267 lines
9.1 KiB
C++
267 lines
9.1 KiB
C++
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/**
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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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template<typename TMC>
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void tmc_get_current(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" axis driver current: ");
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SERIAL_ECHOLN(st.getCurrent());
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}
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template<typename TMC>
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void tmc_set_current(TMC &st, const char name[], const int mA) {
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
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tmc_get_current(st, name);
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}
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template<typename TMC>
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void tmc_report_otpw(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
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serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
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SERIAL_EOL();
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}
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template<typename TMC>
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void tmc_clear_otpw(TMC &st, const char name[]) {
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st.clear_otpw();
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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template<typename TMC>
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void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" stealthChop max speed set to ");
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SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
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}
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template<typename TMC>
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void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
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st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
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tmc_get_pwmthrs(st, name, spmm);
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}
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template<typename TMC>
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void tmc_get_sgt(TMC &st, const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" driver homing sensitivity set to ");
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MYSERIAL.println(st.sgt(), DEC);
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}
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template<typename TMC>
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void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
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st.sgt(sgt_val);
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tmc_get_sgt(st, name);
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}
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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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bool is_ot;
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bool is_error;
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};
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#if ENABLED(HAVE_TMC2130)
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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) { return st.status_response&0xF; }
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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 DRIVER_ERROR_bm = 0x2UL;
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constexpr uint8_t DRIVER_ERROR_bp = 1;
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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_error = (st.status_response & DRIVER_ERROR_bm)>>DRIVER_ERROR_bp;
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return data;
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}
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#endif
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#if ENABLED(HAVE_TMC2208)
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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) {
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uint32_t drv_status = st.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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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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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_error = st.drv_err();
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return data;
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}
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#endif
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template<typename TMC>
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uint8_t monitor_tmc_driver(TMC &st, const char axisID, uint8_t otpw_cnt) {
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TMC_driver_data data = get_driver_data(st);
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#if ENABLED(STOP_ON_ERROR)
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if (data.is_error) {
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SERIAL_EOL();
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SERIAL_ECHO(axisID);
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SERIAL_ECHO(" driver error detected:");
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if (data.is_ot) SERIAL_ECHO("\novertemperature");
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if (st.s2ga()) SERIAL_ECHO("\nshort to ground (coil A)");
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if (st.s2gb()) SERIAL_ECHO("\nshort to ground (coil B)");
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SERIAL_EOL();
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#if ENABLED(TMC_DEBUG)
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_M122();
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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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// Report if a warning was triggered
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if (data.is_otpw && otpw_cnt==0) {
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char timestamp[10];
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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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SERIAL_ECHO(axisID);
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SERIAL_ECHOPGM(" driver overtemperature warning! (");
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SERIAL_ECHO(st.getCurrent());
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SERIAL_ECHOLN("mA)");
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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 then 4 warnings
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if (data.is_otpw && !st.isEnabled() && otpw_cnt > 4) {
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st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);
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#if ENABLED(REPORT_CURRENT_CHANGE)
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SERIAL_ECHO(axisID);
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SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
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#endif
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}
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#endif
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if (data.is_otpw) {
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otpw_cnt++;
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st.flag_otpw = true;
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}
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else if (otpw_cnt>0) otpw_cnt--;
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if (report_tmc_status) {
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const uint32_t pwm_scale = get_pwm_scale(st);
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SERIAL_ECHO(axisID);
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SERIAL_ECHOPAIR(":", pwm_scale);
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SERIAL_ECHO(" |0b"); MYSERIAL.print(get_status_response(st), BIN);
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SERIAL_ECHO("| ");
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if (data.is_error) SERIAL_ECHO('E');
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else if (data.is_ot) SERIAL_ECHO('O');
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else if (data.is_otpw) SERIAL_ECHO('W');
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else if (otpw_cnt>0) MYSERIAL.print(otpw_cnt, DEC);
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else if (st.flag_otpw) SERIAL_ECHO('F');
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SERIAL_ECHO("\t");
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}
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return otpw_cnt;
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}
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#define HAS_HW_COMMS(ST) ENABLED(ST##_IS_TMC2130)|| (ENABLED(ST##_IS_TMC2208) && defined(ST##_HARDWARE_SERIAL))
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void monitor_tmc_driver() {
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static millis_t next_cOT = 0;
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if (ELAPSED(millis(), next_cOT)) {
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next_cOT = millis() + 500;
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#if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS)
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static uint8_t x_otpw_cnt = 0;
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x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS)
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static uint8_t y_otpw_cnt = 0;
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y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS)
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static uint8_t z_otpw_cnt = 0;
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z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(X2)
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static uint8_t x2_otpw_cnt = 0;
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x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Y2)
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static uint8_t y2_otpw_cnt = 0;
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y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Z2)
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static uint8_t z2_otpw_cnt = 0;
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z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS)
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static uint8_t e0_otpw_cnt = 0;
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e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E1)
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static uint8_t e1_otpw_cnt = 0;
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e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E2)
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static uint8_t e2_otpw_cnt = 0;
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e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E3)
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static uint8_t e3_otpw_cnt = 0;
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e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E4)
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static uint8_t e4_otpw_cnt = 0;
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e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
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#endif
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if (report_tmc_status) SERIAL_EOL();
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}
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}
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#endif // MONITOR_DRIVER_STATUS
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#endif // HAS_TRINAMIC
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