIN(Z);
|
|
#endif
|
|
#if AXIS_HAS_SPI(X2)
|
|
SET_CS_PIN(X2);
|
|
#endif
|
|
#if AXIS_HAS_SPI(Y2)
|
|
SET_CS_PIN(Y2);
|
|
#endif
|
|
#if AXIS_HAS_SPI(Z2)
|
|
SET_CS_PIN(Z2);
|
|
#endif
|
|
#if AXIS_HAS_SPI(Z3)
|
|
SET_CS_PIN(Z3);
|
|
#endif
|
|
#if AXIS_HAS_SPI(E0)
|
|
SET_CS_PIN(E0);
|
|
#endif
|
|
#if AXIS_HAS_SPI(E1)
|
|
SET_CS_PIN(E1);
|
|
#endif
|
|
#if AXIS_HAS_SPI(E2)
|
|
SET_CS_PIN(E2);
|
|
#endif
|
|
#if AXIS_HAS_SPI(E3)
|
|
SET_CS_PIN(E3);
|
|
#endif
|
|
#if AXIS_HAS_SPI(E4)
|
|
SET_CS_PIN(E4);
|
|
#endif
|
|
#if AXIS_HAS_SPI(E5)
|
|
SET_CS_PIN(E5);
|
|
#endif
|
|
}
|
|
#endif // TMC_HAS_SPI
|
|
|
|
template<typename TMC>
|
|
static bool test_connection(TMC &st) {
|
|
SERIAL_ECHOPGM("Testing ");
|
|
st.printLabel();
|
|
SERIAL_ECHOPGM(" connection... ");
|
|
const uint8_t test_result = st.test_connection();
|
|
|
|
if (test_result > 0) SERIAL_ECHOPGM("Error: All ");
|
|
|
|
const char *stat;
|
|
switch (test_result) {
|
|
default:
|
|
case 0: stat = PSTR("OK"); break;
|
|
case 1: stat = PSTR("HIGH"); break;
|
|
case 2: stat = PSTR("LOW"); break;
|
|
}
|
|
serialprintPGM(stat);
|
|
SERIAL_EOL();
|
|
|
|
return test_result;
|
|
}
|
|
|
|
void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z, const bool test_e) {
|
|
uint8_t axis_connection = 0;
|
|
|
|
if (test_x) {
|
|
#if AXIS_IS_TMC(X)
|
|
axis_connection += test_connection(stepperX);
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
axis_connection += test_connection(stepperX2);
|
|
#endif
|
|
}
|
|
|
|
if (test_y) {
|
|
#if AXIS_IS_TMC(Y)
|
|
axis_connection += test_connection(stepperY);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
axis_connection += test_connection(stepperY2);
|
|
#endif
|
|
}
|
|
|
|
if (test_z) {
|
|
#if AXIS_IS_TMC(Z)
|
|
axis_connection += test_connection(stepperZ);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
axis_connection += test_connection(stepperZ2);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
axis_connection += test_connection(stepperZ3);
|
|
#endif
|
|
}
|
|
|
|
if (test_e) {
|
|
#if AXIS_IS_TMC(E0)
|
|
axis_connection += test_connection(stepperE0);
|
|
#endif
|
|
#if AXIS_IS_TMC(E1)
|
|
axis_connection += test_connection(stepperE1);
|
|
#endif
|
|
#if AXIS_IS_TMC(E2)
|
|
axis_connection += test_connection(stepperE2);
|
|
#endif
|
|
#if AXIS_IS_TMC(E3)
|
|
axis_connection += test_connection(stepperE3);
|
|
#endif
|
|
#if AXIS_IS_TMC(E4)
|
|
axis_connection += test_connection(stepperE4);
|
|
#endif
|
|
#if AXIS_IS_TMC(E5)
|
|
axis_connection += test_connection(stepperE5);
|
|
#endif
|
|
}
|
|
|
|
if (axis_connection) ui.set_status_P(PSTR("TMC CONNECTION ERROR"));
|
|
}
|
|
|
|
#if HAS_LCD_MENU
|
|
|
|
void init_tmc_section() {
|
|
#if AXIS_IS_TMC(X)
|
|
stepperX.init_lcd_variables(X_AXIS);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y)
|
|
stepperY.init_lcd_variables(Y_AXIS);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z)
|
|
stepperZ.init_lcd_variables(Z_AXIS);
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
stepperX2.init_lcd_variables(X_AXIS);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
stepperY2.init_lcd_variables(Y_AXIS);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
stepperZ2.init_lcd_variables(Z_AXIS);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
stepperZ3.init_lcd_variables(Z_AXIS);
|
|
#endif
|
|
#if AXIS_IS_TMC(E0)
|
|
stepperE0.init_lcd_variables(E_AXIS);
|
|
#endif
|
|
#if AXIS_IS_TMC(E1)
|
|
stepperE1.init_lcd_variables(E_AXIS_N(1));
|
|
#endif
|
|
#if AXIS_IS_TMC(E2)
|
|
stepperE2.init_lcd_variables(E_AXIS_N(2));
|
|
#endif
|
|
#if AXIS_IS_TMC(E3)
|
|
stepperE3.init_lcd_variables(E_AXIS_N(3));
|
|
#endif
|
|
#if AXIS_IS_TMC(E4)
|
|
stepperE4.init_lcd_variables(E_AXIS_N(4));
|
|
#endif
|
|
#if AXIS_IS_TMC(E5)
|
|
stepperE5.init_lcd_variables(E_AXIS_N(5));
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif // HAS_TRINAMIC
|