From 9d923c6c03e87cc8b66882ed9325ac47ddf9c3a0 Mon Sep 17 00:00:00 2001 From: teemuatlut Date: Fri, 29 Dec 2017 21:38:08 +0200 Subject: [PATCH] Fix TMC gcode commands --- Marlin/src/feature/tmc_util.cpp | 50 ------------------- Marlin/src/feature/tmc_util.h | 47 ++++++++++++++--- Marlin/src/gcode/feature/trinamic/M122.cpp | 2 +- Marlin/src/gcode/feature/trinamic/M906.cpp | 2 +- .../src/gcode/feature/trinamic/M911-M915.cpp | 35 ++++++++----- Marlin/src/gcode/gcode.cpp | 9 +++- Marlin/src/inc/SanityCheck.h | 6 +++ 7 files changed, 76 insertions(+), 75 deletions(-) diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp index 3a70528cfb..ef80495f6d 100644 --- a/Marlin/src/feature/tmc_util.cpp +++ b/Marlin/src/feature/tmc_util.cpp @@ -35,56 +35,6 @@ bool report_tmc_status = false; char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" }; -template -void tmc_get_current(TMC &st, const char name[]) { - SERIAL_ECHO(name); - SERIAL_ECHOPGM(" axis driver current: "); - SERIAL_ECHOLN(st.getCurrent()); -} -template -void tmc_set_current(TMC &st, const char name[], const int mA) { - st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER); - tmc_get_current(st, name); -} - -template -void tmc_report_otpw(TMC &st, const char name[]) { - SERIAL_ECHO(name); - SERIAL_ECHOPGM(" axis temperature prewarn triggered: "); - serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); - SERIAL_EOL(); -} -template -void tmc_clear_otpw(TMC &st, const char name[]) { - st.clear_otpw(); - SERIAL_ECHO(name); - SERIAL_ECHOLNPGM(" prewarn flag cleared"); -} - -template -void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) { - SERIAL_ECHO(name); - SERIAL_ECHOPGM(" stealthChop max speed set to "); - SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm)); -} -template -void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) { - st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm)); - tmc_get_pwmthrs(st, name, spmm); -} - -template -void tmc_get_sgt(TMC &st, const char name[]) { - SERIAL_ECHO(name); - SERIAL_ECHOPGM(" driver homing sensitivity set to "); - MYSERIAL.println(st.sgt(), DEC); -} -template -void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) { - st.sgt(sgt_val); - tmc_get_sgt(st, name); -} - /* * Check for over temperature or short to ground error flags. * Report and log warning of overtemperature condition. diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h index 72d3b15bb5..7741c7b449 100644 --- a/Marlin/src/feature/tmc_util.h +++ b/Marlin/src/feature/tmc_util.h @@ -29,27 +29,58 @@ extern bool report_tmc_status; extern char extended_axis_codes[11][3]; + enum TMC_AxisEnum { TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 }; template -void tmc_get_current(TMC &st, const char name[]); +void tmc_get_current(TMC &st, const char name[]) { + SERIAL_ECHO(name); + SERIAL_ECHOPGM(" axis driver current: "); + SERIAL_ECHOLN(st.getCurrent()); +} template -void tmc_set_current(TMC &st, const char name[], const int mA); +void tmc_set_current(TMC &st, const char name[], const int mA) { + st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER); + tmc_get_current(st, name); +} template -void tmc_report_otpw(TMC &st, const char name[]); +void tmc_report_otpw(TMC &st, const char name[]) { + SERIAL_ECHO(name); + SERIAL_ECHOPGM(" axis temperature prewarn triggered: "); + serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); + SERIAL_EOL(); +} template -void tmc_clear_otpw(TMC &st, const char name[]); +void tmc_clear_otpw(TMC &st, const char name[]) { + st.clear_otpw(); + SERIAL_ECHO(name); + SERIAL_ECHOLNPGM(" prewarn flag cleared"); +} template -void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm); +void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) { + SERIAL_ECHO(name); + SERIAL_ECHOPGM(" stealthChop max speed set to "); + SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm)); +} template -void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm); +void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) { + st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm)); + tmc_get_pwmthrs(st, name, spmm); +} template -void tmc_get_sgt(TMC &st, const char name[]); +void tmc_get_sgt(TMC &st, const char name[]) { + SERIAL_ECHO(name); + SERIAL_ECHOPGM(" driver homing sensitivity set to "); + MYSERIAL.println(st.sgt(), DEC); +} template -void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val); +void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) { + st.sgt(sgt_val); + tmc_get_sgt(st, name); +} void _M122(); void monitor_tmc_driver(); diff --git a/Marlin/src/gcode/feature/trinamic/M122.cpp b/Marlin/src/gcode/feature/trinamic/M122.cpp index f566ba8819..843e2e7e9a 100644 --- a/Marlin/src/gcode/feature/trinamic/M122.cpp +++ b/Marlin/src/gcode/feature/trinamic/M122.cpp @@ -334,6 +334,6 @@ void _M122() { } // We need to call M122 from monitor_tmc_driver() as well but GcodeSuite::M122 is private. -inline void GcodeSuite::M122() { _M122(); } +void GcodeSuite::M122() { _M122(); } #endif // TMC_DEBUG diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp index a93657d555..aa43f9269d 100644 --- a/Marlin/src/gcode/feature/trinamic/M906.cpp +++ b/Marlin/src/gcode/feature/trinamic/M906.cpp @@ -33,7 +33,7 @@ * M906: Set motor current in milliamps using axis codes X, Y, Z, E * Report driver currents when no axis specified */ -inline void GcodeSuite::M906() { +void GcodeSuite::M906() { uint16_t values[XYZE]; LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]); diff --git a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp index 49402edbcd..6cca7105d7 100644 --- a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp +++ b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp @@ -28,12 +28,13 @@ #include "../../../feature/tmc_util.h" #include "../../../module/stepper_indirection.h" #include "../../../module/planner.h" +#include "../../queue.h" /** * M911: Report TMC stepper driver overtemperature pre-warn flag * The flag is held by the library and persist until manually cleared by M912 */ -inline void GcodeSuite::M911() { +void GcodeSuite::M911() { #if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS) tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]); #endif @@ -51,7 +52,7 @@ inline void GcodeSuite::M911() { /** * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library */ -inline void GcodeSuite::M912() { +void GcodeSuite::M912() { const bool clearX = parser.seen(axis_codes[X_AXIS]), clearY = parser.seen(axis_codes[Y_AXIS]), clearZ = parser.seen(axis_codes[Z_AXIS]), clearE = parser.seen(axis_codes[E_AXIS]), clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE); #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) @@ -78,7 +79,7 @@ inline void GcodeSuite::M912() { * M913: Set HYBRID_THRESHOLD speed. */ #if ENABLED(HYBRID_THRESHOLD) - inline void GcodeSuite::M913() { + void GcodeSuite::M913() { uint16_t values[XYZE]; LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]); @@ -137,7 +138,7 @@ inline void GcodeSuite::M912() { * M914: Set SENSORLESS_HOMING sensitivity. */ #if ENABLED(SENSORLESS_HOMING) - inline void GcodeSuite::M914() { + void GcodeSuite::M914() { #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int()); else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]); @@ -160,8 +161,8 @@ inline void GcodeSuite::M912() { /** * TMC Z axis calibration routine */ -#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC) - inline void GcodeSuite::M915() { +#if ENABLED(TMC_Z_CALIBRATION) + void GcodeSuite::M915() { uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT; uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT; @@ -170,25 +171,33 @@ inline void GcodeSuite::M912() { return; } - uint16_t Z_current_1 = stepperZ.getCurrent(); - uint16_t Z2_current_1 = stepperZ.getCurrent(); + #if Z_IS_TRINAMIC + uint16_t Z_current_1 = stepperZ.getCurrent(); + stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER); + #endif + #if Z2_IS_TRINAMIC + uint16_t Z2_current_1 = stepperZ2.getCurrent(); + stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER); + #endif - stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER); - stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER); SERIAL_ECHOPAIR("\nCalibration current: Z", _rms); soft_endstops_enabled = false; do_blocking_move_to_z(Z_MAX_POS+_z); - stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER); - stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER); + #if Z_IS_TRINAMIC + stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER); + #endif + #if Z2_IS_TRINAMIC + stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER); + #endif do_blocking_move_to_z(Z_MAX_POS); soft_endstops_enabled = true; SERIAL_ECHOLNPGM("\nHoming Z because we lost steps"); - home_z_safely(); + enqueue_and_echo_commands_P(PSTR("G28 Z")); } #endif diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index 70e396f4ab..3187186662 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -659,8 +659,10 @@ void GcodeSuite::process_parsed_command() { #endif #endif - #if HAVE_TRINAMIC - case 122: M122(); break; + #if HAS_TRINAMIC + #if ENABLED(TMC_DEBUG) + case 122: M122(); break; + #endif case 906: M906(); break; // M906: Set motor current in milliamps using axis codes X, Y, Z, E case 911: M911(); break; // M911: Report TMC2130 prewarn triggered flags case 912: M912(); break; // M912: Clear TMC2130 prewarn triggered flags @@ -670,6 +672,9 @@ void GcodeSuite::process_parsed_command() { #if ENABLED(SENSORLESS_HOMING) case 914: M914(); break; // M914: Set SENSORLESS_HOMING sensitivity. #endif + #if ENABLED(TMC_Z_CALIBRATION) + case 915: M915(); break; // M915: TMC Z axis calibration. + #endif #endif #if HAS_MICROSTEPS diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index fe69cf92ec..5b00afeb25 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -1491,6 +1491,12 @@ static_assert(1 >= 0 #error "Enable STEALTHCHOP to use HYBRID_THRESHOLD." #endif +#include "../feature/tmc_macros.h" + +#if ENABLED(TMC_Z_CALIBRATION) && !Z_IS_TRINAMIC && !Z2_IS_TRINAMIC + #error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis" +#endif + /** * Make sure HAVE_L6470DRIVER is warranted */