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🚸 Refine stepper-driver-related G-codes (#23372)

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This commit is contained in:
Scott Lahteine 2021-12-28 05:43:10 -06:00 committed by Scott Lahteine
parent 56adbc3ebf
commit 99c237e05e
8 changed files with 171 additions and 180 deletions
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43
Marlin/src/feature/tmc_util.h
View File

@ -45,6 +45,12 @@ constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const u
return 12650000UL * msteps / (256 * thrs * spmm); return 12650000UL * msteps / (256 * thrs * spmm);
} }
typedef struct {
uint8_t toff;
int8_t hend;
uint8_t hstrt;
} chopper_timing_t;
template<char AXIS_LETTER, char DRIVER_ID> template<char AXIS_LETTER, char DRIVER_ID>
class TMCStorage { class TMCStorage {
protected: protected:
@ -297,43 +303,6 @@ class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC266
sgt_max = 63; sgt_max = 63;
}; };
template<typename TMC>
void tmc_print_current(TMC &st) {
st.printLabel();
SERIAL_ECHOLNPGM(" driver current: ", st.getMilliamps());
}
#if ENABLED(MONITOR_DRIVER_STATUS)
template<typename TMC>
void tmc_report_otpw(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" temperature prewarn triggered: ");
serialprint_truefalse(st.getOTPW());
SERIAL_EOL();
}
template<typename TMC>
void tmc_clear_otpw(TMC &st) {
st.clear_otpw();
st.printLabel();
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
#endif
#if ENABLED(HYBRID_THRESHOLD)
template<typename TMC>
void tmc_print_pwmthrs(TMC &st) {
st.printLabel();
SERIAL_ECHOLNPGM(" stealthChop max speed: ", st.get_pwm_thrs());
}
#endif
#if USE_SENSORLESS
template<typename TMC>
void tmc_print_sgt(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" homing sensitivity: ");
SERIAL_PRINTLN(st.homing_threshold(), PrintBase::Dec);
}
#endif
void monitor_tmc_drivers(); void monitor_tmc_drivers();
void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true)); void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));

54
Marlin/src/gcode/feature/L6470/M906.cpp
View File

@ -202,12 +202,11 @@ void L64XX_report_current(L64XX &motor, const L64XX_axis_t axis) {
* On L6474 this sets the TVAL register (same address). * On L6474 this sets the TVAL register (same address).
* *
* I - select which driver(s) to change on multi-driver axis * I - select which driver(s) to change on multi-driver axis
* 0 - (default) all drivers on the axis or E0 * (default) all drivers on the axis
* 1 - monitor only X, Y, Z or E1 * 0 - monitor only the first XYZ... driver
* 2 - monitor only X2, Y2, Z2 or E2 * 1 - monitor only X2, Y2, Z2
* 3 - monitor only Z3 or E3 * 2 - monitor only Z3
* 4 - monitor only Z4 or E4 * 3 - monitor only Z4
* 5 - monitor only E5
* Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional) * Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional)
* L6474 - current in mA (4A max) * L6474 - current in mA (4A max)
* All others - 0-255 * All others - 0-255
@ -227,8 +226,10 @@ void GcodeSuite::M906() {
uint8_t report_current = true; uint8_t report_current = true;
#if HAS_L64XX #if AXIS_IS_L64XX(X2) || AXIS_IS_L64XX(Y2) || AXIS_IS_L64XX(Z2) || AXIS_IS_L64XX(Z3) || AXIS_IS_L64XX(Z4)
const uint8_t index = parser.byteval('I'); const int8_t index = parser.byteval('I', -1);
#else
constexpr int8_t index = -1;
#endif #endif
LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) { LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) {
@ -243,20 +244,20 @@ void GcodeSuite::M906() {
switch (i) { switch (i) {
case X_AXIS: case X_AXIS:
#if AXIS_IS_L64XX(X) #if AXIS_IS_L64XX(X)
if (index == 0) L6470_SET_KVAL_HOLD(X); if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(X);
#endif #endif
#if AXIS_IS_L64XX(X2) #if AXIS_IS_L64XX(X2)
if (index == 1) L6470_SET_KVAL_HOLD(X2); if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(X2);
#endif #endif
break; break;
#if HAS_Y_AXIS #if HAS_Y_AXIS
case Y_AXIS: case Y_AXIS:
#if AXIS_IS_L64XX(Y) #if AXIS_IS_L64XX(Y)
if (index == 0) L6470_SET_KVAL_HOLD(Y); if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(Y);
#endif #endif
#if AXIS_IS_L64XX(Y2) #if AXIS_IS_L64XX(Y2)
if (index == 1) L6470_SET_KVAL_HOLD(Y2); if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(Y2);
#endif #endif
break; break;
#endif #endif
@ -264,50 +265,47 @@ void GcodeSuite::M906() {
#if HAS_Z_AXIS #if HAS_Z_AXIS
case Z_AXIS: case Z_AXIS:
#if AXIS_IS_L64XX(Z) #if AXIS_IS_L64XX(Z)
if (index == 0) L6470_SET_KVAL_HOLD(Z); if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(Z);
#endif #endif
#if AXIS_IS_L64XX(Z2) #if AXIS_IS_L64XX(Z2)
if (index == 1) L6470_SET_KVAL_HOLD(Z2); if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(Z2);
#endif #endif
#if AXIS_IS_L64XX(Z3) #if AXIS_IS_L64XX(Z3)
if (index == 2) L6470_SET_KVAL_HOLD(Z3); if (index < 0 || index == 2) L6470_SET_KVAL_HOLD(Z3);
#endif #endif
#if AXIS_DRIVER_TYPE_Z4(L6470) #if AXIS_DRIVER_TYPE_Z4(L6470)
if (index == 3) L6470_SET_KVAL_HOLD(Z4); if (index < 0 || index == 3) L6470_SET_KVAL_HOLD(Z4);
#endif #endif
break; break;
#endif #endif
#if E_STEPPERS #if E_STEPPERS
case E_AXIS: { case E_AXIS: {
const int8_t target_e_stepper = get_target_e_stepper_from_command(0); const int8_t eindex = get_target_e_stepper_from_command(-2);
if (target_e_stepper < 0) return;
switch (target_e_stepper) {
#if AXIS_IS_L64XX(E0) #if AXIS_IS_L64XX(E0)
case 0: L6470_SET_KVAL_HOLD(E0); break; if (eindex < 0 || eindex == 0) L6470_SET_KVAL_HOLD(E0);
#endif #endif
#if AXIS_IS_L64XX(E1) #if AXIS_IS_L64XX(E1)
case 1: L6470_SET_KVAL_HOLD(E1); break; if (eindex < 0 || eindex == 1) L6470_SET_KVAL_HOLD(E1);
#endif #endif
#if AXIS_IS_L64XX(E2) #if AXIS_IS_L64XX(E2)
case 2: L6470_SET_KVAL_HOLD(E2); break; if (eindex < 0 || eindex == 2) L6470_SET_KVAL_HOLD(E2);
#endif #endif
#if AXIS_IS_L64XX(E3) #if AXIS_IS_L64XX(E3)
case 3: L6470_SET_KVAL_HOLD(E3); break; if (eindex < 0 || eindex == 3) L6470_SET_KVAL_HOLD(E3);
#endif #endif
#if AXIS_IS_L64XX(E4) #if AXIS_IS_L64XX(E4)
case 4: L6470_SET_KVAL_HOLD(E4); break; if (eindex < 0 || eindex == 4) L6470_SET_KVAL_HOLD(E4);
#endif #endif
#if AXIS_IS_L64XX(E5) #if AXIS_IS_L64XX(E5)
case 5: L6470_SET_KVAL_HOLD(E5); break; if (eindex < 0 || eindex == 5) L6470_SET_KVAL_HOLD(E5);
#endif #endif
#if AXIS_IS_L64XX(E6) #if AXIS_IS_L64XX(E6)
case 6: L6470_SET_KVAL_HOLD(E6); break; if (eindex < 0 || eindex == 6) L6470_SET_KVAL_HOLD(E6);
#endif #endif
#if AXIS_IS_L64XX(E7) #if AXIS_IS_L64XX(E7)
case 7: L6470_SET_KVAL_HOLD(E7); break; if (eindex < 0 || eindex == 7) L6470_SET_KVAL_HOLD(E7);
#endif #endif
}
} break; } break;
#endif #endif
} }

47
Marlin/src/gcode/feature/trinamic/M569.cpp
View File

@ -40,35 +40,35 @@ void tmc_set_stealthChop(TMC &st, const bool enable) {
st.refresh_stepping_mode(); st.refresh_stepping_mode();
} }
static void set_stealth_status(const bool enable, const int8_t target_e_stepper) { static void set_stealth_status(const bool enable, const int8_t eindex) {
#define TMC_SET_STEALTH(Q) tmc_set_stealthChop(stepper##Q, enable) #define TMC_SET_STEALTH(Q) tmc_set_stealthChop(stepper##Q, enable)
#if X_HAS_STEALTHCHOP || Y_HAS_STEALTHCHOP || Z_HAS_STEALTHCHOP \ #if X2_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP || Z3_HAS_STEALTHCHOP || Z4_HAS_STEALTHCHOP
|| I_HAS_STEALTHCHOP || J_HAS_STEALTHCHOP || K_HAS_STEALTHCHOP \ const int8_t index = parser.byteval('I', -1);
|| X2_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP || Z3_HAS_STEALTHCHOP || Z4_HAS_STEALTHCHOP #else
const uint8_t index = parser.byteval('I'); constexpr int8_t index = -1;
#endif #endif
LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) { LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) {
switch (i) { switch (i) {
case X_AXIS: case X_AXIS:
TERN_(X_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(X)); TERN_(X_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_STEALTH(X));
TERN_(X2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(X2)); TERN_(X2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_STEALTH(X2));
break; break;
#if HAS_Y_AXIS #if HAS_Y_AXIS
case Y_AXIS: case Y_AXIS:
TERN_(Y_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(Y)); TERN_(Y_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_STEALTH(Y));
TERN_(Y2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(Y2)); TERN_(Y2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_STEALTH(Y2));
break; break;
#endif #endif
#if HAS_Z_AXIS #if HAS_Z_AXIS
case Z_AXIS: case Z_AXIS:
TERN_(Z_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(Z)); TERN_(Z_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_STEALTH(Z));
TERN_(Z2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(Z2)); TERN_(Z2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_STEALTH(Z2));
TERN_(Z3_HAS_STEALTHCHOP, if (index == 2) TMC_SET_STEALTH(Z3)); TERN_(Z3_HAS_STEALTHCHOP, if (index < 0 || index == 2) TMC_SET_STEALTH(Z3));
TERN_(Z4_HAS_STEALTHCHOP, if (index == 3) TMC_SET_STEALTH(Z4)); TERN_(Z4_HAS_STEALTHCHOP, if (index < 0 || index == 3) TMC_SET_STEALTH(Z4));
break; break;
#endif #endif
@ -84,17 +84,14 @@ static void set_stealth_status(const bool enable, const int8_t target_e_stepper)
#if E_STEPPERS #if E_STEPPERS
case E_AXIS: { case E_AXIS: {
if (target_e_stepper < 0) return; TERN_(E0_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 0) TMC_SET_STEALTH(E0));
switch (target_e_stepper) { TERN_(E1_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 1) TMC_SET_STEALTH(E1));
TERN_(E0_HAS_STEALTHCHOP, case 0: TMC_SET_STEALTH(E0); break;) TERN_(E2_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 2) TMC_SET_STEALTH(E2));
TERN_(E1_HAS_STEALTHCHOP, case 1: TMC_SET_STEALTH(E1); break;) TERN_(E3_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 3) TMC_SET_STEALTH(E3));
TERN_(E2_HAS_STEALTHCHOP, case 2: TMC_SET_STEALTH(E2); break;) TERN_(E4_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 4) TMC_SET_STEALTH(E4));
TERN_(E3_HAS_STEALTHCHOP, case 3: TMC_SET_STEALTH(E3); break;) TERN_(E5_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 5) TMC_SET_STEALTH(E5));
TERN_(E4_HAS_STEALTHCHOP, case 4: TMC_SET_STEALTH(E4); break;) TERN_(E6_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 6) TMC_SET_STEALTH(E6));
TERN_(E5_HAS_STEALTHCHOP, case 5: TMC_SET_STEALTH(E5); break;) TERN_(E7_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 7) TMC_SET_STEALTH(E7));
TERN_(E6_HAS_STEALTHCHOP, case 6: TMC_SET_STEALTH(E6); break;)
TERN_(E7_HAS_STEALTHCHOP, case 7: TMC_SET_STEALTH(E7); break;)
}
} break; } break;
#endif #endif
} }
@ -133,7 +130,7 @@ static void say_stealth_status() {
*/ */
void GcodeSuite::M569() { void GcodeSuite::M569() {
if (parser.seen('S')) if (parser.seen('S'))
set_stealth_status(parser.value_bool(), get_target_e_stepper_from_command(0)); set_stealth_status(parser.value_bool(), get_target_e_stepper_from_command(-2));
else else
say_stealth_status(); say_stealth_status();
} }

49
Marlin/src/gcode/feature/trinamic/M906.cpp
View File

@ -28,6 +28,12 @@
#include "../../../feature/tmc_util.h" #include "../../../feature/tmc_util.h"
#include "../../../module/stepper/indirection.h" #include "../../../module/stepper/indirection.h"
template<typename TMC>
static void tmc_print_current(TMC &st) {
st.printLabel();
SERIAL_ECHOLNPGM(" driver current: ", st.getMilliamps());
}
/** /**
* M906: Set motor current in milliamps. * M906: Set motor current in milliamps.
* *
@ -48,8 +54,10 @@ void GcodeSuite::M906() {
bool report = true; bool report = true;
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K) #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
const uint8_t index = parser.byteval('I'); const int8_t index = parser.byteval('I', -1);
#else
constexpr int8_t index = -1;
#endif #endif
LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) { LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(axis_codes[i])) {
@ -57,20 +65,20 @@ void GcodeSuite::M906() {
switch (i) { switch (i) {
case X_AXIS: case X_AXIS:
#if AXIS_IS_TMC(X) #if AXIS_IS_TMC(X)
if (index == 0) TMC_SET_CURRENT(X); if (index < 0 || index == 0) TMC_SET_CURRENT(X);
#endif #endif
#if AXIS_IS_TMC(X2) #if AXIS_IS_TMC(X2)
if (index == 1) TMC_SET_CURRENT(X2); if (index < 0 || index == 1) TMC_SET_CURRENT(X2);
#endif #endif
break; break;
#if HAS_Y_AXIS #if HAS_Y_AXIS
case Y_AXIS: case Y_AXIS:
#if AXIS_IS_TMC(Y) #if AXIS_IS_TMC(Y)
if (index == 0) TMC_SET_CURRENT(Y); if (index < 0 || index == 0) TMC_SET_CURRENT(Y);
#endif #endif
#if AXIS_IS_TMC(Y2) #if AXIS_IS_TMC(Y2)
if (index == 1) TMC_SET_CURRENT(Y2); if (index < 0 || index == 1) TMC_SET_CURRENT(Y2);
#endif #endif
break; break;
#endif #endif
@ -78,16 +86,16 @@ void GcodeSuite::M906() {
#if HAS_Z_AXIS #if HAS_Z_AXIS
case Z_AXIS: case Z_AXIS:
#if AXIS_IS_TMC(Z) #if AXIS_IS_TMC(Z)
if (index == 0) TMC_SET_CURRENT(Z); if (index < 0 || index == 0) TMC_SET_CURRENT(Z);
#endif #endif
#if AXIS_IS_TMC(Z2) #if AXIS_IS_TMC(Z2)
if (index == 1) TMC_SET_CURRENT(Z2); if (index < 0 || index == 1) TMC_SET_CURRENT(Z2);
#endif #endif
#if AXIS_IS_TMC(Z3) #if AXIS_IS_TMC(Z3)
if (index == 2) TMC_SET_CURRENT(Z3); if (index < 0 || index == 2) TMC_SET_CURRENT(Z3);
#endif #endif
#if AXIS_IS_TMC(Z4) #if AXIS_IS_TMC(Z4)
if (index == 3) TMC_SET_CURRENT(Z4); if (index < 0 || index == 3) TMC_SET_CURRENT(Z4);
#endif #endif
break; break;
#endif #endif
@ -104,34 +112,31 @@ void GcodeSuite::M906() {
#if E_STEPPERS #if E_STEPPERS
case E_AXIS: { case E_AXIS: {
const int8_t target_e_stepper = get_target_e_stepper_from_command(0); const int8_t eindex = get_target_e_stepper_from_command(-2);
if (target_e_stepper < 0) return;
switch (target_e_stepper) {
#if AXIS_IS_TMC(E0) #if AXIS_IS_TMC(E0)
case 0: TMC_SET_CURRENT(E0); break; if (eindex < 0 || eindex == 0) TMC_SET_CURRENT(E0);
#endif #endif
#if AXIS_IS_TMC(E1) #if AXIS_IS_TMC(E1)
case 1: TMC_SET_CURRENT(E1); break; if (eindex < 0 || eindex == 1) TMC_SET_CURRENT(E1);
#endif #endif
#if AXIS_IS_TMC(E2) #if AXIS_IS_TMC(E2)
case 2: TMC_SET_CURRENT(E2); break; if (eindex < 0 || eindex == 2) TMC_SET_CURRENT(E2);
#endif #endif
#if AXIS_IS_TMC(E3) #if AXIS_IS_TMC(E3)
case 3: TMC_SET_CURRENT(E3); break; if (eindex < 0 || eindex == 3) TMC_SET_CURRENT(E3);
#endif #endif
#if AXIS_IS_TMC(E4) #if AXIS_IS_TMC(E4)
case 4: TMC_SET_CURRENT(E4); break; if (eindex < 0 || eindex == 4) TMC_SET_CURRENT(E4);
#endif #endif
#if AXIS_IS_TMC(E5) #if AXIS_IS_TMC(E5)
case 5: TMC_SET_CURRENT(E5); break; if (eindex < 0 || eindex == 5) TMC_SET_CURRENT(E5);
#endif #endif
#if AXIS_IS_TMC(E6) #if AXIS_IS_TMC(E6)
case 6: TMC_SET_CURRENT(E6); break; if (eindex < 0 || eindex == 6) TMC_SET_CURRENT(E6);
#endif #endif
#if AXIS_IS_TMC(E7) #if AXIS_IS_TMC(E7)
case 7: TMC_SET_CURRENT(E7); break; if (eindex < 0 || eindex == 7) TMC_SET_CURRENT(E7);
#endif #endif
}
} break; } break;
#endif #endif
} }

79
Marlin/src/gcode/feature/trinamic/M911-M914.cpp
View File

@ -62,6 +62,21 @@
#error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160." #error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160."
#endif #endif
template<typename TMC>
static void tmc_report_otpw(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" temperature prewarn triggered: ");
serialprint_truefalse(st.getOTPW());
SERIAL_EOL();
}
template<typename TMC>
static void tmc_clear_otpw(TMC &st) {
st.clear_otpw();
st.printLabel();
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
/** /**
* M911: Report TMC stepper driver overtemperature pre-warn flag * M911: Report TMC stepper driver overtemperature pre-warn flag
* This flag is held by the library, persisting until cleared by M912 * This flag is held by the library, persisting until cleared by M912
@ -223,11 +238,17 @@
#endif // MONITOR_DRIVER_STATUS #endif // MONITOR_DRIVER_STATUS
#if ENABLED(HYBRID_THRESHOLD)
template<typename TMC>
static void tmc_print_pwmthrs(TMC &st) {
st.printLabel();
SERIAL_ECHOLNPGM(" stealthChop max speed: ", st.get_pwm_thrs());
}
/** /**
* M913: Set HYBRID_THRESHOLD speed. * M913: Set HYBRID_THRESHOLD speed.
*/ */
#if ENABLED(HYBRID_THRESHOLD)
void GcodeSuite::M913() { void GcodeSuite::M913() {
#define TMC_SAY_PWMTHRS(A,Q) tmc_print_pwmthrs(stepper##Q) #define TMC_SAY_PWMTHRS(A,Q) tmc_print_pwmthrs(stepper##Q)
#define TMC_SET_PWMTHRS(A,Q) stepper##Q.set_pwm_thrs(value) #define TMC_SET_PWMTHRS(A,Q) stepper##Q.set_pwm_thrs(value)
@ -235,19 +256,21 @@
#define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value) #define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value)
bool report = true; bool report = true;
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K) #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
const uint8_t index = parser.byteval('I'); const int8_t index = parser.byteval('I', -1);
#else
constexpr int8_t index = -1;
#endif #endif
LOOP_LOGICAL_AXES(i) if (int32_t value = parser.longval(axis_codes[i])) { LOOP_LOGICAL_AXES(i) if (int32_t value = parser.longval(axis_codes[i])) {
report = false; report = false;
switch (i) { switch (i) {
case X_AXIS: case X_AXIS:
TERN_(X_HAS_STEALTHCHOP, if (index < 2) TMC_SET_PWMTHRS(X,X)); TERN_(X_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_PWMTHRS(X,X));
TERN_(X2_HAS_STEALTHCHOP, if (!(index & 1)) TMC_SET_PWMTHRS(X,X2)); TERN_(X2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(X,X2));
break; break;
case Y_AXIS: case Y_AXIS:
TERN_(Y_HAS_STEALTHCHOP, if (index < 2) TMC_SET_PWMTHRS(Y,Y)); TERN_(Y_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_PWMTHRS(Y,Y));
TERN_(Y2_HAS_STEALTHCHOP, if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2)); TERN_(Y2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(Y,Y2));
break; break;
#if I_HAS_STEALTHCHOP #if I_HAS_STEALTHCHOP
@ -261,25 +284,22 @@
#endif #endif
case Z_AXIS: case Z_AXIS:
TERN_(Z_HAS_STEALTHCHOP, if (index < 2) TMC_SET_PWMTHRS(Z,Z)); TERN_(Z_HAS_STEALTHCHOP, if (index < 0 || index == 0) TMC_SET_PWMTHRS(Z,Z));
TERN_(Z2_HAS_STEALTHCHOP, if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2)); TERN_(Z2_HAS_STEALTHCHOP, if (index < 0 || index == 1) TMC_SET_PWMTHRS(Z,Z2));
TERN_(Z3_HAS_STEALTHCHOP, if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3)); TERN_(Z3_HAS_STEALTHCHOP, if (index < 0 || index == 2) TMC_SET_PWMTHRS(Z,Z3));
TERN_(Z4_HAS_STEALTHCHOP, if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4)); TERN_(Z4_HAS_STEALTHCHOP, if (index < 0 || index == 3) TMC_SET_PWMTHRS(Z,Z4));
break; break;
#if E_STEPPERS #if E_STEPPERS
case E_AXIS: { case E_AXIS: {
const int8_t target_e_stepper = get_target_e_stepper_from_command(0); const int8_t eindex = get_target_e_stepper_from_command(-2);
if (target_e_stepper < 0) return; TERN_(E0_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 0) TMC_SET_PWMTHRS_E(0));
switch (target_e_stepper) { TERN_(E1_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 1) TMC_SET_PWMTHRS_E(1));
TERN_(E0_HAS_STEALTHCHOP, case 0: TMC_SET_PWMTHRS_E(0); break;) TERN_(E2_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 2) TMC_SET_PWMTHRS_E(2));
TERN_(E1_HAS_STEALTHCHOP, case 1: TMC_SET_PWMTHRS_E(1); break;) TERN_(E3_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 3) TMC_SET_PWMTHRS_E(3));
TERN_(E2_HAS_STEALTHCHOP, case 2: TMC_SET_PWMTHRS_E(2); break;) TERN_(E4_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 4) TMC_SET_PWMTHRS_E(4));
TERN_(E3_HAS_STEALTHCHOP, case 3: TMC_SET_PWMTHRS_E(3); break;) TERN_(E5_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 5) TMC_SET_PWMTHRS_E(5));
TERN_(E4_HAS_STEALTHCHOP, case 4: TMC_SET_PWMTHRS_E(4); break;) TERN_(E6_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 6) TMC_SET_PWMTHRS_E(6));
TERN_(E5_HAS_STEALTHCHOP, case 5: TMC_SET_PWMTHRS_E(5); break;) TERN_(E7_HAS_STEALTHCHOP, if (eindex < 0 || eindex == 7) TMC_SET_PWMTHRS_E(7));
TERN_(E6_HAS_STEALTHCHOP, case 6: TMC_SET_PWMTHRS_E(6); break;)
TERN_(E7_HAS_STEALTHCHOP, case 7: TMC_SET_PWMTHRS_E(7); break;)
}
} break; } break;
#endif // E_STEPPERS #endif // E_STEPPERS
} }
@ -407,11 +427,18 @@
#endif // HYBRID_THRESHOLD #endif // HYBRID_THRESHOLD
#if USE_SENSORLESS
template<typename TMC>
static void tmc_print_sgt(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" homing sensitivity: ");
SERIAL_PRINTLN(st.homing_threshold(), PrintBase::Dec);
}
/** /**
* M914: Set StallGuard sensitivity. * M914: Set StallGuard sensitivity.
*/ */
#if USE_SENSORLESS
void GcodeSuite::M914() { void GcodeSuite::M914() {
bool report = true; bool report = true;

3
Marlin/src/gcode/gcode.cpp
View File

@ -148,6 +148,7 @@ int8_t GcodeSuite::get_target_extruder_from_command() {
int8_t GcodeSuite::get_target_e_stepper_from_command(const int8_t dval/*=-1*/) { int8_t GcodeSuite::get_target_e_stepper_from_command(const int8_t dval/*=-1*/) {
const int8_t e = parser.intval('T', dval); const int8_t e = parser.intval('T', dval);
if (WITHIN(e, 0, E_STEPPERS - 1)) return e; if (WITHIN(e, 0, E_STEPPERS - 1)) return e;
if (dval == -2) return dval;
SERIAL_ECHO_START(); SERIAL_ECHO_START();
SERIAL_CHAR('M'); SERIAL_ECHO(parser.codenum); SERIAL_CHAR('M'); SERIAL_ECHO(parser.codenum);
@ -159,7 +160,7 @@ int8_t GcodeSuite::get_target_e_stepper_from_command(const int8_t dval/*=-1*/) {
} }
/** /**
* Set XYZIJKE destination and feedrate from the current GCode command * Set XYZ...E destination and feedrate from the current GCode command
* *
* - Set destination from included axis codes * - Set destination from included axis codes
* - Set to current for missing axis codes * - Set to current for missing axis codes

2
Marlin/src/gcode/gcode.h
View File

@ -284,7 +284,7 @@
* M871 - Print/reset/clear first layer temperature offset values. (Requires PTC_PROBE, PTC_BED, or PTC_HOTEND) * M871 - Print/reset/clear first layer temperature offset values. (Requires PTC_PROBE, PTC_BED, or PTC_HOTEND)
* M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER) * M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER)
* M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE) * M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE)
* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470) * M906 - Set or get motor current in milliamps using axis codes XYZE, etc. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470)
* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
* M908 - Control digital trimpot directly. (Requires HAS_MOTOR_CURRENT_DAC or DIGIPOTSS_PIN) * M908 - Control digital trimpot directly. (Requires HAS_MOTOR_CURRENT_DAC or DIGIPOTSS_PIN)
* M909 - Print digipot/DAC current value. (Requires HAS_MOTOR_CURRENT_DAC) * M909 - Print digipot/DAC current value. (Requires HAS_MOTOR_CURRENT_DAC)

6
Marlin/src/module/stepper/trinamic.h
View File

@ -74,12 +74,6 @@
#define TMC_CLASS_E(N) TMC_CLASS(E##N, E) #define TMC_CLASS_E(N) TMC_CLASS(E##N, E)
#endif #endif
typedef struct {
uint8_t toff;
int8_t hend;
uint8_t hstrt;
} chopper_timing_t;
#ifndef CHOPPER_TIMING_X #ifndef CHOPPER_TIMING_X
#define CHOPPER_TIMING_X CHOPPER_TIMING #define CHOPPER_TIMING_X CHOPPER_TIMING
#endif #endif