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Merge pull request #10101 from thinkyhead/bf1_eeprom_M913

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[1.1.x] More complete Trinamic driver options
This commit is contained in:
Scott Lahteine 2018-03-20 23:14:10 -05:00 committed by GitHub
commit bc01200495
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 749 additions and 383 deletions
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375
Marlin/Marlin_main.cpp
View File

@ -8278,19 +8278,14 @@ inline void gcode_M140() {
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if ENABLED(HAVE_TMC2130)
delay(100);
tmc2130_init(); // Settings only stick when the driver has power
#if DISABLED(AUTO_POWER_CONTROL)
delay(100); // Wait for power to settle
restore_stepper_drivers();
#endif
#if ENABLED(ULTIPANEL)
LCD_MESSAGEPGM(WELCOME_MSG);
#endif
#if ENABLED(HAVE_TMC2208)
delay(100);
tmc2208_init();
#endif
}
#endif // HAS_POWER_SWITCH
@ -10530,46 +10525,104 @@ inline void gcode_M502() {
* Report driver currents when no axis specified
*/
inline void gcode_M906() {
uint16_t values[XYZE];
LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
#define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q, TMC_##Q)
#define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, TMC_##Q, value)
#define TMC_SET_GET_CURRENT(P,Q) do { \
if (values[P##_AXIS]) tmc_set_current(stepper##Q, TMC_##Q, values[P##_AXIS]); \
else tmc_get_current(stepper##Q, TMC_##Q); } while(0)
bool report = true;
const uint8_t index = parser.byteval('I');
LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) {
report = false;
switch (i) {
case X_AXIS:
#if X_IS_TRINAMIC
if (index == 0) TMC_SET_CURRENT(X);
#endif
#if X2_IS_TRINAMIC
if (index == 1) TMC_SET_CURRENT(X2);
#endif
break;
case Y_AXIS:
#if Y_IS_TRINAMIC
if (index == 0) TMC_SET_CURRENT(Y);
#endif
#if Y2_IS_TRINAMIC
if (index == 1) TMC_SET_CURRENT(Y2);
#endif
break;
case Z_AXIS:
#if Z_IS_TRINAMIC
if (index == 0) TMC_SET_CURRENT(Z);
#endif
#if Z2_IS_TRINAMIC
if (index == 1) TMC_SET_CURRENT(Z2);
#endif
break;
case E_AXIS: {
if (get_target_extruder_from_command(906)) return;
switch (target_extruder) {
#if E0_IS_TRINAMIC
case 0: TMC_SET_CURRENT(E0); break;
#endif
#if E1_IS_TRINAMIC
case 1: TMC_SET_CURRENT(E1); break;
#endif
#if E2_IS_TRINAMIC
case 2: TMC_SET_CURRENT(E2); break;
#endif
#if E3_IS_TRINAMIC
case 3: TMC_SET_CURRENT(E3); break;
#endif
#if E4_IS_TRINAMIC
case 4: TMC_SET_CURRENT(E4); break;
#endif
}
} break;
}
}
#if X_IS_TRINAMIC
TMC_SET_GET_CURRENT(X,X);
#endif
#if X2_IS_TRINAMIC
TMC_SET_GET_CURRENT(X,X2);
#endif
#if Y_IS_TRINAMIC
TMC_SET_GET_CURRENT(Y,Y);
#endif
#if Y2_IS_TRINAMIC
TMC_SET_GET_CURRENT(Y,Y2);
#endif
#if Z_IS_TRINAMIC
TMC_SET_GET_CURRENT(Z,Z);
#endif
#if Z2_IS_TRINAMIC
TMC_SET_GET_CURRENT(Z,Z2);
#endif
#if E0_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E0);
#endif
#if E1_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E1);
#endif
#if E2_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E2);
#endif
#if E3_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E3);
#endif
#if E4_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E4);
#endif
if (report) LOOP_XYZE(i) switch (i) {
case X_AXIS:
#if X_IS_TRINAMIC
TMC_SAY_CURRENT(X);
#endif
#if X2_IS_TRINAMIC
TMC_SAY_CURRENT(X2);
#endif
break;
case Y_AXIS:
#if Y_IS_TRINAMIC
TMC_SAY_CURRENT(Y);
#endif
#if Y2_IS_TRINAMIC
TMC_SAY_CURRENT(Y2);
#endif
break;
case Z_AXIS:
#if Z_IS_TRINAMIC
TMC_SAY_CURRENT(Z);
#endif
#if Z2_IS_TRINAMIC
TMC_SAY_CURRENT(Z2);
#endif
break;
case E_AXIS:
#if E0_IS_TRINAMIC
TMC_SAY_CURRENT(E0);
#endif
#if E1_IS_TRINAMIC
TMC_SAY_CURRENT(E1);
#endif
#if E2_IS_TRINAMIC
TMC_SAY_CURRENT(E2);
#endif
#if E3_IS_TRINAMIC
TMC_SAY_CURRENT(E3);
#endif
#if E4_IS_TRINAMIC
TMC_SAY_CURRENT(E4);
#endif
break;
}
}
/**
@ -10622,46 +10675,106 @@ inline void gcode_M502() {
*/
#if ENABLED(HYBRID_THRESHOLD)
inline void gcode_M913() {
uint16_t values[XYZE];
LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
#define TMC_SAY_PWMTHRS(P,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[P##_AXIS])
#define TMC_SET_PWMTHRS(P,Q) tmc_set_pwmthrs(stepper##Q, TMC_##Q, value, planner.axis_steps_per_mm[P##_AXIS])
#define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
#define TMC_SET_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, TMC_E##E, value, planner.axis_steps_per_mm[E_AXIS_N]); }while(0)
#define TMC_SET_GET_PWMTHRS(P,Q) do { \
if (values[P##_AXIS]) tmc_set_pwmthrs(stepper##Q, TMC_##Q, values[P##_AXIS], planner.axis_steps_per_mm[P##_AXIS]); \
else tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[P##_AXIS]); } while(0)
bool report = true;
const uint8_t index = parser.byteval('I');
LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) {
report = false;
switch (i) {
case X_AXIS:
#if X_IS_TRINAMIC
if (index == 0) TMC_SET_PWMTHRS(X,X);
#endif
#if X2_IS_TRINAMIC
if (index == 1) TMC_SET_PWMTHRS(X,X2);
#endif
break;
case Y_AXIS:
#if Y_IS_TRINAMIC
if (index == 0) TMC_SET_PWMTHRS(Y,Y);
#endif
#if Y2_IS_TRINAMIC
if (index == 1) TMC_SET_PWMTHRS(Y,Y2);
#endif
break;
case Z_AXIS:
#if Z_IS_TRINAMIC
if (index == 0) TMC_SET_PWMTHRS(Z,Z);
#endif
#if Z2_IS_TRINAMIC
if (index == 1) TMC_SET_PWMTHRS(Z,Z2);
#endif
break;
case E_AXIS: {
if (get_target_extruder_from_command(913)) return;
switch (target_extruder) {
#if E0_IS_TRINAMIC
case 0: TMC_SET_PWMTHRS_E(0); break;
#endif
#if E_STEPPERS > 1 && E1_IS_TRINAMIC
case 1: TMC_SET_PWMTHRS_E(1); break;
#endif
#if E_STEPPERS > 2 && E2_IS_TRINAMIC
case 2: TMC_SET_PWMTHRS_E(2); break;
#endif
#if E_STEPPERS > 3 && E3_IS_TRINAMIC
case 3: TMC_SET_PWMTHRS_E(3); break;
#endif
#if E_STEPPERS > 4 && E4_IS_TRINAMIC
case 4: TMC_SET_PWMTHRS_E(4); break;
#endif
}
} break;
}
}
#if X_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(X,X);
#endif
#if X2_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(X,X2);
#endif
#if Y_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(Y,Y);
#endif
#if Y2_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(Y,Y2);
#endif
#if Z_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(Z,Z);
#endif
#if Z2_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(Z,Z2);
#endif
#if E0_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E0);
#endif
#if E1_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E1);
#endif
#if E2_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E2);
#endif
#if E3_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E3);
#endif
#if E4_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E4);
#endif
if (report) LOOP_XYZE(i) switch (i) {
case X_AXIS:
#if X_IS_TRINAMIC
TMC_SAY_PWMTHRS(X,X);
#endif
#if X2_IS_TRINAMIC
TMC_SAY_PWMTHRS(X,X2);
#endif
break;
case Y_AXIS:
#if Y_IS_TRINAMIC
TMC_SAY_PWMTHRS(Y,Y);
#endif
#if Y2_IS_TRINAMIC
TMC_SAY_PWMTHRS(Y,Y2);
#endif
break;
case Z_AXIS:
#if Z_IS_TRINAMIC
TMC_SAY_PWMTHRS(Z,Z);
#endif
#if Z2_IS_TRINAMIC
TMC_SAY_PWMTHRS(Z,Z2);
#endif
break;
case E_AXIS:
#if E0_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(0);
#endif
#if E_STEPPERS > 1 && E1_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(1);
#endif
#if E_STEPPERS > 2 && E2_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(2);
#endif
#if E_STEPPERS > 3 && E3_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(3);
#endif
#if E_STEPPERS > 4 && E4_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(4);
#endif
break;
}
}
#endif // HYBRID_THRESHOLD
@ -10670,34 +10783,68 @@ inline void gcode_M502() {
*/
#if ENABLED(SENSORLESS_HOMING)
inline void gcode_M914() {
#define TMC_SET_GET_SGT(P,Q) do { \
if (parser.seen(axis_codes[P##_AXIS])) tmc_set_sgt(stepper##Q, TMC_##Q, parser.value_int()); \
else tmc_get_sgt(stepper##Q, TMC_##Q); } while(0)
#define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
#define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, TMC_##Q, value)
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
TMC_SET_GET_SGT(X,X);
#endif
#if ENABLED(X2_IS_TMC2130)
TMC_SET_GET_SGT(X,X2);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
TMC_SET_GET_SGT(Y,Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
TMC_SET_GET_SGT(Y,Y2);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
TMC_SET_GET_SGT(Z,Z);
#endif
#if ENABLED(Z2_IS_TMC2130)
TMC_SET_GET_SGT(Z,Z2);
#endif
#endif
bool report = true;
const uint8_t index = parser.byteval('I');
LOOP_XYZ(i) if (parser.seen(axis_codes[i])) {
const int8_t value = (int8_t)constrain(parser.value_int(), -63, 64);
report = false;
switch (i) {
case X_AXIS:
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
if (index == 0) TMC_SET_SGT(X);
#endif
#if ENABLED(X2_IS_TMC2130)
if (index == 1) TMC_SET_SGT(X2);
#endif
break;
case Y_AXIS:
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
if (index == 0) TMC_SET_SGT(Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
if (index == 1) TMC_SET_SGT(Y2);
#endif
break;
case Z_AXIS:
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
if (index == 0) TMC_SET_SGT(Z);
#endif
#if ENABLED(Z2_IS_TMC2130)
if (index == 1) TMC_SET_SGT(Z2);
#endif
break;
}
}
if (report) LOOP_XYZ(i) switch (i) {
case X_AXIS:
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
TMC_SAY_SGT(X);
#endif
#if ENABLED(X2_IS_TMC2130)
TMC_SAY_SGT(X2);
#endif
break;
case Y_AXIS:
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
TMC_SAY_SGT(Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
TMC_SAY_SGT(Y2);
#endif
break;
case Z_AXIS:
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
TMC_SAY_SGT(Z);
#endif
#if ENABLED(Z2_IS_TMC2130)
TMC_SAY_SGT(Z2);
#endif
break;
}
}
#endif // SENSORLESS_HOMING
@ -13667,6 +13814,7 @@ void setup() {
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START();
// Prepare communication for TMC drivers
#if ENABLED(HAVE_TMC2130)
tmc_init_cs_pins();
#endif
@ -13722,8 +13870,9 @@ void setup() {
print_job_timer.init(); // Initial setup of print job timer
stepper.init(); // Initialize stepper, this enables interrupts!
servo_init();
stepper.init(); // Initialize stepper, this enables interrupts!
servo_init(); // Initialize all servos, stow servo probe
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);

469
Marlin/configuration_store.cpp
View File

@ -37,7 +37,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V52"
#define EEPROM_VERSION "V53"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@ -61,6 +61,8 @@
#if HAS_TRINAMIC
#include "stepper_indirection.h"
#include "tmc_util.h"
#define TMC_GET_PWMTHRS(P,Q) _tmc_thrs(stepper##Q.microsteps(), stepper##Q.TPWMTHRS(), planner.axis_steps_per_mm[P##_AXIS])
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
@ -215,7 +217,9 @@ typedef struct SettingsDataStruct {
//
// HAS_TRINAMIC
//
uint16_t tmc_stepper_current[11]; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
#define TMC_AXES (MAX_EXTRUDERS + 6)
uint16_t tmc_stepper_current[TMC_AXES]; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
uint32_t tmc_hybrid_threshold[TMC_AXES]; // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
int16_t tmc_sgt[XYZ]; // M914 X Y Z
//
@ -673,7 +677,7 @@ void MarlinSettings::postprocess() {
_FIELD_TEST(tmc_stepper_current);
uint16_t currents[11] = {
uint16_t tmc_stepper_current[TMC_AXES] = {
#if HAS_TRINAMIC
#if X_IS_TRINAMIC
stepperX.getCurrent(),
@ -734,24 +738,95 @@ void MarlinSettings::postprocess() {
0
#endif
};
EEPROM_WRITE(currents);
EEPROM_WRITE(tmc_stepper_current);
//
// Save TMC2130 or TMC2208 Hybrid Threshold, and placeholder values
//
_FIELD_TEST(tmc_hybrid_threshold);
uint32_t tmc_hybrid_threshold[TMC_AXES] = {
#if HAS_TRINAMIC
#if X_IS_TRINAMIC
TMC_GET_PWMTHRS(X, X),
#else
X_HYBRID_THRESHOLD,
#endif
#if Y_IS_TRINAMIC
TMC_GET_PWMTHRS(Y, Y),
#else
Y_HYBRID_THRESHOLD,
#endif
#if Z_IS_TRINAMIC
TMC_GET_PWMTHRS(Z, Z),
#else
Z_HYBRID_THRESHOLD,
#endif
#if X2_IS_TRINAMIC
TMC_GET_PWMTHRS(X, X2),
#else
X2_HYBRID_THRESHOLD,
#endif
#if Y2_IS_TRINAMIC
TMC_GET_PWMTHRS(Y, Y2),
#else
Y2_HYBRID_THRESHOLD,
#endif
#if Z2_IS_TRINAMIC
TMC_GET_PWMTHRS(Z, Z2),
#else
Z2_HYBRID_THRESHOLD,
#endif
#if E0_IS_TRINAMIC
TMC_GET_PWMTHRS(E, E0),
#else
E0_HYBRID_THRESHOLD,
#endif
#if E1_IS_TRINAMIC
TMC_GET_PWMTHRS(E, E1),
#else
E1_HYBRID_THRESHOLD,
#endif
#if E2_IS_TRINAMIC
TMC_GET_PWMTHRS(E, E2),
#else
E2_HYBRID_THRESHOLD,
#endif
#if E3_IS_TRINAMIC
TMC_GET_PWMTHRS(E, E3),
#else
E3_HYBRID_THRESHOLD,
#endif
#if E4_IS_TRINAMIC
TMC_GET_PWMTHRS(E, E4)
#else
E4_HYBRID_THRESHOLD
#endif
#else
100, 100, 3, // X, Y, Z
100, 100, 3, // X2, Y2, Z2
30, 30, 30, 30, 30 // E0, E1, E2, E3, E4
#endif
};
EEPROM_WRITE(tmc_hybrid_threshold);
//
// TMC2130 Sensorless homing threshold
//
int16_t thrs[XYZ] = {
int16_t tmc_sgt[XYZ] = {
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY)
#if defined(X_HOMING_SENSITIVITY) && (ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS))
stepperX.sgt(),
#else
0,
#endif
#if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY)
#if defined(Y_HOMING_SENSITIVITY) && (ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS))
stepperY.sgt(),
#else
0
#endif
#if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY)
#if defined(Z_HOMING_SENSITIVITY) && (ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS))
stepperZ.sgt()
#else
0
@ -760,7 +835,7 @@ void MarlinSettings::postprocess() {
0
#endif
};
EEPROM_WRITE(thrs);
EEPROM_WRITE(tmc_sgt);
//
// Linear Advance
@ -1211,54 +1286,101 @@ void MarlinSettings::postprocess() {
#endif
if (!validating) reset_stepper_drivers();
//
// TMC2130 Stepper Current
// TMC2130 Stepper Settings
//
_FIELD_TEST(tmc_stepper_current);
#if HAS_TRINAMIC
#define SET_CURR(N,Q) stepper##Q.setCurrent(currents[N] ? currents[N] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER)
uint16_t currents[11];
#define SET_CURR(Q) stepper##Q.setCurrent(currents[TMC_##Q] ? currents[TMC_##Q] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER)
uint16_t currents[TMC_AXES];
EEPROM_READ(currents);
if (!validating) {
#if X_IS_TRINAMIC
SET_CURR(0, X);
SET_CURR(X);
#endif
#if Y_IS_TRINAMIC
SET_CURR(1, Y);
SET_CURR(Y);
#endif
#if Z_IS_TRINAMIC
SET_CURR(2, Z);
SET_CURR(Z);
#endif
#if X2_IS_TRINAMIC
SET_CURR(3, X2);
SET_CURR(X2);
#endif
#if Y2_IS_TRINAMIC
SET_CURR(4, Y2);
SET_CURR(Y2);
#endif
#if Z2_IS_TRINAMIC
SET_CURR(5, Z2);
SET_CURR(Z2);
#endif
#if E0_IS_TRINAMIC
SET_CURR(6, E0);
SET_CURR(E0);
#endif
#if E1_IS_TRINAMIC
SET_CURR(7, E1);
SET_CURR(E1);
#endif
#if E2_IS_TRINAMIC
SET_CURR(8, E2);
SET_CURR(E2);
#endif
#if E3_IS_TRINAMIC
SET_CURR(9, E3);
SET_CURR(E3);
#endif
#if E4_IS_TRINAMIC
SET_CURR(10, E4);
SET_CURR(E4);
#endif
}
#else
uint16_t val;
for (uint8_t q=11; q--;) EEPROM_READ(val);
for (uint8_t q=TMC_AXES; q--;) EEPROM_READ(val);
#endif
#if HAS_TRINAMIC
#define TMC_SET_PWMTHRS(P,Q) tmc_set_pwmthrs(stepper##Q, TMC_##Q, tmc_hybrid_threshold[TMC_##Q], planner.axis_steps_per_mm[P##_AXIS])
uint16_t tmc_hybrid_threshold[TMC_AXES];
EEPROM_READ(tmc_hybrid_threshold);
if (!validating) {
#if X_IS_TRINAMIC
TMC_SET_PWMTHRS(X, X);
#endif
#if Y_IS_TRINAMIC
TMC_SET_PWMTHRS(Y, Y);
#endif
#if Z_IS_TRINAMIC
TMC_SET_PWMTHRS(Z, Z);
#endif
#if X2_IS_TRINAMIC
TMC_SET_PWMTHRS(X, X2);
#endif
#if Y2_IS_TRINAMIC
TMC_SET_PWMTHRS(Y, Y2);
#endif
#if Z2_IS_TRINAMIC
TMC_SET_PWMTHRS(Z, Z2);
#endif
#if E0_IS_TRINAMIC
TMC_SET_PWMTHRS(E, E0);
#endif
#if E1_IS_TRINAMIC
TMC_SET_PWMTHRS(E, E1);
#endif
#if E2_IS_TRINAMIC
TMC_SET_PWMTHRS(E, E2);
#endif
#if E3_IS_TRINAMIC
TMC_SET_PWMTHRS(E, E3);
#endif
#if E4_IS_TRINAMIC
TMC_SET_PWMTHRS(E, E4);
#endif
}
#else
uint16_t thrs_val;
for (uint8_t q=TMC_AXES; q--;) EEPROM_READ(thrs_val);
#endif
/*
@ -1267,32 +1389,32 @@ void MarlinSettings::postprocess() {
* Y and Y2 use the same value
* Z and Z2 use the same value
*/
int16_t thrs[XYZ];
EEPROM_READ(thrs);
int16_t tmc_sgt[XYZ];
EEPROM_READ(tmc_sgt);
#if ENABLED(SENSORLESS_HOMING)
if (!validating) {
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130)
stepperX.sgt(thrs[0]);
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperX.sgt(tmc_sgt[0]);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(thrs[0]);
stepperX2.sgt(tmc_sgt[0]);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130)
stepperY.sgt(thrs[1]);
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperY.sgt(tmc_sgt[1]);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(thrs[1]);
stepperY2.sgt(tmc_sgt[1]);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130)
stepperZ.sgt(thrs[2]);
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperZ.sgt(tmc_sgt[2]);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(thrs[2]);
stepperZ2.sgt(tmc_sgt[2]);
#endif
#endif
}
@ -1729,66 +1851,7 @@ void MarlinSettings::reset() {
#endif
);
#if X_IS_TRINAMIC
stepperX.setCurrent(X_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Y_IS_TRINAMIC
stepperY.setCurrent(Y_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Z_IS_TRINAMIC
stepperZ.setCurrent(Z_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if X2_IS_TRINAMIC
stepperX2.setCurrent(X2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Y2_IS_TRINAMIC
stepperY2.setCurrent(Y2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Z2_IS_TRINAMIC
stepperZ2.setCurrent(Z2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if E0_IS_TRINAMIC
stepperE0.setCurrent(E0_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if E1_IS_TRINAMIC
stepperE1.setCurrent(E1_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if E2_IS_TRINAMIC
stepperE2.setCurrent(E2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if E3_IS_TRINAMIC
stepperE3.setCurrent(E3_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if E4_IS_TRINAMIC
stepperE4.setCurrent(E4_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(SENSORLESS_HOMING)
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130)
stepperX.sgt(X_HOMING_SENSITIVITY);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130)
stepperZ.sgt(Z_HOMING_SENSITIVITY);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
reset_stepper_drivers();
#if ENABLED(LIN_ADVANCE)
planner.extruder_advance_K = LIN_ADVANCE_K;
@ -1827,6 +1890,18 @@ void MarlinSettings::reset() {
#define CONFIG_ECHO_START do{ if (!forReplay) SERIAL_ECHO_START(); }while(0)
#if HAS_TRINAMIC
void say_M906() { SERIAL_ECHOPGM(" M906 "); }
void say_M913() { SERIAL_ECHOPGM(" M913 "); }
#if ENABLED(SENSORLESS_HOMING)
void say_M914() { SERIAL_ECHOPGM(" M914 "); }
#endif
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
void say_M603() { SERIAL_ECHOPGM(" M603 "); }
#endif
/**
* M503 - Report current settings in RAM
*
@ -2109,6 +2184,7 @@ void MarlinSettings::reset() {
#endif // HAS_LEVELING
#if ENABLED(DELTA)
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Endstop adjustment:");
@ -2133,6 +2209,7 @@ void MarlinSettings::reset() {
SERIAL_EOL();
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Endstop adjustment:");
@ -2149,7 +2226,8 @@ void MarlinSettings::reset() {
SERIAL_ECHOPAIR(" Z", LINEAR_UNIT(endstops.z_endstop_adj));
#endif
SERIAL_EOL();
#endif // DELTA
#endif // [XYZ]_DUAL_ENDSTOPS
#if ENABLED(ULTIPANEL)
if (!forReplay) {
@ -2288,88 +2366,159 @@ void MarlinSettings::reset() {
#endif
#endif
/**
* TMC2130 stepper driver current
*/
#if HAS_TRINAMIC
/**
* TMC2130 / TMC2208 / TRAMS stepper driver current
*/
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Stepper driver current:");
}
CONFIG_ECHO_START;
SERIAL_ECHOPGM(" M906");
#if ENABLED(X_IS_TMC2130) || ENABLED(X_IS_TMC2208)
SERIAL_ECHOPAIR(" X ", stepperX.getCurrent());
#if X_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("X", stepperX.getCurrent());
#endif
#if ENABLED(Y_IS_TMC2130) || ENABLED(Y_IS_TMC2208)
SERIAL_ECHOPAIR(" Y ", stepperY.getCurrent());
#if X2_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("I1 X", stepperX2.getCurrent());
#endif
#if ENABLED(Z_IS_TMC2130) || ENABLED(Z_IS_TMC2208)
SERIAL_ECHOPAIR(" Z ", stepperZ.getCurrent());
#if Y_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("Y", stepperY.getCurrent());
#endif
#if ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208)
SERIAL_ECHOPAIR(" X2 ", stepperX2.getCurrent());
#if Y2_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("I1 Y", stepperY2.getCurrent());
#endif
#if ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208)
SERIAL_ECHOPAIR(" Y2 ", stepperY2.getCurrent());
#if Z_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("Z", stepperZ.getCurrent());
#endif
#if ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208)
SERIAL_ECHOPAIR(" Z2 ", stepperZ2.getCurrent());
#if Z2_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("I1 Z", stepperZ2.getCurrent());
#endif
#if ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208)
SERIAL_ECHOPAIR(" E0 ", stepperE0.getCurrent());
#if E0_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("T0 E", stepperE0.getCurrent());
#endif
#if ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208)
SERIAL_ECHOPAIR(" E1 ", stepperE1.getCurrent());
#if E_STEPPERS > 1 && E1_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("T1 E", stepperE1.getCurrent());
#endif
#if ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208)
SERIAL_ECHOPAIR(" E2 ", stepperE2.getCurrent());
#if E_STEPPERS > 2 && E2_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("T2 E", stepperE2.getCurrent());
#endif
#if ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208)
SERIAL_ECHOPAIR(" E3 ", stepperE3.getCurrent());
#if E_STEPPERS > 3 && E3_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("T3 E", stepperE3.getCurrent());
#endif
#if ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208)
SERIAL_ECHOPAIR(" E4 ", stepperE4.getCurrent());
#if E_STEPPERS > 4 && E4_IS_TRINAMIC
say_M906();
SERIAL_ECHOLNPAIR("T4 E", stepperE4.getCurrent());
#endif
SERIAL_EOL();
#endif
/**
* TMC2130 Sensorless homing thresholds
*/
#if ENABLED(SENSORLESS_HOMING)
/**
* TMC2130 / TMC2208 / TRAMS Hybrid Threshold
*/
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Sensorless homing threshold:");
SERIAL_ECHOLNPGM("Hybrid Threshold:");
}
CONFIG_ECHO_START;
SERIAL_ECHOPGM(" M914");
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130)
SERIAL_ECHOPAIR(" X", stepperX.sgt());
#endif
#if ENABLED(X2_IS_TMC2130)
SERIAL_ECHOPAIR(" X2 ", stepperX2.sgt());
#endif
#if X_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("X", TMC_GET_PWMTHRS(X, X));
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130)
SERIAL_ECHOPAIR(" Y", stepperY.sgt());
#endif
#if ENABLED(X2_IS_TMC2130)
SERIAL_ECHOPAIR(" Y2 ", stepperY2.sgt());
#endif
#if X2_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("I1 X", TMC_GET_PWMTHRS(X, X2));
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130)
SERIAL_ECHOPAIR(" Z", stepperZ.sgt());
#endif
#if ENABLED(Z2_IS_TMC2130)
SERIAL_ECHOPAIR(" Z2 ", stepperZ2.sgt());
#endif
#if Y_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("Y", TMC_GET_PWMTHRS(Y, Y));
#endif
#if Y2_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("I1 Y", TMC_GET_PWMTHRS(Y, Y2));
#endif
#if Z_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("Z", TMC_GET_PWMTHRS(Z, Z));
#endif
#if Z2_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("I1 Z", TMC_GET_PWMTHRS(Z, Z2));
#endif
#if E0_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("T0 E", TMC_GET_PWMTHRS(E, E0));
#endif
#if E_STEPPERS > 1 && E1_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("T1 E", TMC_GET_PWMTHRS(E, E1));
#endif
#if E_STEPPERS > 2 && E2_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("T2 E", TMC_GET_PWMTHRS(E, E2));
#endif
#if E_STEPPERS > 3 && E3_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("T3 E", TMC_GET_PWMTHRS(E, E3));
#endif
#if E_STEPPERS > 4 && E4_IS_TRINAMIC
say_M913();
SERIAL_ECHOLNPAIR("T4 E", TMC_GET_PWMTHRS(E, E4));
#endif
SERIAL_EOL();
#endif
/**
* TMC2130 Sensorless homing thresholds
*/
#if ENABLED(SENSORLESS_HOMING)
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Sensorless homing threshold:");
}
CONFIG_ECHO_START;
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
say_M914();
SERIAL_ECHOLNPAIR("X", stepperX.sgt());
#endif
#if ENABLED(X2_IS_TMC2130)
say_M914();
SERIAL_ECHOLNPAIR("I1 X", stepperX2.sgt());
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
say_M914();
SERIAL_ECHOLNPAIR("Y", stepperY.sgt());
#endif
#if ENABLED(Y2_IS_TMC2130)
say_M914();
SERIAL_ECHOLNPAIR("I1 Y", stepperY2.sgt());
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
say_M914();
SERIAL_ECHOLNPAIR("Z", stepperZ.sgt());
#endif
#if ENABLED(Z2_IS_TMC2130)
say_M914();
SERIAL_ECHOLNPAIR("I1 Z", stepperZ2.sgt());
#endif
#endif
SERIAL_EOL();
#endif
#endif // HAS_TRINAMIC
/**
* Linear Advance
@ -2405,25 +2554,31 @@ void MarlinSettings::reset() {
}
CONFIG_ECHO_START;
#if EXTRUDERS == 1
SERIAL_ECHOPAIR(" M603 L", LINEAR_UNIT(filament_change_load_length[0]));
say_M603();
SERIAL_ECHOPAIR("L", LINEAR_UNIT(filament_change_load_length[0]));
SERIAL_ECHOLNPAIR(" U", LINEAR_UNIT(filament_change_unload_length[0]));
#else
SERIAL_ECHOPAIR(" M603 T0 L", LINEAR_UNIT(filament_change_load_length[0]));
say_M603();
SERIAL_ECHOPAIR("T0 L", LINEAR_UNIT(filament_change_load_length[0]));
SERIAL_ECHOLNPAIR(" U", LINEAR_UNIT(filament_change_unload_length[0]));
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M603 T1 L", LINEAR_UNIT(filament_change_load_length[1]));
say_M603();
SERIAL_ECHOPAIR("T1 L", LINEAR_UNIT(filament_change_load_length[1]));
SERIAL_ECHOLNPAIR(" U", LINEAR_UNIT(filament_change_unload_length[1]));
#if EXTRUDERS > 2
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M603 T2 L", LINEAR_UNIT(filament_change_load_length[2]));
say_M603();
SERIAL_ECHOPAIR("T2 L", LINEAR_UNIT(filament_change_load_length[2]));
SERIAL_ECHOLNPAIR(" U", LINEAR_UNIT(filament_change_unload_length[2]));
#if EXTRUDERS > 3
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M603 T3 L", LINEAR_UNIT(filament_change_load_length[3]));
say_M603();
SERIAL_ECHOPAIR("T3 L", LINEAR_UNIT(filament_change_load_length[3]));
SERIAL_ECHOLNPAIR(" U", LINEAR_UNIT(filament_change_unload_length[3]));
#if EXTRUDERS > 4
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M603 T4 L", LINEAR_UNIT(filament_change_load_length[4]));
say_M603();
SERIAL_ECHOPAIR("T4 L", LINEAR_UNIT(filament_change_load_length[4]));
SERIAL_ECHOLNPAIR(" U", LINEAR_UNIT(filament_change_unload_length[4]));
#endif // EXTRUDERS > 4
#endif // EXTRUDERS > 3

5
Marlin/power.cpp
View File

@ -87,6 +87,11 @@ void Power::check() {
void Power::power_on() {
lastPowerOn = millis();
PSU_PIN_ON();
#if HAS_TRINAMIC
delay(100); // Wait for power to settle
restore_stepper_drivers();
#endif
}
void Power::power_off() {

25
Marlin/stepper.cpp
View File

@ -948,31 +948,6 @@ void Stepper::init() {
microstep_init();
#endif
// Init TMC Steppers
#if ENABLED(HAVE_TMC26X)
tmc_init();
#endif
// Init TMC2130 Steppers
#if ENABLED(HAVE_TMC2130)
tmc2130_init();
#endif
// Init TMC2208 Steppers
#if ENABLED(HAVE_TMC2208)
tmc2208_init();
#endif
// TRAMS, TMC2130 and TMC2208 advanced settings
#if HAS_TRINAMIC
TMC_ADV()
#endif
// Init L6470 Steppers
#if ENABLED(HAVE_L6470DRIVER)
L6470_init();
#endif
// Init Dir Pins
#if HAS_X_DIR
X_DIR_INIT;

153
Marlin/stepper_indirection.cpp
View File

@ -42,83 +42,82 @@
#include <SPI.h>
#include <TMC26XStepper.h>
#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#if ENABLED(X_IS_TMC26X)
_TMC_DEFINE(X);
_TMC26X_DEFINE(X);
#endif
#if ENABLED(X2_IS_TMC26X)
_TMC_DEFINE(X2);
_TMC26X_DEFINE(X2);
#endif
#if ENABLED(Y_IS_TMC26X)
_TMC_DEFINE(Y);
_TMC26X_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_TMC26X)
_TMC_DEFINE(Y2);
_TMC26X_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_TMC26X)
_TMC_DEFINE(Z);
_TMC26X_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_TMC26X)
_TMC_DEFINE(Z2);
_TMC26X_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_TMC26X)
_TMC_DEFINE(E0);
_TMC26X_DEFINE(E0);
#endif
#if ENABLED(E1_IS_TMC26X)
_TMC_DEFINE(E1);
_TMC26X_DEFINE(E1);
#endif
#if ENABLED(E2_IS_TMC26X)
_TMC_DEFINE(E2);
_TMC26X_DEFINE(E2);
#endif
#if ENABLED(E3_IS_TMC26X)
_TMC_DEFINE(E3);
_TMC26X_DEFINE(E3);
#endif
#if ENABLED(E4_IS_TMC26X)
_TMC_DEFINE(E4);
_TMC26X_DEFINE(E4);
#endif
#define _TMC_INIT(A) do{ \
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
void tmc_init() {
void tmc26x_init_to_defaults() {
#if ENABLED(X_IS_TMC26X)
_TMC_INIT(X);
_TMC26X_INIT(X);
#endif
#if ENABLED(X2_IS_TMC26X)
_TMC_INIT(X2);
_TMC26X_INIT(X2);
#endif
#if ENABLED(Y_IS_TMC26X)
_TMC_INIT(Y);
_TMC26X_INIT(Y);
#endif
#if ENABLED(Y2_IS_TMC26X)
_TMC_INIT(Y2);
_TMC26X_INIT(Y2);
#endif
#if ENABLED(Z_IS_TMC26X)
_TMC_INIT(Z);
_TMC26X_INIT(Z);
#endif
#if ENABLED(Z2_IS_TMC26X)
_TMC_INIT(Z2);
_TMC26X_INIT(Z2);
#endif
#if ENABLED(E0_IS_TMC26X)
_TMC_INIT(E0);
_TMC26X_INIT(E0);
#endif
#if ENABLED(E1_IS_TMC26X)
_TMC_INIT(E1);
_TMC26X_INIT(E1);
#endif
#if ENABLED(E2_IS_TMC26X)
_TMC_INIT(E2);
_TMC26X_INIT(E2);
#endif
#if ENABLED(E3_IS_TMC26X)
_TMC_INIT(E3);
_TMC26X_INIT(E3);
#endif
#if ENABLED(E4_IS_TMC26X)
_TMC_INIT(E4);
_TMC26X_INIT(E4);
#endif
}
#endif // HAVE_TMC26X
//
@ -137,7 +136,6 @@
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
#endif
// Stepper objects of TMC2130 steppers used
#if ENABLED(X_IS_TMC2130)
_TMC2130_DEFINE(X);
@ -176,9 +174,9 @@
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.begin();
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.off_time(5); // Only enables the driver if used with stealthChop
@ -205,9 +203,9 @@
st.GSTAT(); // Clear GSTAT
}
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2130_init() {
void tmc2130_init_to_defaults() {
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
#endif
@ -242,7 +240,35 @@
{ constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(SENSORLESS_HOMING)
#define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperX.sgt(X_HOMING_SENSITIVITY);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperZ.sgt(Z_HOMING_SENSITIVITY);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
}
#endif // HAVE_TMC2130
//
@ -377,11 +403,11 @@
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
void tmc2208_init(TMC2208Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.pdn_disable(true); // Use UART
st.mstep_reg_select(true); // Select microsteps with UART
st.I_scale_analog(false);
st.rms_current(st.getCurrent(), HOLD_MULTIPLIER, R_SENSE);
st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
st.microsteps(microsteps);
st.blank_time(24);
st.toff(5);
@ -411,9 +437,9 @@
delay(200);
}
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2208_init() {
void tmc2208_init_to_defaults() {
#if ENABLED(X_IS_TMC2208)
_TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
#endif
@ -448,8 +474,63 @@
{ constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
}
#endif // HAVE_TMC2208
void restore_stepper_drivers() {
#if X_IS_TRINAMIC
stepperX.push();
#endif
#if X2_IS_TRINAMIC
stepperX2.push();
#endif
#if Y_IS_TRINAMIC
stepperY.push();
#endif
#if Y2_IS_TRINAMIC
stepperY2.push();
#endif
#if Z_IS_TRINAMIC
stepperZ.push();
#endif
#if Z2_IS_TRINAMIC
stepperZ2.push();
#endif
#if E0_IS_TRINAMIC
stepperE0.push();
#endif
#if E1_IS_TRINAMIC
stepperE1.push();
#endif
#if E2_IS_TRINAMIC
stepperE2.push();
#endif
#if E3_IS_TRINAMIC
stepperE3.push();
#endif
#if E4_IS_TRINAMIC
stepperE4.push();
#endif
}
void reset_stepper_drivers() {
#if ENABLED(HAVE_TMC26X)
tmc26x_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2130)
tmc2130_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2208)
tmc2208_init_to_defaults();
#endif
#ifdef TMC_ADV
TMC_ADV()
#endif
#if ENABLED(HAVE_L6470DRIVER)
L6470_init_to_defaults();
#endif
}
//
// L6470 Driver objects and inits
//
@ -503,7 +584,7 @@
stepper##A.setStallCurrent(A##_STALLCURRENT); \
}while(0)
void L6470_init() {
void L6470_init_to_defaults() {
#if ENABLED(X_IS_L6470)
_L6470_INIT(X);
#endif

99
Marlin/stepper_indirection.h
View File

@ -50,29 +50,32 @@
#if ENABLED(HAVE_TMC26X)
#include <SPI.h>
#include <TMC26XStepper.h>
void tmc_init();
void tmc26x_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2130)
#include <TMC2130Stepper.h>
void tmc2130_init();
void tmc2130_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2208)
#include <TMC2208Stepper.h>
void tmc2208_serial_begin();
void tmc2208_init();
void tmc2208_init_to_defaults();
#endif
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
#if ENABLED(HAVE_L6470DRIVER)
#include <SPI.h>
#include <L6470.h>
void L6470_init();
void L6470_init_to_defaults();
#endif
void restore_stepper_drivers(); // Called by PSU_ON
void reset_stepper_drivers(); // Called by settings.load / settings.reset
// X Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(X_IS_L6470)
#if ENABLED(X_IS_L6470)
extern L6470 stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) do{ if (STATE) stepperX.Step_Clock(stepperX.getStatus() & STATUS_HIZ); else stepperX.softFree(); }while(0)
@ -81,15 +84,15 @@
#define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
#define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(X_IS_TMC26X)
#if ENABLED(X_IS_TMC26X)
extern TMC26XStepper stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#define X_ENABLE_READ stepperX.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(X_IS_TMC2130)
#if ENABLED(X_IS_TMC2130)
extern TMC2130Stepper stepperX;
#elif ENABLED(HAVE_TMC2208) && ENABLED(X_IS_TMC2208)
#elif ENABLED(X_IS_TMC2208)
extern TMC2208Stepper stepperX;
#endif
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
@ -105,7 +108,7 @@
#define X_STEP_READ READ(X_STEP_PIN)
// Y Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Y_IS_L6470)
#if ENABLED(Y_IS_L6470)
extern L6470 stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) do{ if (STATE) stepperY.Step_Clock(stepperY.getStatus() & STATUS_HIZ); else stepperY.softFree(); }while(0)
@ -114,15 +117,15 @@
#define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
#define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(Y_IS_TMC26X)
#if ENABLED(Y_IS_TMC26X)
extern TMC26XStepper stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#define Y_ENABLE_READ stepperY.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(Y_IS_TMC2130)
#if ENABLED(Y_IS_TMC2130)
extern TMC2130Stepper stepperY;
#elif ENABLED(HAVE_TMC2208) && ENABLED(Y_IS_TMC2208)
#elif ENABLED(Y_IS_TMC2208)
extern TMC2208Stepper stepperY;
#endif
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
@ -138,7 +141,7 @@
#define Y_STEP_READ READ(Y_STEP_PIN)
// Z Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Z_IS_L6470)
#if ENABLED(Z_IS_L6470)
extern L6470 stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ.Step_Clock(stepperZ.getStatus() & STATUS_HIZ); else stepperZ.softFree(); }while(0)
@ -147,15 +150,15 @@
#define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
#define Z_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(Z_IS_TMC26X)
#if ENABLED(Z_IS_TMC26X)
extern TMC26XStepper stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#define Z_ENABLE_READ stepperZ.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(Z_IS_TMC2130)
#if ENABLED(Z_IS_TMC2130)
extern TMC2130Stepper stepperZ;
#elif ENABLED(HAVE_TMC2208) && ENABLED(Z_IS_TMC2208)
#elif ENABLED(Z_IS_TMC2208)
extern TMC2208Stepper stepperZ;
#endif
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
@ -172,7 +175,7 @@
// X2 Stepper
#if HAS_X2_ENABLE
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(X2_IS_L6470)
#if ENABLED(X2_IS_L6470)
extern L6470 stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) do{ if (STATE) stepperX2.Step_Clock(stepperX2.getStatus() & STATUS_HIZ); else stepperX2.softFree(); }while(0)
@ -181,15 +184,15 @@
#define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
#define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(X2_IS_TMC26X)
#if ENABLED(X2_IS_TMC26X)
extern TMC26XStepper stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#define X2_ENABLE_READ stepperX2.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(X2_IS_TMC2130)
#if ENABLED(X2_IS_TMC2130)
extern TMC2130Stepper stepperX2;
#elif ENABLED(HAVE_TMC2208) && ENABLED(X2_IS_TMC2208)
#elif ENABLED(X2_IS_TMC2208)
extern TMC2208Stepper stepperX2;
#endif
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
@ -207,7 +210,7 @@
// Y2 Stepper
#if HAS_Y2_ENABLE
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Y2_IS_L6470)
#if ENABLED(Y2_IS_L6470)
extern L6470 stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) do{ if (STATE) stepperY2.Step_Clock(stepperY2.getStatus() & STATUS_HIZ); else stepperY2.softFree(); }while(0)
@ -216,15 +219,15 @@
#define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
#define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(Y2_IS_TMC26X)
#if ENABLED(Y2_IS_TMC26X)
extern TMC26XStepper stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#define Y2_ENABLE_READ stepperY2.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(Y2_IS_TMC2130)
#if ENABLED(Y2_IS_TMC2130)
extern TMC2130Stepper stepperY2;
#elif ENABLED(HAVE_TMC2208) && ENABLED(Y2_IS_TMC2208)
#elif ENABLED(Y2_IS_TMC2208)
extern TMC2208Stepper stepperY2;
#endif
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
@ -242,7 +245,7 @@
// Z2 Stepper
#if HAS_Z2_ENABLE
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Z2_IS_L6470)
#if ENABLED(Z2_IS_L6470)
extern L6470 stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ2.Step_Clock(stepperZ2.getStatus() & STATUS_HIZ); else stepperZ2.softFree(); }while(0)
@ -251,15 +254,15 @@
#define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
#define Z2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(Z2_IS_TMC26X)
#if ENABLED(Z2_IS_TMC26X)
extern TMC26XStepper stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#define Z2_ENABLE_READ stepperZ2.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(Z2_IS_TMC2130)
#if ENABLED(Z2_IS_TMC2130)
extern TMC2130Stepper stepperZ2;
#elif ENABLED(HAVE_TMC2208) && ENABLED(Z2_IS_TMC2208)
#elif ENABLED(Z2_IS_TMC2208)
extern TMC2208Stepper stepperZ2;
#endif
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
@ -276,7 +279,7 @@
#endif
// E0 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E0_IS_L6470)
#if ENABLED(E0_IS_L6470)
extern L6470 stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) do{ if (STATE) stepperE0.Step_Clock(stepperE0.getStatus() & STATUS_HIZ); else stepperE0.softFree(); }while(0)
@ -285,15 +288,15 @@
#define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
#define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(E0_IS_TMC26X)
#if ENABLED(E0_IS_TMC26X)
extern TMC26XStepper stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#define E0_ENABLE_READ stepperE0.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(E0_IS_TMC2130)
#if ENABLED(E0_IS_TMC2130)
extern TMC2130Stepper stepperE0;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E0_IS_TMC2208)
#elif ENABLED(E0_IS_TMC2208)
extern TMC2208Stepper stepperE0;
#endif
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
@ -309,7 +312,7 @@
#define E0_STEP_READ READ(E0_STEP_PIN)
// E1 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E1_IS_L6470)
#if ENABLED(E1_IS_L6470)
extern L6470 stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) do{ if (STATE) stepperE1.Step_Clock(stepperE1.getStatus() & STATUS_HIZ); else stepperE1.softFree(); }while(0)
@ -318,15 +321,15 @@
#define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
#define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(E1_IS_TMC26X)
#if ENABLED(E1_IS_TMC26X)
extern TMC26XStepper stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#define E1_ENABLE_READ stepperE1.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(E1_IS_TMC2130)
#if ENABLED(E1_IS_TMC2130)
extern TMC2130Stepper stepperE1;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E1_IS_TMC2208)
#elif ENABLED(E1_IS_TMC2208)
extern TMC2208Stepper stepperE1;
#endif
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
@ -342,7 +345,7 @@
#define E1_STEP_READ READ(E1_STEP_PIN)
// E2 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E2_IS_L6470)
#if ENABLED(E2_IS_L6470)
extern L6470 stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) do{ if (STATE) stepperE2.Step_Clock(stepperE2.getStatus() & STATUS_HIZ); else stepperE2.softFree(); }while(0)
@ -351,15 +354,15 @@
#define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
#define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(E2_IS_TMC26X)
#if ENABLED(E2_IS_TMC26X)
extern TMC26XStepper stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#define E2_ENABLE_READ stepperE2.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(E2_IS_TMC2130)
#if ENABLED(E2_IS_TMC2130)
extern TMC2130Stepper stepperE2;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E2_IS_TMC2208)
#elif ENABLED(E2_IS_TMC2208)
extern TMC2208Stepper stepperE2;
#endif
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
@ -375,7 +378,7 @@
#define E2_STEP_READ READ(E2_STEP_PIN)
// E3 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E3_IS_L6470)
#if ENABLED(E3_IS_L6470)
extern L6470 stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) do{ if (STATE) stepperE3.Step_Clock(stepperE3.getStatus() & STATUS_HIZ); else stepperE3.softFree(); }while(0)
@ -384,15 +387,15 @@
#define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
#define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(E3_IS_TMC26X)
#if ENABLED(E3_IS_TMC26X)
extern TMC26XStepper stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#define E3_ENABLE_READ stepperE3.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(E3_IS_TMC2130)
#if ENABLED(E3_IS_TMC2130)
extern TMC2130Stepper stepperE3;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E3_IS_TMC2208)
#elif ENABLED(E3_IS_TMC2208)
extern TMC2208Stepper stepperE3;
#endif
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
@ -408,7 +411,7 @@
#define E3_STEP_READ READ(E3_STEP_PIN)
// E4 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E4_IS_L6470)
#if ENABLED(E4_IS_L6470)
extern L6470 stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) do{ if (STATE) stepperE4.Step_Clock(stepperE4.getStatus() & STATUS_HIZ); else stepperE4.softFree(); }while(0)
@ -417,15 +420,15 @@
#define E4_DIR_WRITE(STATE) stepperE4.Step_Clock(STATE)
#define E4_DIR_READ (stepperE4.getStatus() & STATUS_DIR)
#else
#if ENABLED(HAVE_TMC26X) && ENABLED(E4_IS_TMC26X)
#if ENABLED(E4_IS_TMC26X)
extern TMC26XStepper stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
#define E4_ENABLE_READ stepperE4.isEnabled()
#else
#if ENABLED(HAVE_TMC2130) && ENABLED(E4_IS_TMC2130)
#if ENABLED(E4_IS_TMC2130)
extern TMC2130Stepper stepperE4;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E4_IS_TMC2208)
#elif ENABLED(E4_IS_TMC2208)
extern TMC2208Stepper stepperE4;
#endif
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)

1
Marlin/tmc_util.cpp
View File

@ -329,6 +329,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
}
}
#endif
#if ENABLED(HAVE_TMC2208)
static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch (i) {

5
Marlin/tmc_util.h
View File

@ -35,7 +35,7 @@
extern bool report_tmc_status;
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 };
enum TMC_AxisEnum : char { TMC_X, TMC_Y, TMC_Z, TMC_X2, TMC_Y2, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 };
constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
return 12650000UL * msteps / (256 * thrs * spmm);
@ -55,7 +55,6 @@ void tmc_get_current(TMC &st, const TMC_AxisEnum axis) {
template<typename TMC>
void tmc_set_current(TMC &st, const TMC_AxisEnum axis, const int mA) {
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
tmc_get_current(st, axis);
}
template<typename TMC>
void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) {
@ -73,7 +72,6 @@ void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) {
template<typename TMC>
void tmc_set_pwmthrs(TMC &st, const TMC_AxisEnum axis, const int32_t thrs, const uint32_t spmm) {
st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
tmc_get_pwmthrs(st, axis, spmm);
}
template<typename TMC>
void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) {
@ -82,7 +80,6 @@ void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) {
template<typename TMC>
void tmc_set_sgt(TMC &st, const TMC_AxisEnum axis, const int8_t sgt_val) {
st.sgt(sgt_val);
tmc_get_sgt(st, axis);
}
void monitor_tmc_driver();