Firmware/Marlin/tmc_util.h

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _TMC_UTIL_H_
#define _TMC_UTIL_H_
#include <TMC2130Stepper.h>
#include "MarlinConfig.h"
extern bool report_tmc_status;
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enum TMC_AxisEnum : char { TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 };
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constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
return 12650000UL * msteps / (256 * thrs * spmm);
}
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void _tmc_say_axis(const TMC_AxisEnum axis);
void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr);
void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw);
void _tmc_say_otpw_cleared(const TMC_AxisEnum axis);
void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs);
void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt);
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template<typename TMC>
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void tmc_get_current(TMC &st, const TMC_AxisEnum axis) {
_tmc_say_current(axis, st.getCurrent());
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}
template<typename TMC>
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void tmc_set_current(TMC &st, const TMC_AxisEnum axis, const int mA) {
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
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tmc_get_current(st, axis);
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}
template<typename TMC>
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void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) {
_tmc_say_otpw(axis, st.getOTPW());
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}
template<typename TMC>
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void tmc_clear_otpw(TMC &st, const TMC_AxisEnum axis) {
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st.clear_otpw();
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_tmc_say_otpw_cleared(axis);
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}
template<typename TMC>
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void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) {
_tmc_say_pwmthrs(axis, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
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}
template<typename TMC>
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void tmc_set_pwmthrs(TMC &st, const TMC_AxisEnum axis, const int32_t thrs, const uint32_t spmm) {
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st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
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tmc_get_pwmthrs(st, axis, spmm);
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}
template<typename TMC>
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void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) {
_tmc_say_sgt(axis, st.sgt());
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}
template<typename TMC>
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void tmc_set_sgt(TMC &st, const TMC_AxisEnum axis, const int8_t sgt_val) {
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st.sgt(sgt_val);
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tmc_get_sgt(st, axis);
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}
void monitor_tmc_driver();
#if ENABLED(TMC_DEBUG)
void tmc_set_report_status(const bool status);
void tmc_report_all();
#endif
/**
* TMC2130 specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
* spreadCycle and stealthChop are mutually exclusive.
*
* Defined here because of limitations with templates and headers.
*/
#if ENABLED(SENSORLESS_HOMING)
void tmc_sensorless_homing(TMC2130Stepper &st, bool enable=true);
#endif
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#if ENABLED(HAVE_TMC2130)
void tmc_init_cs_pins();
#endif
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#endif // _TMC_UTIL_H_