From c3229e1b3461b6da8373e7a24a7eeb131912a15b Mon Sep 17 00:00:00 2001
From: teemuatlut <teemu.mantykallio@live.fi>
Date: Wed, 3 Oct 2018 10:48:49 +0300
Subject: [PATCH] Migrate to a new TMC library (#11943)
---
Marlin/src/Marlin.cpp | 3 +
Marlin/src/core/drivers.h | 6 +-
Marlin/src/core/language.h | 5 +
Marlin/src/feature/tmc_util.cpp | 288 ++++-------
Marlin/src/feature/tmc_util.h | 167 ++++---
Marlin/src/gcode/feature/trinamic/M906.cpp | 2 +-
.../src/gcode/feature/trinamic/M911-M915.cpp | 260 +++++-----
Marlin/src/gcode/gcode.cpp | 6 +-
Marlin/src/gcode/gcode.h | 6 +-
Marlin/src/inc/Conditionals_post.h | 9 +-
Marlin/src/module/configuration_store.cpp | 470 ++++++++----------
Marlin/src/module/stepper_indirection.cpp | 406 +++++++--------
Marlin/src/module/stepper_indirection.h | 125 ++---
platformio.ini | 10 +-
14 files changed, 795 insertions(+), 968 deletions(-)
diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index 299adbec357..931717ff169 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -736,6 +736,9 @@ void setup() {
SERIAL_ECHO_START();
#if HAS_DRIVER(TMC2130)
+ #if DISABLED(TMC_USE_SW_SPI)
+ SPI.begin();
+ #endif
tmc_init_cs_pins();
#endif
#if HAS_DRIVER(TMC2208)
diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h
index e775c58b5c6..15a44993561 100644
--- a/Marlin/src/core/drivers.h
+++ b/Marlin/src/core/drivers.h
@@ -31,9 +31,9 @@
#define TB6560 0x006
#define TB6600 0x007
#define TMC2100 0x008
-#define TMC2130 0x109
+#define TMC2130 2130
#define TMC2130_STANDALONE 0x009
-#define TMC2208 0x10A
+#define TMC2208 2208
#define TMC2208_STANDALONE 0x00A
#define TMC26X 0x10B
#define TMC26X_STANDALONE 0x00B
@@ -45,7 +45,7 @@
#define AXIS_DRIVER_TYPE_X(T) _AXIS_DRIVER_TYPE(X,T)
#define AXIS_DRIVER_TYPE_Y(T) _AXIS_DRIVER_TYPE(Y,T)
#define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T)
-#define AXIS_DRIVER_TYPE_X2(T) (ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T)
+#define AXIS_DRIVER_TYPE_X2(T) ((ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T))
#define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
#define AXIS_DRIVER_TYPE_Z2(T) (Z_MULTI_STEPPER_DRIVERS && _AXIS_DRIVER_TYPE(Z2,T))
#define AXIS_DRIVER_TYPE_Z3(T) (ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z3,T))
diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
index 2ed63bdf9e2..78af20976b8 100644
--- a/Marlin/src/core/language.h
+++ b/Marlin/src/core/language.h
@@ -285,6 +285,10 @@
#define MSG_B "Y"
#define MSG_C "Z"
#endif
+#define MSG_X2 "X2"
+#define MSG_Y2 "Y2"
+#define MSG_Z2 "Z2"
+#define MSG_Z3 "Z3"
#define MSG_H1 "1"
#define MSG_H2 "2"
#define MSG_H3 "3"
@@ -297,6 +301,7 @@
#define MSG_N4 " 4"
#define MSG_N5 " 5"
#define MSG_N6 " 6"
+#define MSG_E0 "E0"
#define MSG_E1 "E1"
#define MSG_E2 "E2"
#define MSG_E3 "E3"
diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
index 9cc81f9dfe3..27b170a83c9 100644
--- a/Marlin/src/feature/tmc_util.cpp
+++ b/Marlin/src/feature/tmc_util.cpp
@@ -36,8 +36,6 @@
#include "../module/planner.h"
#endif
-bool report_tmc_status = false;
-
/**
* Check for over temperature or short to ground error flags.
* Report and log warning of overtemperature condition.
@@ -46,6 +44,8 @@ bool report_tmc_status = false;
* and so we don't repeatedly report warning before the condition is cleared.
*/
#if ENABLED(MONITOR_DRIVER_STATUS)
+ static bool report_tmc_status = false;
+
struct TMC_driver_data {
uint32_t drv_status;
bool is_otpw;
@@ -95,13 +95,13 @@ bool report_tmc_status = false;
#endif
template<typename TMC>
- void monitor_tmc_driver(TMC &st, const TMC_AxisEnum axis, uint8_t &otpw_cnt) {
+ void monitor_tmc_driver(TMC &st) {
TMC_driver_data data = get_driver_data(st);
#if ENABLED(STOP_ON_ERROR)
if (data.is_error) {
SERIAL_EOL();
- _tmc_say_axis(axis);
+ st.printLabel();
SERIAL_ECHOLNPGM(" driver error detected:");
if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");
@@ -114,7 +114,7 @@ bool report_tmc_status = false;
#endif
// Report if a warning was triggered
- if (data.is_otpw && otpw_cnt == 0) {
+ if (data.is_otpw && st.otpw_count == 0) {
char timestamp[10];
duration_t elapsed = print_job_timer.duration();
const bool has_days = (elapsed.value > 60*60*24L);
@@ -122,38 +122,38 @@ bool report_tmc_status = false;
SERIAL_EOL();
SERIAL_ECHO(timestamp);
SERIAL_ECHOPGM(": ");
- _tmc_say_axis(axis);
+ st.printLabel();
SERIAL_ECHOPGM(" driver overtemperature warning! (");
- SERIAL_ECHO(st.getCurrent());
+ SERIAL_ECHO(st.getMilliamps());
SERIAL_ECHOLNPGM("mA)");
}
#if CURRENT_STEP_DOWN > 0
// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
- if (data.is_otpw && st.isEnabled() && otpw_cnt > 4) {
- st.setCurrent(st.getCurrent() - (CURRENT_STEP_DOWN), R_SENSE, HOLD_MULTIPLIER);
+ if (data.is_otpw && st.isEnabled() && st.otpw_count > 4) {
+ st.rms_current(st.getMilliamps() - (CURRENT_STEP_DOWN));
#if ENABLED(REPORT_CURRENT_CHANGE)
- _tmc_say_axis(axis);
- SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
+ st.printLabel();
+ SERIAL_ECHOLNPAIR(" current decreased to ", st.getMilliamps());
#endif
}
#endif
if (data.is_otpw) {
- otpw_cnt++;
+ st.otpw_count++;
st.flag_otpw = true;
}
- else if (otpw_cnt > 0) otpw_cnt = 0;
+ else if (st.otpw_count > 0) st.otpw_count = 0;
if (report_tmc_status) {
const uint32_t pwm_scale = get_pwm_scale(st);
- _tmc_say_axis(axis);
+ st.printLabel();
SERIAL_ECHOPAIR(":", pwm_scale);
SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
SERIAL_ECHOPGM("| ");
if (data.is_error) SERIAL_CHAR('E');
else if (data.is_ot) SERIAL_CHAR('O');
else if (data.is_otpw) SERIAL_CHAR('W');
- else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
+ else if (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
else if (st.flag_otpw) SERIAL_CHAR('F');
SERIAL_CHAR('\t');
}
@@ -166,56 +166,43 @@ bool report_tmc_status = false;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 500;
#if HAS_HW_COMMS(X)
- static uint8_t x_otpw_cnt = 0;
- monitor_tmc_driver(stepperX, TMC_X, x_otpw_cnt);
+ monitor_tmc_driver(stepperX);
#endif
#if HAS_HW_COMMS(Y)
- static uint8_t y_otpw_cnt = 0;
- monitor_tmc_driver(stepperY, TMC_Y, y_otpw_cnt);
+ monitor_tmc_driver(stepperY);
#endif
#if HAS_HW_COMMS(Z)
- static uint8_t z_otpw_cnt = 0;
- monitor_tmc_driver(stepperZ, TMC_Z, z_otpw_cnt);
+ monitor_tmc_driver(stepperZ);
#endif
#if HAS_HW_COMMS(X2)
- static uint8_t x2_otpw_cnt = 0;
- monitor_tmc_driver(stepperX2, TMC_X, x2_otpw_cnt);
+ monitor_tmc_driver(stepperX2);
#endif
#if HAS_HW_COMMS(Y2)
- static uint8_t y2_otpw_cnt = 0;
- monitor_tmc_driver(stepperY2, TMC_Y, y2_otpw_cnt);
+ monitor_tmc_driver(stepperY2);
#endif
#if HAS_HW_COMMS(Z2)
- static uint8_t z2_otpw_cnt = 0;
- monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);
+ monitor_tmc_driver(stepperZ2);
#endif
#if HAS_HW_COMMS(Z3)
- static uint8_t z3_otpw_cnt = 0;
- monitor_tmc_driver(stepperZ3, TMC_Z, z3_otpw_cnt);
+ monitor_tmc_driver(stepperZ3);
#endif
#if HAS_HW_COMMS(E0)
- static uint8_t e0_otpw_cnt = 0;
- monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);
+ monitor_tmc_driver(stepperE0);
#endif
#if HAS_HW_COMMS(E1)
- static uint8_t e1_otpw_cnt = 0;
- monitor_tmc_driver(stepperE1, TMC_E1, e1_otpw_cnt);
+ monitor_tmc_driver(stepperE1);
#endif
#if HAS_HW_COMMS(E2)
- static uint8_t e2_otpw_cnt = 0;
- monitor_tmc_driver(stepperE2, TMC_E2, e2_otpw_cnt);
+ monitor_tmc_driver(stepperE2);
#endif
#if HAS_HW_COMMS(E3)
- static uint8_t e3_otpw_cnt = 0;
- monitor_tmc_driver(stepperE3, TMC_E3, e3_otpw_cnt);
+ monitor_tmc_driver(stepperE3);
#endif
#if HAS_HW_COMMS(E4)
- static uint8_t e4_otpw_cnt = 0;
- monitor_tmc_driver(stepperE4, TMC_E4, e4_otpw_cnt);
+ monitor_tmc_driver(stepperE4);
#endif
#if HAS_HW_COMMS(E5)
- static uint8_t e5_otpw_cnt = 0;
- monitor_tmc_driver(stepperE5, TMC_E5, e5_otpw_cnt);
+ monitor_tmc_driver(stepperE5);
#endif
if (report_tmc_status) SERIAL_EOL();
@@ -224,100 +211,6 @@ bool report_tmc_status = false;
#endif // MONITOR_DRIVER_STATUS
-void _tmc_say_axis(const TMC_AxisEnum axis) {
- static const char ext_X[] PROGMEM = "X", ext_Y[] PROGMEM = "Y", ext_Z[] PROGMEM = "Z"
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
- , ext_X2[] PROGMEM = "X2"
- #endif
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
- , ext_Y2[] PROGMEM = "Y2"
- #endif
- #if Z_MULTI_STEPPER_DRIVERS
- , ext_Z2[] PROGMEM = "Z2"
- #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
- , ext_Z3[] PROGMEM = "Z3"
- #endif
- #endif
- #if E_STEPPERS
- , ext_E0[] PROGMEM = "E0"
- #if E_STEPPERS > 1
- , ext_E1[] PROGMEM = "E1"
- #if E_STEPPERS > 2
- , ext_E2[] PROGMEM = "E2"
- #if E_STEPPERS > 3
- , ext_E3[] PROGMEM = "E3"
- #if E_STEPPERS > 4
- , ext_E4[] PROGMEM = "E4"
- #if E_STEPPERS > 5
- , ext_E5[] PROGMEM = "E5"
- #endif
- #endif
- #endif
- #endif
- #endif
- #endif
- ;
-
- static PGM_P const tmc_axes[] PROGMEM = {
- ext_X, ext_Y, ext_Z
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
- , ext_X2
- #endif
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
- , ext_Y2
- #endif
- #if Z_MULTI_STEPPER_DRIVERS
- , ext_Z2
- #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
- , ext_Z3
- #endif
- #endif
- #if E_STEPPERS
- , ext_E0
- #if E_STEPPERS > 1
- , ext_E1
- #if E_STEPPERS > 2
- , ext_E2
- #if E_STEPPERS > 3
- , ext_E3
- #if E_STEPPERS > 4
- , ext_E4
- #if E_STEPPERS > 5
- , ext_E5
- #endif
- #endif
- #endif
- #endif
- #endif
- #endif
- };
- serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));
-}
-
-void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr) {
- _tmc_say_axis(axis);
- SERIAL_ECHOLNPAIR(" driver current: ", curr);
-}
-void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw) {
- _tmc_say_axis(axis);
- SERIAL_ECHOPGM(" temperature prewarn triggered: ");
- serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
- SERIAL_EOL();
-}
-void _tmc_say_otpw_cleared(const TMC_AxisEnum axis) {
- _tmc_say_axis(axis);
- SERIAL_ECHOLNPGM(" prewarn flag cleared");
-}
-void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs) {
- _tmc_say_axis(axis);
- SERIAL_ECHOLNPAIR(" stealthChop max speed: ", thrs);
-}
-void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
- _tmc_say_axis(axis);
- SERIAL_ECHOPGM(" homing sensitivity: ");
- SERIAL_PRINTLN(sgt, DEC);
-}
-
#if ENABLED(TMC_DEBUG)
enum TMC_debug_enum : char {
@@ -366,9 +259,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
TMC_S2VSB,
TMC_S2VSA
};
- static void drv_status_print_hex(const TMC_AxisEnum axis, const uint32_t drv_status) {
- _tmc_say_axis(axis);
- SERIAL_ECHOPGM(" = 0x");
+ static void drv_status_print_hex(const uint32_t drv_status) {
for (int B = 24; B >= 8; B -= 8){
SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
@@ -379,17 +270,19 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
SERIAL_EOL();
}
+ template<class TMC>
+ static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
+
#if HAS_DRIVER(TMC2130)
static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
switch (i) {
case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
- case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
- case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
+ case TMC_STEALTHCHOP: serialprintPGM(st.en_pwm_mode() ? PSTR("true") : PSTR("false")); break;
default: break;
}
}
- static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
+ static void _tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
switch (i) {
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
@@ -402,7 +295,6 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#if HAS_DRIVER(TMC2208)
static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch (i) {
- case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); SERIAL_PROTOCOL(data); break; }
case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
@@ -410,7 +302,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
default: break;
}
}
- static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
+ static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
switch (i) {
case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
@@ -422,12 +314,12 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#endif
template <typename TMC>
- static void tmc_status(TMC &st, const TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
+ static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
SERIAL_ECHO('\t');
switch (i) {
- case TMC_CODES: _tmc_say_axis(axis); break;
+ case TMC_CODES: st.printLabel(); break;
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
- case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
+ case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;
case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
case TMC_IRUN:
@@ -442,10 +334,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
SERIAL_PRINT(st.cs_actual(), DEC);
SERIAL_ECHOPGM("/31");
break;
-
- case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
-
+ case TMC_VSENSE: print_vsense(st); break;
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
+ case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
case TMC_TPWMTHRS: {
uint32_t tpwmthrs_val = st.TPWMTHRS();
SERIAL_ECHO(tpwmthrs_val);
@@ -470,10 +361,10 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
}
template <typename TMC>
- static void tmc_parse_drv_status(TMC &st, const TMC_AxisEnum axis, const TMC_drv_status_enum i) {
+ static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
SERIAL_CHAR('\t');
switch (i) {
- case TMC_DRV_CODES: _tmc_say_axis(axis); break;
+ case TMC_DRV_CODES: st.printLabel(); break;
case TMC_STST: if (st.stst()) SERIAL_CHAR('X'); break;
case TMC_OLB: if (st.olb()) SERIAL_CHAR('X'); break;
case TMC_OLA: if (st.ola()) SERIAL_CHAR('X'); break;
@@ -482,69 +373,73 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break;
case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
- case TMC_DRV_STATUS_HEX:drv_status_print_hex(axis, st.DRV_STATUS()); break;
- default: tmc_parse_drv_status(st, i); break;
+ case TMC_DRV_STATUS_HEX:
+ st.printLabel();
+ SERIAL_ECHOPGM("\t0x");
+ drv_status_print_hex(st.DRV_STATUS());
+ break;
+ default: _tmc_parse_drv_status(st, i); break;
}
}
static void tmc_debug_loop(const TMC_debug_enum i) {
#if AXIS_IS_TMC(X)
- tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
+ tmc_status(stepperX, i, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_IS_TMC(X2)
- tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
+ tmc_status(stepperX2, i, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if AXIS_IS_TMC(Y)
- tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
+ tmc_status(stepperY, i, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_IS_TMC(Y2)
- tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
+ tmc_status(stepperY2, i, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if AXIS_IS_TMC(Z)
- tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
+ tmc_status(stepperZ, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(Z2)
- tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
+ tmc_status(stepperZ2, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(Z3)
- tmc_status(stepperZ3, TMC_Z3, i, planner.axis_steps_per_mm[Z_AXIS]);
+ tmc_status(stepperZ3, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(E0)
- tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
+ tmc_status(stepperE0, i, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if AXIS_IS_TMC(E1)
- tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS
+ tmc_status(stepperE1, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 1
#endif
]);
#endif
#if AXIS_IS_TMC(E2)
- tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS
+ tmc_status(stepperE2, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 2
#endif
]);
#endif
#if AXIS_IS_TMC(E3)
- tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS
+ tmc_status(stepperE3, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 3
#endif
]);
#endif
#if AXIS_IS_TMC(E4)
- tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS
+ tmc_status(stepperE4, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 4
#endif
]);
#endif
#if AXIS_IS_TMC(E5)
- tmc_status(stepperE5, TMC_E5, i, planner.axis_steps_per_mm[E_AXIS
+ tmc_status(stepperE5, i, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 5
#endif
@@ -556,46 +451,46 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
static void drv_status_loop(const TMC_drv_status_enum i) {
#if AXIS_IS_TMC(X)
- tmc_parse_drv_status(stepperX, TMC_X, i);
+ tmc_parse_drv_status(stepperX, i);
#endif
#if AXIS_IS_TMC(X2)
- tmc_parse_drv_status(stepperX2, TMC_X2, i);
+ tmc_parse_drv_status(stepperX2, i);
#endif
#if AXIS_IS_TMC(Y)
- tmc_parse_drv_status(stepperY, TMC_Y, i);
+ tmc_parse_drv_status(stepperY, i);
#endif
#if AXIS_IS_TMC(Y2)
- tmc_parse_drv_status(stepperY2, TMC_Y2, i);
+ tmc_parse_drv_status(stepperY2, i);
#endif
#if AXIS_IS_TMC(Z)
- tmc_parse_drv_status(stepperZ, TMC_Z, i);
+ tmc_parse_drv_status(stepperZ, i);
#endif
#if AXIS_IS_TMC(Z2)
- tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
+ tmc_parse_drv_status(stepperZ2, i);
#endif
#if AXIS_IS_TMC(Z3)
- tmc_parse_drv_status(stepperZ3, TMC_Z3, i);
+ tmc_parse_drv_status(stepperZ3, i);
#endif
#if AXIS_IS_TMC(E0)
- tmc_parse_drv_status(stepperE0, TMC_E0, i);
+ tmc_parse_drv_status(stepperE0, i);
#endif
#if AXIS_IS_TMC(E1)
- tmc_parse_drv_status(stepperE1, TMC_E1, i);
+ tmc_parse_drv_status(stepperE1, i);
#endif
#if AXIS_IS_TMC(E2)
- tmc_parse_drv_status(stepperE2, TMC_E2, i);
+ tmc_parse_drv_status(stepperE2, i);
#endif
#if AXIS_IS_TMC(E3)
- tmc_parse_drv_status(stepperE3, TMC_E3, i);
+ tmc_parse_drv_status(stepperE3, i);
#endif
#if AXIS_IS_TMC(E4)
- tmc_parse_drv_status(stepperE4, TMC_E4, i);
+ tmc_parse_drv_status(stepperE4, i);
#endif
#if AXIS_IS_TMC(E5)
- tmc_parse_drv_status(stepperE5, TMC_E5, i);
+ tmc_parse_drv_status(stepperE5, i);
#endif
SERIAL_EOL();
@@ -620,7 +515,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
TMC_REPORT("Run current", TMC_IRUN);
TMC_REPORT("Hold current", TMC_IHOLD);
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
- TMC_REPORT("PWM scale\t", TMC_PWM_SCALE);
+ TMC_REPORT("PWM scale", TMC_PWM_SCALE);
TMC_REPORT("vsense\t", TMC_VSENSE);
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
@@ -657,7 +552,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
DRV_REPORT("s2vsa\t", TMC_S2VSA);
DRV_REPORT("s2vsb\t", TMC_S2VSB);
#endif
- DRV_REPORT("Driver registers:", TMC_DRV_STATUS_HEX);
+ DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
SERIAL_EOL();
}
@@ -666,9 +561,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#if USE_SENSORLESS
void tmc_stallguard(TMC2130Stepper &st, const bool enable/*=true*/) {
- st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
+ st.TCOOLTHRS(enable ? 0xFFFFF : 0);
#if ENABLED(STEALTHCHOP)
- st.stealthChop(!enable);
+ st.en_pwm_mode(!enable);
#endif
st.diag1_stall(enable ? 1 : 0);
}
@@ -676,45 +571,46 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#endif // USE_SENSORLESS
#if HAS_DRIVER(TMC2130)
+ #define IS_TMC_SPI(ST) AXIS_DRIVER_TYPE(ST, TMC2130)
#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
void tmc_init_cs_pins() {
- #if AXIS_DRIVER_TYPE(X, TMC2130)
+ #if IS_TMC_SPI(X)
SET_CS_PIN(X);
#endif
- #if AXIS_DRIVER_TYPE(Y, TMC2130)
+ #if IS_TMC_SPI(Y)
SET_CS_PIN(Y);
#endif
- #if AXIS_DRIVER_TYPE(Z, TMC2130)
+ #if IS_TMC_SPI(Z)
SET_CS_PIN(Z);
#endif
- #if AXIS_DRIVER_TYPE(X2, TMC2130)
+ #if IS_TMC_SPI(X2)
SET_CS_PIN(X2);
#endif
- #if AXIS_DRIVER_TYPE(Y2, TMC2130)
+ #if IS_TMC_SPI(Y2)
SET_CS_PIN(Y2);
#endif
- #if AXIS_DRIVER_TYPE(Z2, TMC2130)
+ #if IS_TMC_SPI(Z2)
SET_CS_PIN(Z2);
#endif
- #if AXIS_DRIVER_TYPE(Z3, TMC2130)
+ #if IS_TMC_SPI(Z3)
SET_CS_PIN(Z3);
#endif
- #if AXIS_DRIVER_TYPE(E0, TMC2130)
+ #if IS_TMC_SPI(E0)
SET_CS_PIN(E0);
#endif
- #if AXIS_DRIVER_TYPE(E1, TMC2130)
+ #if IS_TMC_SPI(E1)
SET_CS_PIN(E1);
#endif
- #if AXIS_DRIVER_TYPE(E2, TMC2130)
+ #if IS_TMC_SPI(E2)
SET_CS_PIN(E2);
#endif
- #if AXIS_DRIVER_TYPE(E3, TMC2130)
+ #if IS_TMC_SPI(E3)
SET_CS_PIN(E3);
#endif
- #if AXIS_DRIVER_TYPE(E4, TMC2130)
+ #if IS_TMC_SPI(E4)
SET_CS_PIN(E4);
#endif
- #if AXIS_DRIVER_TYPE(E5, TMC2130)
+ #if IS_TMC_SPI(E5)
SET_CS_PIN(E5);
#endif
}
diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
index b32da5aa3d6..19050569e2f 100644
--- a/Marlin/src/feature/tmc_util.h
+++ b/Marlin/src/feature/tmc_util.h
@@ -23,91 +23,132 @@
#ifndef _TMC_UTIL_H_
#define _TMC_UTIL_H_
-#include "../inc/MarlinConfigPre.h"
-
-#if HAS_DRIVER(TMC2130)
- #include <TMC2130Stepper.h>
+#include "../inc/MarlinConfig.h"
+#if HAS_TRINAMIC
+ #include <TMCStepper.h>
#endif
-#if HAS_DRIVER(TMC2208)
- #include <TMC2208Stepper.h>
-#endif
+#define TMC_X_LABEL 'X', '0'
+#define TMC_Y_LABEL 'Y', '0'
+#define TMC_Z_LABEL 'Z', '0'
-extern bool report_tmc_status;
+#define TMC_X2_LABEL 'X', '2'
+#define TMC_Y2_LABEL 'Y', '2'
+#define TMC_Z2_LABEL 'Z', '2'
+#define TMC_Z3_LABEL 'Z', '3'
-enum TMC_AxisEnum : char {
- TMC_X, TMC_Y, TMC_Z
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
- , TMC_X2
- #endif
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
- , TMC_Y2
- #endif
- #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
- , TMC_Z2
- #endif
- #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
- , TMC_Z3
- #endif
- #if E_STEPPERS
- , TMC_E0
- #if E_STEPPERS > 1
- , TMC_E1
- #if E_STEPPERS > 2
- , TMC_E2
- #if E_STEPPERS > 3
- , TMC_E3
- #if E_STEPPERS > 4
- , TMC_E4
- #if E_STEPPERS > 5
- , TMC_E5
- #endif // E_STEPPERS > 5
- #endif // E_STEPPERS > 4
- #endif // E_STEPPERS > 3
- #endif // E_STEPPERS > 2
- #endif // E_STEPPERS > 1
- #endif // E_STEPPERS
+#define TMC_E0_LABEL 'E', '0'
+#define TMC_E1_LABEL 'E', '1'
+#define TMC_E2_LABEL 'E', '2'
+#define TMC_E3_LABEL 'E', '3'
+#define TMC_E4_LABEL 'E', '4'
+#define TMC_E5_LABEL 'E', '5'
+
+template<char AXIS_LETTER, char DRIVER_ID>
+class TMCStorage {
+ protected:
+ // Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class"
+ TMCStorage() {}
+
+ uint16_t val_mA = 0;
+
+ public:
+ #if ENABLED(MONITOR_DRIVER_STATUS)
+ uint8_t otpw_count = 0;
+ bool flag_otpw = false;
+ bool getOTPW() { return flag_otpw; }
+ void clear_otpw() { flag_otpw = 0; }
+ #endif
+
+ uint16_t getMilliamps() { return val_mA; }
+
+ void printLabel() {
+ SERIAL_CHAR(AXIS_LETTER);
+ if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
+ }
+};
+
+template<class TMC, char AXIS_LETTER, char DRIVER_ID>
+class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+ public:
+ TMCMarlin(uint16_t cs_pin, float RS) :
+ TMC(cs_pin, RS)
+ {}
+ TMCMarlin(uint16_t CS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
+ TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
+ {}
+ uint16_t rms_current() { return TMC::rms_current(); }
+ void rms_current(uint16_t mA) {
+ this->val_mA = mA;
+ TMC::rms_current(mA);
+ }
+ void rms_current(uint16_t mA, float mult) {
+ this->val_mA = mA;
+ TMC::rms_current(mA, mult);
+ }
+};
+template<char AXIS_LETTER, char DRIVER_ID>
+class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
+ public:
+ TMCMarlin(Stream * SerialPort, float RS, bool has_rx=true) :
+ TMC2208Stepper(SerialPort, RS, has_rx=true)
+ {}
+ TMCMarlin(uint16_t RX, uint16_t TX, float RS, bool has_rx=true) :
+ TMC2208Stepper(RX, TX, RS, has_rx=true)
+ {}
+ uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
+ void rms_current(uint16_t mA) {
+ this->val_mA = mA;
+ TMC2208Stepper::rms_current(mA);
+ }
+ void rms_current(uint16_t mA, float mult) {
+ this->val_mA = mA;
+ TMC2208Stepper::rms_current(mA, mult);
+ }
};
constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
return 12650000UL * msteps / (256 * thrs * spmm);
}
-void _tmc_say_axis(const TMC_AxisEnum axis);
-void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr);
-void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw);
-void _tmc_say_otpw_cleared(const TMC_AxisEnum axis);
-void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs);
-void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt);
-
template<typename TMC>
-void tmc_get_current(TMC &st, const TMC_AxisEnum axis) {
- _tmc_say_current(axis, st.getCurrent());
+void tmc_get_current(TMC &st) {
+ st.printLabel();
+ SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps());
}
template<typename TMC>
void tmc_set_current(TMC &st, const int mA) {
- st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+ st.rms_current(mA);
}
+#if ENABLED(MONITOR_DRIVER_STATUS)
+ template<typename TMC>
+ void tmc_report_otpw(TMC &st) {
+ st.printLabel();
+ SERIAL_ECHOPGM(" temperature prewarn triggered: ");
+ serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
+ SERIAL_EOL();
+ }
+ template<typename TMC>
+ void tmc_clear_otpw(TMC &st) {
+ st.clear_otpw();
+ st.printLabel();
+ SERIAL_ECHOLNPGM(" prewarn flag cleared");
+ }
+#endif
template<typename TMC>
-void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) {
- _tmc_say_otpw(axis, st.getOTPW());
-}
-template<typename TMC>
-void tmc_clear_otpw(TMC &st, const TMC_AxisEnum axis) {
- st.clear_otpw();
- _tmc_say_otpw_cleared(axis);
-}
-template<typename TMC>
-void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) {
- _tmc_say_pwmthrs(axis, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
+void tmc_get_pwmthrs(TMC &st, const uint16_t spmm) {
+ st.printLabel();
+ SERIAL_ECHOLNPAIR(" stealthChop max speed: ", _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
}
template<typename TMC>
void tmc_set_pwmthrs(TMC &st, const int32_t thrs, const uint32_t spmm) {
st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
}
template<typename TMC>
-void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) {
- _tmc_say_sgt(axis, st.sgt());
+void tmc_get_sgt(TMC &st) {
+ st.printLabel();
+ SERIAL_ECHOPGM(" homing sensitivity: ");
+ SERIAL_PRINTLN(st.sgt(), DEC);
}
template<typename TMC>
void tmc_set_sgt(TMC &st, const int8_t sgt_val) {
diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp
index e727d3e30a2..853f09838b1 100644
--- a/Marlin/src/gcode/feature/trinamic/M906.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M906.cpp
@@ -33,7 +33,7 @@
* Report driver currents when no axis specified
*/
void GcodeSuite::M906() {
- #define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q, TMC_##Q)
+ #define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q)
#define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, value)
bool report = true;
diff --git a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
index 1ab20ea522c..4bb0a595907 100644
--- a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
@@ -33,135 +33,137 @@
#define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && PIN_EXISTS(ST##_SERIAL_RX)))
#define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
-/**
- * M911: Report TMC stepper driver overtemperature pre-warn flag
- * This flag is held by the library, persisting until cleared by M912
- */
-void GcodeSuite::M911() {
- #if M91x_USE(X)
- tmc_report_otpw(stepperX, TMC_X);
- #endif
- #if M91x_USE(X2)
- tmc_report_otpw(stepperX2, TMC_X2);
- #endif
- #if M91x_USE(Y)
- tmc_report_otpw(stepperY, TMC_Y);
- #endif
- #if M91x_USE(Y2)
- tmc_report_otpw(stepperY2, TMC_Y2);
- #endif
- #if M91x_USE(Z)
- tmc_report_otpw(stepperZ, TMC_Z);
- #endif
- #if M91x_USE(Z2)
- tmc_report_otpw(stepperZ2, TMC_Z2);
- #endif
- #if M91x_USE(Z3)
- tmc_report_otpw(stepperZ3, TMC_Z3);
- #endif
- #if M91x_USE_E(0)
- tmc_report_otpw(stepperE0, TMC_E0);
- #endif
- #if M91x_USE_E(1)
- tmc_report_otpw(stepperE1, TMC_E1);
- #endif
- #if M91x_USE_E(2)
- tmc_report_otpw(stepperE2, TMC_E2);
- #endif
- #if M91x_USE_E(3)
- tmc_report_otpw(stepperE3, TMC_E3);
- #endif
- #if M91x_USE_E(4)
- tmc_report_otpw(stepperE4, TMC_E4);
- #endif
- #if M91x_USE_E(5)
- tmc_report_otpw(stepperE5, TMC_E5);
- #endif
-}
-
-/**
- * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
- * Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3 and E[index].
- * If no axes are given, clear all.
- *
- * Examples:
- * M912 X ; clear X and X2
- * M912 X1 ; clear X1 only
- * M912 X2 ; clear X2 only
- * M912 X E ; clear X, X2, and all E
- * M912 E1 ; clear E1 only
- */
-void GcodeSuite::M912() {
- const bool hasX = parser.seen(axis_codes[X_AXIS]),
- hasY = parser.seen(axis_codes[Y_AXIS]),
- hasZ = parser.seen(axis_codes[Z_AXIS]),
- hasE = parser.seen(axis_codes[E_AXIS]),
- hasNone = !hasX && !hasY && !hasZ && !hasE;
-
- #if M91x_USE(X) || M91x_USE(X2)
- const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
- #if M91x_USE(X)
- if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX, TMC_X);
- #endif
- #if M91x_USE(X2)
- if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2, TMC_X2);
- #endif
+#if ENABLED(MONITOR_DRIVER_STATUS)
+ /**
+ * M911: Report TMC stepper driver overtemperature pre-warn flag
+ * This flag is held by the library, persisting until cleared by M912
+ */
+ void GcodeSuite::M911() {
+ #if M91x_USE(X)
+ tmc_report_otpw(stepperX);
#endif
-
- #if M91x_USE(Y) || M91x_USE(Y2)
- const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
- #if M91x_USE(Y)
- if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY, TMC_Y);
- #endif
- #if M91x_USE(Y2)
- if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2, TMC_Y2);
- #endif
+ #if M91x_USE(X2)
+ tmc_report_otpw(stepperX2);
#endif
-
- #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3)
- const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
- #if M91x_USE(Z)
- if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ, TMC_Z);
- #endif
- #if M91x_USE(Z2)
- if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2, TMC_Z2);
- #endif
- #if M91x_USE(Z3)
- if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3, TMC_Z3);
- #endif
+ #if M91x_USE(Y)
+ tmc_report_otpw(stepperY);
#endif
-
- #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5)
- const uint8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
- #if M91x_USE_E(0)
- if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0, TMC_E0);
- #endif
- #if M91x_USE_E(1)
- if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1, TMC_E1);
- #endif
- #if M91x_USE_E(2)
- if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2, TMC_E2);
- #endif
- #if M91x_USE_E(3)
- if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3, TMC_E3);
- #endif
- #if M91x_USE_E(4)
- if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4, TMC_E4);
- #endif
- #if M91x_USE_E(5)
- if (hasNone || eval == 5 || (hasE && eval < 0)) tmc_clear_otpw(stepperE5, TMC_E5);
- #endif
+ #if M91x_USE(Y2)
+ tmc_report_otpw(stepperY2);
#endif
-}
+ #if M91x_USE(Z)
+ tmc_report_otpw(stepperZ);
+ #endif
+ #if M91x_USE(Z2)
+ tmc_report_otpw(stepperZ2);
+ #endif
+ #if M91x_USE(Z3)
+ tmc_report_otpw(stepperZ3);
+ #endif
+ #if M91x_USE_E(0)
+ tmc_report_otpw(stepperE0);
+ #endif
+ #if M91x_USE_E(1)
+ tmc_report_otpw(stepperE1);
+ #endif
+ #if M91x_USE_E(2)
+ tmc_report_otpw(stepperE2);
+ #endif
+ #if M91x_USE_E(3)
+ tmc_report_otpw(stepperE3);
+ #endif
+ #if M91x_USE_E(4)
+ tmc_report_otpw(stepperE4);
+ #endif
+ #if M91x_USE_E(5)
+ tmc_report_otpw(stepperE5);
+ #endif
+ }
+
+ /**
+ * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
+ * Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3 and E[index].
+ * If no axes are given, clear all.
+ *
+ * Examples:
+ * M912 X ; clear X and X2
+ * M912 X1 ; clear X1 only
+ * M912 X2 ; clear X2 only
+ * M912 X E ; clear X, X2, and all E
+ * M912 E1 ; clear E1 only
+ */
+ void GcodeSuite::M912() {
+ const bool hasX = parser.seen(axis_codes[X_AXIS]),
+ hasY = parser.seen(axis_codes[Y_AXIS]),
+ hasZ = parser.seen(axis_codes[Z_AXIS]),
+ hasE = parser.seen(axis_codes[E_AXIS]),
+ hasNone = !hasX && !hasY && !hasZ && !hasE;
+
+ #if M91x_USE(X) || M91x_USE(X2)
+ const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
+ #if M91x_USE(X)
+ if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX);
+ #endif
+ #if M91x_USE(X2)
+ if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2);
+ #endif
+ #endif
+
+ #if M91x_USE(Y) || M91x_USE(Y2)
+ const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
+ #if M91x_USE(Y)
+ if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY);
+ #endif
+ #if M91x_USE(Y2)
+ if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2);
+ #endif
+ #endif
+
+ #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3)
+ const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
+ #if M91x_USE(Z)
+ if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ);
+ #endif
+ #if M91x_USE(Z2)
+ if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2);
+ #endif
+ #if M91x_USE(Z3)
+ if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3);
+ #endif
+ #endif
+
+ #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5)
+ const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
+ #if M91x_USE_E(0)
+ if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0);
+ #endif
+ #if M91x_USE_E(1)
+ if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1);
+ #endif
+ #if M91x_USE_E(2)
+ if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2);
+ #endif
+ #if M91x_USE_E(3)
+ if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3);
+ #endif
+ #if M91x_USE_E(4)
+ if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4);
+ #endif
+ #if M91x_USE_E(5)
+ if (hasNone || eval == 5 || (hasE && eval < 0)) tmc_clear_otpw(stepperE5);
+ #endif
+ #endif
+ }
+#endif
/**
* M913: Set HYBRID_THRESHOLD speed.
*/
#if ENABLED(HYBRID_THRESHOLD)
void GcodeSuite::M913() {
- #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[_AXIS(A)])
+ #define TMC_SAY_PWMTHRS(A,Q) tmc_get_pwmthrs(stepper##Q, planner.axis_steps_per_mm[_AXIS(A)])
#define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, value, planner.axis_steps_per_mm[_AXIS(A)])
- #define TMC_SAY_PWMTHRS_E(E) do{ constexpr uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }while(0)
+ #define TMC_SAY_PWMTHRS_E(E) do{ constexpr uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }while(0)
#define TMC_SET_PWMTHRS_E(E) do{ constexpr uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, value, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }while(0)
bool report = true;
@@ -271,7 +273,7 @@ void GcodeSuite::M912() {
*/
#if USE_SENSORLESS
void GcodeSuite::M914() {
- #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q)
+ #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q)
#define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, value)
bool report = true;
@@ -362,16 +364,16 @@ void GcodeSuite::M912() {
}
#if AXIS_IS_TMC(Z)
- const uint16_t Z_current_1 = stepperZ.getCurrent();
- stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+ const uint16_t Z_current_1 = stepperZ.getMilliamps();
+ stepperZ.rms_current(_rms);
#endif
#if AXIS_IS_TMC(Z2)
- const uint16_t Z2_current_1 = stepperZ2.getCurrent();
- stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+ const uint16_t Z2_current_1 = stepperZ2.getMilliamps();
+ stepperZ2.rms_current(_rms);
#endif
- #if Z3_IS_TRINAMIC
- const uint16_t Z3_current_1 = stepperZ3.getCurrent();
- stepperZ3.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+ #if AXIS_IS_TMC(Z3)
+ const uint16_t Z3_current_1 = stepperZ3.getMilliamps();
+ stepperZ3.rms_current(_rms);
#endif
SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
@@ -381,13 +383,13 @@ void GcodeSuite::M912() {
do_blocking_move_to_z(Z_MAX_POS+_z);
#if AXIS_IS_TMC(Z)
- stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
+ stepperZ.rms_current(Z_current_1);
#endif
#if AXIS_IS_TMC(Z2)
- stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
+ stepperZ2.rms_current(Z2_current_1);
#endif
#if AXIS_IS_TMC(Z3)
- stepperZ3.setCurrent(Z3_current_1, R_SENSE, HOLD_MULTIPLIER);
+ stepperZ3.rms_current(Z3_current_1);
#endif
do_blocking_move_to_z(Z_MAX_POS);
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index 7f1b63d4ed5..f71b5ab3c7a 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -632,8 +632,10 @@ void GcodeSuite::process_parsed_command(
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
+ #if ENABLED(MONITOR_DRIVER_STATUS)
+ case 911: M911(); break; // M911: Report TMC2130 prewarn triggered flags
+ case 912: M912(); break; // M912: Clear TMC2130 prewarn triggered flags
+ #endif
#if ENABLED(HYBRID_THRESHOLD)
case 913: M913(); break; // M913: Set HYBRID_THRESHOLD speed.
#endif
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index d7ca10d9a5d..4298365e1f6 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -775,8 +775,10 @@ private:
static void M122();
#endif
static void M906();
- static void M911();
- static void M912();
+ #if ENABLED(MONITOR_DRIVER_STATUS)
+ static void M911();
+ static void M912();
+ #endif
#if ENABLED(HYBRID_THRESHOLD)
static void M913();
#endif
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 0f828451b97..16e5f006c82 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -460,6 +460,9 @@
* NOTE: Driver timing order is longest-to-shortest duration.
* Preserve this ordering when adding new drivers.
*/
+
+#define TRINAMICS (HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE))
+
#ifndef MINIMUM_STEPPER_DIR_DELAY
#if HAS_DRIVER(TB6560)
#define MINIMUM_STEPPER_DIR_DELAY 15000
@@ -473,7 +476,7 @@
#define MINIMUM_STEPPER_DIR_DELAY 400
#elif HAS_DRIVER(A4988)
#define MINIMUM_STEPPER_DIR_DELAY 200
- #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+ #elif TRINAMICS
#define MINIMUM_STEPPER_DIR_DELAY 20
#else
#define MINIMUM_STEPPER_DIR_DELAY 0 // Expect at least 10µS since one Stepper ISR must transpire
@@ -489,7 +492,7 @@
#define MINIMUM_STEPPER_PULSE 2
#elif HAS_DRIVER(A4988) || HAS_DRIVER(LV8729) || HAS_DRIVER(A5984)
#define MINIMUM_STEPPER_PULSE 1
- #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+ #elif TRINAMICS
#define MINIMUM_STEPPER_PULSE 0
#else
#define MINIMUM_STEPPER_PULSE 2
@@ -505,7 +508,7 @@
#define MAXIMUM_STEPPER_RATE 150000
#elif HAS_DRIVER(DRV8825)
#define MAXIMUM_STEPPER_RATE 250000
- #elif HAS_TRINAMIC || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE)
+ #elif TRINAMICS
#define MAXIMUM_STEPPER_RATE 400000
#elif HAS_DRIVER(A4988)
#define MAXIMUM_STEPPER_RATE 500000
diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
index eee30aba842..9a92e47d536 100644
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@@ -83,6 +83,9 @@
#include "../feature/tmc_util.h"
#define TMC_GET_PWMTHRS(A,Q) _tmc_thrs(stepper##Q.microsteps(), stepper##Q.TPWMTHRS(), planner.axis_steps_per_mm[_AXIS(A)])
#endif
+typedef struct { uint16_t X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5; } tmc_stepper_current_t;
+typedef struct { uint32_t X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5; } tmc_hybrid_threshold_t;
+typedef struct { int16_t X, Y, Z; } tmc_sgt_t;
#if ENABLED(FWRETRACT)
#include "../feature/fwretract.h"
@@ -98,7 +101,7 @@
#pragma pack(push, 1) // No padding between variables
-typedef struct PID { float Kp, Ki, Kd; } PID;
+typedef struct PID { float Kp, Ki, Kd; } PID;
typedef struct PIDC { float Kp, Ki, Kd, Kc; } PIDC;
/**
@@ -251,9 +254,9 @@ typedef struct SettingsDataStruct {
// HAS_TRINAMIC
//
#define TMC_AXES (MAX_EXTRUDERS + 7)
- uint16_t tmc_stepper_current[TMC_AXES]; // M906 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
- uint32_t tmc_hybrid_threshold[TMC_AXES]; // M913 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
- int16_t tmc_sgt[XYZ]; // M914 X Y Z
+ tmc_stepper_current_t tmc_stepper_current; // M906 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
+ tmc_hybrid_threshold_t tmc_hybrid_threshold; // M913 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
+ tmc_sgt_t tmc_sgt; // M914 X Y Z
//
// LIN_ADVANCE
@@ -300,7 +303,7 @@ uint16_t MarlinSettings::datasize() { return sizeof(SettingsData); }
#endif
void MarlinSettings::postprocess() {
- const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
+ const float oldpos[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] };
// steps per s2 needs to be updated to agree with units per s2
planner.reset_acceleration_rates();
@@ -436,7 +439,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(dummy);
#endif
#else
- const float planner_max_jerk[] = { float(DEFAULT_XJERK), float(DEFAULT_YJERK), float(DEFAULT_ZJERK), float(DEFAULT_EJERK) };
+ const float planner_max_jerk[XYZE] = { float(DEFAULT_XJERK), float(DEFAULT_YJERK), float(DEFAULT_ZJERK), float(DEFAULT_EJERK) };
EEPROM_WRITE(planner_max_jerk);
#endif
@@ -464,11 +467,13 @@ void MarlinSettings::postprocess() {
// Global Leveling
//
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- const float zfh = planner.z_fade_height;
- #else
- const float zfh = 10.0;
- #endif
+ const float zfh = (
+ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+ planner.z_fade_height
+ #else
+ 10.0
+ #endif
+ );
EEPROM_WRITE(zfh);
//
@@ -478,7 +483,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(MESH_BED_LEVELING)
// Compile time test that sizeof(mbl.z_values) is as expected
static_assert(
- sizeof(mbl.z_values) == GRID_MAX_POINTS * sizeof(mbl.z_values[0][0]),
+ sizeof(mbl.z_values) == (GRID_MAX_POINTS) * sizeof(mbl.z_values[0][0]),
"MBL Z array is the wrong size."
);
const uint8_t mesh_num_x = GRID_MAX_POINTS_X, mesh_num_y = GRID_MAX_POINTS_Y;
@@ -520,7 +525,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Compile time test that sizeof(z_values) is as expected
static_assert(
- sizeof(z_values) == GRID_MAX_POINTS * sizeof(z_values[0][0]),
+ sizeof(z_values) == (GRID_MAX_POINTS) * sizeof(z_values[0][0]),
"Bilinear Z array is the wrong size."
);
const uint8_t grid_max_x = GRID_MAX_POINTS_X, grid_max_y = GRID_MAX_POINTS_Y;
@@ -719,230 +724,154 @@ void MarlinSettings::postprocess() {
#endif
//
- // Save TMC2130 or TMC2208 Configuration, and placeholder values
+ // Save TMC Configuration, and placeholder values
//
_FIELD_TEST(tmc_stepper_current);
- uint16_t tmc_stepper_current[TMC_AXES] = {
- #if HAS_TRINAMIC
- #if AXIS_IS_TMC(X)
- stepperX.getCurrent(),
- #else
- 0,
- #endif
- #if AXIS_IS_TMC(Y)
- stepperY.getCurrent(),
- #else
- 0,
- #endif
- #if AXIS_IS_TMC(Z)
- stepperZ.getCurrent(),
- #else
- 0,
- #endif
- #if AXIS_IS_TMC(X2)
- stepperX2.getCurrent(),
- #else
- 0,
- #endif
- #if AXIS_IS_TMC(Y2)
- stepperY2.getCurrent(),
- #else
- 0,
- #endif
- #if AXIS_IS_TMC(Z2)
- stepperZ2.getCurrent(),
- #else
- 0,
- #endif
- #if AXIS_IS_TMC(Z3)
- stepperZ3.getCurrent(),
- #else
- 0,
- #endif
- #if MAX_EXTRUDERS
- #if AXIS_IS_TMC(E0)
- stepperE0.getCurrent(),
- #else
- 0,
- #endif
- #if MAX_EXTRUDERS > 1
- #if AXIS_IS_TMC(E1)
- stepperE1.getCurrent(),
- #else
- 0,
- #endif
- #if MAX_EXTRUDERS > 2
- #if AXIS_IS_TMC(E2)
- stepperE2.getCurrent(),
- #else
- 0,
- #endif
- #if MAX_EXTRUDERS > 3
- #if AXIS_IS_TMC(E3)
- stepperE3.getCurrent(),
- #else
- 0,
- #endif
- #if MAX_EXTRUDERS > 4
- #if AXIS_IS_TMC(E4)
- stepperE4.getCurrent()
- #else
- 0
- #endif
- #if MAX_EXTRUDERS > 5
- #if AXIS_IS_TMC(E5)
- stepperE5.getCurrent()
- #else
- 0
- #endif
- #endif // MAX_EXTRUDERS > 5
- #endif // MAX_EXTRUDERS > 4
- #endif // MAX_EXTRUDERS > 3
- #endif // MAX_EXTRUDERS > 2
- #endif // MAX_EXTRUDERS > 1
- #endif // MAX_EXTRUDERS
- #else
- 0
+ tmc_stepper_current_t tmc_stepper_current = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+
+ #if HAS_TRINAMIC
+ #if AXIS_IS_TMC(X)
+ tmc_stepper_current.X = stepperX.getMilliamps();
#endif
- };
+ #if AXIS_IS_TMC(Y)
+ tmc_stepper_current.Y = stepperY.getMilliamps();
+ #endif
+ #if AXIS_IS_TMC(Z)
+ tmc_stepper_current.Z = stepperZ.getMilliamps();
+ #endif
+ #if AXIS_IS_TMC(X2)
+ tmc_stepper_current.X2 = stepperX2.getMilliamps();
+ #endif
+ #if AXIS_IS_TMC(Y2)
+ tmc_stepper_current.Y2 = stepperY2.getMilliamps();
+ #endif
+ #if AXIS_IS_TMC(Z2)
+ tmc_stepper_current.Z2 = stepperZ2.getMilliamps();
+ #endif
+ #if AXIS_IS_TMC(Z3)
+ tmc_stepper_current.Z3 = stepperZ3.getMilliamps();
+ #endif
+ #if MAX_EXTRUDERS
+ #if AXIS_IS_TMC(E0)
+ tmc_stepper_current.E0 = stepperE0.getMilliamps();
+ #endif
+ #if MAX_EXTRUDERS > 1
+ #if AXIS_IS_TMC(E1)
+ tmc_stepper_current.E1 = stepperE1.getMilliamps();
+ #endif
+ #if MAX_EXTRUDERS > 2
+ #if AXIS_IS_TMC(E2)
+ tmc_stepper_current.E2 = stepperE2.getMilliamps();
+ #endif
+ #if MAX_EXTRUDERS > 3
+ #if AXIS_IS_TMC(E3)
+ tmc_stepper_current.E3 = stepperE3.getMilliamps();
+ #endif
+ #if MAX_EXTRUDERS > 4
+ #if AXIS_IS_TMC(E4)
+ tmc_stepper_current.E4 = stepperE4.getMilliamps();
+ #endif
+ #if MAX_EXTRUDERS > 5
+ #if AXIS_IS_TMC(E5)
+ tmc_stepper_current.E5 = stepperE5.getMilliamps();
+ #endif
+ #endif // MAX_EXTRUDERS > 5
+ #endif // MAX_EXTRUDERS > 4
+ #endif // MAX_EXTRUDERS > 3
+ #endif // MAX_EXTRUDERS > 2
+ #endif // MAX_EXTRUDERS > 1
+ #endif // MAX_EXTRUDERS
+ #endif
EEPROM_WRITE(tmc_stepper_current);
//
- // Save TMC2130 or TMC2208 Hybrid Threshold, and placeholder values
+ // Save TMC Hybrid Threshold, and placeholder values
//
_FIELD_TEST(tmc_hybrid_threshold);
- uint32_t tmc_hybrid_threshold[TMC_AXES] = {
- #if ENABLED(HYBRID_THRESHOLD)
- #if AXIS_HAS_STEALTHCHOP(X)
- TMC_GET_PWMTHRS(X, X),
- #else
- X_HYBRID_THRESHOLD,
- #endif
- #if AXIS_HAS_STEALTHCHOP(Y)
- TMC_GET_PWMTHRS(Y, Y),
- #else
- Y_HYBRID_THRESHOLD,
- #endif
- #if AXIS_HAS_STEALTHCHOP(Z)
- TMC_GET_PWMTHRS(Z, Z),
- #else
- Z_HYBRID_THRESHOLD,
- #endif
- #if AXIS_HAS_STEALTHCHOP(X2)
- TMC_GET_PWMTHRS(X, X2),
- #else
- X2_HYBRID_THRESHOLD,
- #endif
- #if AXIS_HAS_STEALTHCHOP(Y2)
- TMC_GET_PWMTHRS(Y, Y2),
- #else
- Y2_HYBRID_THRESHOLD,
- #endif
- #if AXIS_HAS_STEALTHCHOP(Z2)
- TMC_GET_PWMTHRS(Z, Z2),
- #else
- Z2_HYBRID_THRESHOLD,
- #endif
- #if AXIS_HAS_STEALTHCHOP(Z3)
- TMC_GET_PWMTHRS(Z, Z3),
- #else
- Z3_HYBRID_THRESHOLD,
- #endif
- #if MAX_EXTRUDERS
- #if AXIS_HAS_STEALTHCHOP(E0)
- TMC_GET_PWMTHRS(E, E0),
- #else
- E0_HYBRID_THRESHOLD,
- #endif
- #if MAX_EXTRUDERS > 1
- #if AXIS_HAS_STEALTHCHOP(E1)
- TMC_GET_PWMTHRS(E, E1),
- #else
- E1_HYBRID_THRESHOLD,
- #endif
- #if MAX_EXTRUDERS > 2
- #if AXIS_HAS_STEALTHCHOP(E2)
- TMC_GET_PWMTHRS(E, E2),
- #else
- E2_HYBRID_THRESHOLD,
- #endif
- #if MAX_EXTRUDERS > 3
- #if AXIS_HAS_STEALTHCHOP(E3)
- TMC_GET_PWMTHRS(E, E3),
- #else
- E3_HYBRID_THRESHOLD,
- #endif
- #if MAX_EXTRUDERS > 4
- #if AXIS_HAS_STEALTHCHOP(E4)
- TMC_GET_PWMTHRS(E, E4)
- #else
- E4_HYBRID_THRESHOLD
- #endif
- #if MAX_EXTRUDERS > 5
- #if AXIS_HAS_STEALTHCHOP(E5)
- TMC_GET_PWMTHRS(E, E5)
- #else
- E5_HYBRID_THRESHOLD
- #endif
- #endif // MAX_EXTRUDERS > 5
- #endif // MAX_EXTRUDERS > 4
- #endif // MAX_EXTRUDERS > 3
- #endif // MAX_EXTRUDERS > 2
- #endif // MAX_EXTRUDERS > 1
- #endif // MAX_EXTRUDERS
- #else
- 100, 100, 3, // X, Y, Z
- 100, 100, 3, 3 // X2, Y2, Z2, Z3
- #if MAX_EXTRUDERS
- , 30 // E0
- #if MAX_EXTRUDERS > 1
- , 30 // E1
- #if MAX_EXTRUDERS > 2
- , 30 // E2
- #if MAX_EXTRUDERS > 3
- , 30 // E3
- #if MAX_EXTRUDERS > 4
- , 30 // E4
- #if MAX_EXTRUDERS > 5
- , 30 // E5
- #endif
- #endif
- #endif
- #endif
- #endif
- #endif
+ #if ENABLED(HYBRID_THRESHOLD)
+ tmc_hybrid_threshold_t tmc_hybrid_threshold = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+ #if AXIS_HAS_STEALTHCHOP(X)
+ tmc_hybrid_threshold.X = TMC_GET_PWMTHRS(X, X);
#endif
- };
+ #if AXIS_HAS_STEALTHCHOP(Y)
+ tmc_hybrid_threshold.Y = TMC_GET_PWMTHRS(Y, Y);
+ #endif
+ #if AXIS_HAS_STEALTHCHOP(Z)
+ tmc_hybrid_threshold.Z = TMC_GET_PWMTHRS(Z, Z);
+ #endif
+ #if AXIS_HAS_STEALTHCHOP(X2)
+ tmc_hybrid_threshold.X2 = TMC_GET_PWMTHRS(X, X2);
+ #endif
+ #if AXIS_HAS_STEALTHCHOP(Y2)
+ tmc_hybrid_threshold.Y2 = TMC_GET_PWMTHRS(Y, Y2);
+ #endif
+ #if AXIS_HAS_STEALTHCHOP(Z2)
+ tmc_hybrid_threshold.Z2 = TMC_GET_PWMTHRS(Z, Z2);
+ #endif
+ #if AXIS_HAS_STEALTHCHOP(Z3)
+ tmc_hybrid_threshold.Z3 = TMC_GET_PWMTHRS(Z, Z3);
+ #endif
+ #if MAX_EXTRUDERS
+ #if AXIS_HAS_STEALTHCHOP(E0)
+ tmc_hybrid_threshold.E0 = TMC_GET_PWMTHRS(E, E0);
+ #endif
+ #if MAX_EXTRUDERS > 1
+ #if AXIS_HAS_STEALTHCHOP(E1)
+ tmc_hybrid_threshold.E1 = TMC_GET_PWMTHRS(E, E1);
+ #endif
+ #if MAX_EXTRUDERS > 2
+ #if AXIS_HAS_STEALTHCHOP(E2)
+ tmc_hybrid_threshold.E2 = TMC_GET_PWMTHRS(E, E2);
+ #endif
+ #if MAX_EXTRUDERS > 3
+ #if AXIS_HAS_STEALTHCHOP(E3)
+ tmc_hybrid_threshold.E3 = TMC_GET_PWMTHRS(E, E3);
+ #endif
+ #if MAX_EXTRUDERS > 4
+ #if AXIS_HAS_STEALTHCHOP(E4)
+ tmc_hybrid_threshold.E4 = TMC_GET_PWMTHRS(E, E4);
+ #endif
+ #if MAX_EXTRUDERS > 5
+ #if AXIS_HAS_STEALTHCHOP(E5)
+ tmc_hybrid_threshold.E5 = TMC_GET_PWMTHRS(E, E5);
+ #endif
+ #endif // MAX_EXTRUDERS > 5
+ #endif // MAX_EXTRUDERS > 4
+ #endif // MAX_EXTRUDERS > 3
+ #endif // MAX_EXTRUDERS > 2
+ #endif // MAX_EXTRUDERS > 1
+ #endif // MAX_EXTRUDERS
+ #else
+ const tmc_hybrid_threshold_t tmc_hybrid_threshold = {
+ .X = 100, .Y = 100, .Z = 3,
+ .X2 = 100, .Y2 = 100, .Z2 = 3, .Z3 = 3,
+ .E0 = 30, .E1 = 30, .E2 = 30,
+ .E3 = 30, .E4 = 30, .E5 = 30
+ };
+ #endif
EEPROM_WRITE(tmc_hybrid_threshold);
//
- // TMC2130 StallGuard threshold
+ // TMC StallGuard threshold
//
- int16_t tmc_sgt[XYZ] = {
- #if USE_SENSORLESS
- #if X_SENSORLESS
- stepperX.sgt(),
- #else
- 0,
- #endif
- #if Y_SENSORLESS
- stepperY.sgt(),
- #else
- 0,
- #endif
- #if Z_SENSORLESS
- stepperZ.sgt()
- #else
- 0
- #endif
- #else
- 0
+
+ tmc_sgt_t tmc_sgt = { 0, 0, 0 };
+
+ #if USE_SENSORLESS
+ #if X_SENSORLESS
+ tmc_sgt.X = stepperX.sgt();
#endif
- };
+ #if Y_SENSORLESS
+ tmc_sgt.Y = stepperY.sgt();
+ #endif
+ #if Z_SENSORLESS
+ tmc_sgt.Z = stepperZ.sgt();
+ #endif
+ #endif
EEPROM_WRITE(tmc_sgt);
//
@@ -1423,15 +1352,15 @@ void MarlinSettings::postprocess() {
if (!validating) reset_stepper_drivers();
//
- // TMC2130 Stepper Settings
+ // TMC Stepper Settings
//
_FIELD_TEST(tmc_stepper_current);
#if HAS_TRINAMIC
- #define SET_CURR(Q) stepper##Q.setCurrent(currents[TMC_##Q] ? currents[TMC_##Q] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER)
- uint16_t currents[TMC_AXES];
+ #define SET_CURR(Q) stepper##Q.rms_current(currents.Q ? currents.Q : Q##_CURRENT)
+ tmc_stepper_current_t currents;
EEPROM_READ(currents);
if (!validating) {
#if AXIS_IS_TMC(X)
@@ -1480,8 +1409,8 @@ void MarlinSettings::postprocess() {
#endif
#if ENABLED(HYBRID_THRESHOLD)
- #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold[TMC_##Q], planner.axis_steps_per_mm[_AXIS(A)])
- uint32_t tmc_hybrid_threshold[TMC_AXES];
+ #define TMC_SET_PWMTHRS(A,Q) tmc_set_pwmthrs(stepper##Q, tmc_hybrid_threshold.Q, planner.axis_steps_per_mm[_AXIS(A)])
+ tmc_hybrid_threshold_t tmc_hybrid_threshold;
EEPROM_READ(tmc_hybrid_threshold);
if (!validating) {
#if AXIS_HAS_STEALTHCHOP(X)
@@ -1530,40 +1459,40 @@ void MarlinSettings::postprocess() {
#endif
/*
- * TMC2130 StallGuard threshold.
+ * TMC StallGuard threshold.
* X and X2 use the same value
* Y and Y2 use the same value
* Z, Z2 and Z3 use the same value
*/
- int16_t tmc_sgt[XYZ];
+ tmc_sgt_t tmc_sgt;
EEPROM_READ(tmc_sgt);
#if USE_SENSORLESS
if (!validating) {
#ifdef X_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(X)
- stepperX.sgt(tmc_sgt[0]);
+ stepperX.sgt(tmc_sgt.X);
#endif
#if AXIS_HAS_STALLGUARD(X2)
- stepperX2.sgt(tmc_sgt[0]);
+ stepperX2.sgt(tmc_sgt.X);
#endif
#endif
#ifdef Y_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(Y)
- stepperY.sgt(tmc_sgt[1]);
+ stepperY.sgt(tmc_sgt.Y);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
- stepperY2.sgt(tmc_sgt[1]);
+ stepperY2.sgt(tmc_sgt.Y);
#endif
#endif
#ifdef Z_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(Z)
- stepperZ.sgt(tmc_sgt[2]);
+ stepperZ.sgt(tmc_sgt.Z);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
- stepperZ2.sgt(tmc_sgt[2]);
+ stepperZ2.sgt(tmc_sgt.Z);
#endif
#if AXIS_HAS_STALLGUARD(Z3)
- stepperZ3.sgt(tmc_sgt[2]);
+ stepperZ3.sgt(tmc_sgt.Z);
#endif
#endif
}
@@ -1957,8 +1886,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES
#if ENABLED(DELTA)
- const float adj[ABC] = DELTA_ENDSTOP_ADJ,
- dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
+ const float adj[ABC] = DELTA_ENDSTOP_ADJ, dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
delta_height = DELTA_HEIGHT;
COPY(delta_endstop_adj, adj);
delta_radius = DELTA_RADIUS;
@@ -2683,7 +2611,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#if HAS_TRINAMIC
/**
- * TMC2130 / TMC2208 stepper driver current
+ * TMC stepper driver current
*/
if (!forReplay) {
CONFIG_ECHO_START;
@@ -2694,65 +2622,68 @@ void MarlinSettings::reset(PORTARG_SOLO) {
say_M906(PORTVAR_SOLO);
#endif
#if AXIS_IS_TMC(X)
- SERIAL_ECHOPAIR_P(port, " X", stepperX.getCurrent());
+ SERIAL_ECHOPAIR_P(port, " X", stepperX.getMilliamps());
#endif
#if AXIS_IS_TMC(Y)
- SERIAL_ECHOPAIR_P(port, " Y", stepperY.getCurrent());
+ SERIAL_ECHOPAIR_P(port, " Y", stepperY.getMilliamps());
#endif
#if AXIS_IS_TMC(Z)
- SERIAL_ECHOPAIR_P(port, " Z", stepperZ.getCurrent());
+ SERIAL_ECHOPAIR_P(port, " Z", stepperZ.getMilliamps());
#endif
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
SERIAL_EOL_P(port);
#endif
+
#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
say_M906(PORTVAR_SOLO);
SERIAL_ECHOPGM_P(port, " I1");
#endif
#if AXIS_IS_TMC(X2)
- SERIAL_ECHOPAIR_P(port, " X", stepperX2.getCurrent());
+ SERIAL_ECHOPAIR_P(port, " X", stepperX2.getMilliamps());
#endif
#if AXIS_IS_TMC(Y2)
- SERIAL_ECHOPAIR_P(port, " Y", stepperY2.getCurrent());
+ SERIAL_ECHOPAIR_P(port, " Y", stepperY2.getMilliamps());
#endif
#if AXIS_IS_TMC(Z2)
- SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.getCurrent());
+ SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.getMilliamps());
#endif
#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
SERIAL_EOL_P(port);
#endif
+
#if AXIS_IS_TMC(Z3)
say_M906(PORTVAR_SOLO);
- SERIAL_ECHOLNPAIR_P(port, " I2 Z", stepperZ3.getCurrent());
+ SERIAL_ECHOLNPAIR_P(port, " I2 Z", stepperZ3.getMilliamps());
#endif
+
#if AXIS_IS_TMC(E0)
say_M906(PORTVAR_SOLO);
- SERIAL_ECHOLNPAIR_P(port, " T0 E", stepperE0.getCurrent());
+ SERIAL_ECHOLNPAIR_P(port, " T0 E", stepperE0.getMilliamps());
#endif
#if AXIS_IS_TMC(E1)
say_M906(PORTVAR_SOLO);
- SERIAL_ECHOLNPAIR_P(port, " T1 E", stepperE1.getCurrent());
+ SERIAL_ECHOLNPAIR_P(port, " T1 E", stepperE1.getMilliamps());
#endif
#if AXIS_IS_TMC(E2)
say_M906(PORTVAR_SOLO);
- SERIAL_ECHOLNPAIR_P(port, " T2 E", stepperE2.getCurrent());
+ SERIAL_ECHOLNPAIR_P(port, " T2 E", stepperE2.getMilliamps());
#endif
#if AXIS_IS_TMC(E3)
say_M906(PORTVAR_SOLO);
- SERIAL_ECHOLNPAIR_P(port, " T3 E", stepperE3.getCurrent());
+ SERIAL_ECHOLNPAIR_P(port, " T3 E", stepperE3.getMilliamps());
#endif
#if AXIS_IS_TMC(E4)
say_M906(PORTVAR_SOLO);
- SERIAL_ECHOLNPAIR_P(port, " T4 E", stepperE4.getCurrent());
+ SERIAL_ECHOLNPAIR_P(port, " T4 E", stepperE4.getMilliamps());
#endif
#if AXIS_IS_TMC(E5)
say_M906(PORTVAR_SOLO);
- SERIAL_ECHOLNPAIR_P(port, " T5 E", stepperE5.getCurrent());
+ SERIAL_ECHOLNPAIR_P(port, " T5 E", stepperE5.getMilliamps());
#endif
SERIAL_EOL_P(port);
/**
- * TMC2130 / TMC2208 / TRAMS Hybrid Threshold
+ * TMC Hybrid Threshold
*/
#if ENABLED(HYBRID_THRESHOLD)
if (!forReplay) {
@@ -2760,63 +2691,66 @@ void MarlinSettings::reset(PORTARG_SOLO) {
SERIAL_ECHOLNPGM_P(port, "Hybrid Threshold:");
}
CONFIG_ECHO_START;
- #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
+ #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
say_M913(PORTVAR_SOLO);
#endif
- #if AXIS_IS_TMC(X)
+ #if AXIS_HAS_STEALTHCHOP(X)
SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X));
#endif
- #if AXIS_IS_TMC(Y)
+ #if AXIS_HAS_STEALTHCHOP(Y)
SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y));
#endif
- #if AXIS_IS_TMC(Z)
+ #if AXIS_HAS_STEALTHCHOP(Z)
SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z));
#endif
- #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
+ #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z)
SERIAL_EOL_P(port);
#endif
- #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
+
+ #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOPGM_P(port, " I1");
#endif
- #if AXIS_IS_TMC(X2)
+ #if AXIS_HAS_STEALTHCHOP(X2)
SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X2));
#endif
- #if AXIS_IS_TMC(Y2)
+ #if AXIS_HAS_STEALTHCHOP(Y2)
SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y2));
#endif
- #if AXIS_IS_TMC(Z2)
+ #if AXIS_HAS_STEALTHCHOP(Z2)
SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z2));
#endif
- #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
+ #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2)
SERIAL_EOL_P(port);
#endif
- #if AXIS_IS_TMC(Z3)
+
+ #if AXIS_HAS_STEALTHCHOP(Z3)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOPGM_P(port, " I2");
SERIAL_ECHOLNPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z3));
#endif
- #if AXIS_IS_TMC(E0)
+
+ #if AXIS_HAS_STEALTHCHOP(E0)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " T0 E", TMC_GET_PWMTHRS(E, E0));
#endif
- #if AXIS_IS_TMC(E1)
+ #if AXIS_HAS_STEALTHCHOP(E1)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " T1 E", TMC_GET_PWMTHRS(E, E1));
#endif
- #if AXIS_IS_TMC(E2)
+ #if AXIS_HAS_STEALTHCHOP(E2)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " T2 E", TMC_GET_PWMTHRS(E, E2));
#endif
- #if AXIS_IS_TMC(E3)
+ #if AXIS_HAS_STEALTHCHOP(E3)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " T3 E", TMC_GET_PWMTHRS(E, E3));
#endif
- #if AXIS_IS_TMC(E4)
+ #if AXIS_HAS_STEALTHCHOP(E4)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " T4 E", TMC_GET_PWMTHRS(E, E4));
#endif
- #if AXIS_IS_TMC(E5)
+ #if AXIS_HAS_STEALTHCHOP(E5)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " T5 E", TMC_GET_PWMTHRS(E, E5));
#endif
@@ -2824,7 +2758,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#endif // HYBRID_THRESHOLD
/**
- * TMC2130 Sensorless homing thresholds
+ * TMC Sensorless homing thresholds
*/
#if USE_SENSORLESS
if (!forReplay) {
diff --git a/Marlin/src/module/stepper_indirection.cpp b/Marlin/src/module/stepper_indirection.cpp
index 86cd7c38327..c6b641e9330 100644
--- a/Marlin/src/module/stepper_indirection.cpp
+++ b/Marlin/src/module/stepper_indirection.cpp
@@ -139,171 +139,104 @@
}
#endif // TMC26X
+#if HAS_TRINAMIC
+ #define _TMC_INIT(ST, SPMM) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
+#endif
+
//
// TMC2130 Driver objects and inits
//
#if HAS_DRIVER(TMC2130)
#include <SPI.h>
- #include <TMC2130Stepper.h>
#include "planner.h"
#include "../core/enum.h"
- #if TMC2130STEPPER_VERSION < 0x020201
- #error "Update TMC2130Stepper library to 2.2.1 or newer."
- #endif
-
#if ENABLED(TMC_USE_SW_SPI)
- #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
+ #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
+ #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
#else
- #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
+ #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE)
+ #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
#endif
-
// Stepper objects of TMC2130 steppers used
#if AXIS_DRIVER_TYPE(X, TMC2130)
- _TMC2130_DEFINE(X);
+ TMC2130_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2130)
- _TMC2130_DEFINE(X2);
+ TMC2130_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE(Y, TMC2130)
- _TMC2130_DEFINE(Y);
+ TMC2130_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2130)
- _TMC2130_DEFINE(Y2);
+ TMC2130_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE(Z, TMC2130)
- _TMC2130_DEFINE(Z);
+ TMC2130_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
- _TMC2130_DEFINE(Z2);
+ TMC2130_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2130)
- _TMC2130_DEFINE(Z3);
+ TMC2130_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2130)
- _TMC2130_DEFINE(E0);
+ TMC2130_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE(E1, TMC2130)
- _TMC2130_DEFINE(E1);
+ TMC2130_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE(E2, TMC2130)
- _TMC2130_DEFINE(E2);
+ TMC2130_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE(E3, TMC2130)
- _TMC2130_DEFINE(E3);
+ TMC2130_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE(E4, TMC2130)
- _TMC2130_DEFINE(E4);
+ TMC2130_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE(E5, TMC2130)
- _TMC2130_DEFINE(E5);
+ TMC2130_DEFINE(E5);
#endif
- // 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 mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
+ template<char AXIS_LETTER, char DRIVER_ID>
+ void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
#if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
UNUSED(thrs);
UNUSED(spmm);
#endif
st.begin();
- st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 1;
+ chopconf.toff = 3;
+ chopconf.intpol = INTERPOLATE;
+ chopconf.hstrt = 2;
+ chopconf.hend = 5;
+ st.CHOPCONF(chopconf.sr);
+
+ st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
- st.blank_time(24);
- st.off_time(5); // Only enables the driver if used with stealthChop
- st.interpolate(INTERPOLATE);
- st.power_down_delay(128); // ~2s until driver lowers to hold current
- st.hysteresis_start(3);
- st.hysteresis_end(2);
+ st.iholddelay(10);
+ st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
#if ENABLED(STEALTHCHOP)
- st.stealth_freq(1); // f_pwm = 2/683 f_clk
- st.stealth_autoscale(1);
- st.stealth_gradient(5);
- st.stealth_amplitude(255);
- st.stealthChop(1);
+ st.en_pwm_mode(true);
+
+ PWMCONF_t pwmconf{0};
+ pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
+ pwmconf.pwm_autoscale = true;
+ pwmconf.pwm_grad = 5;
+ pwmconf.pwm_ampl = 180;
+ st.PWMCONF(pwmconf.sr);
+
#if ENABLED(HYBRID_THRESHOLD)
- st.stealth_max_speed(12650000UL*microsteps/(256*thrs*spmm));
+ st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#endif
#endif
st.GSTAT(); // Clear GSTAT
}
-
- #define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
-
- void tmc2130_init_to_defaults() {
- #if AXIS_DRIVER_TYPE(X, TMC2130)
- _TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(X2, TMC2130)
- _TMC2130_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Y, TMC2130)
- _TMC2130_INIT( Y, planner.axis_steps_per_mm[Y_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Y2, TMC2130)
- _TMC2130_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Z, TMC2130)
- _TMC2130_INIT( Z, planner.axis_steps_per_mm[Z_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Z2, TMC2130)
- _TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Z3, TMC2130)
- _TMC2130_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(E0, TMC2130)
- _TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(E1, TMC2130)
- { constexpr uint8_t extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
- #endif
- #if AXIS_DRIVER_TYPE(E2, TMC2130)
- { constexpr uint8_t extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
- #endif
- #if AXIS_DRIVER_TYPE(E3, TMC2130)
- { constexpr uint8_t extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
- #endif
- #if AXIS_DRIVER_TYPE(E4, TMC2130)
- { constexpr uint8_t extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
- #endif
- #if AXIS_DRIVER_TYPE(E5, TMC2130)
- { constexpr uint8_t extruder = 5; _TMC2130_INIT(E5, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
- #endif
-
- #if USE_SENSORLESS
- #define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_STALL_SENSITIVITY);
- #if X_SENSORLESS
- #if AXIS_DRIVER_TYPE(X, TMC2130)
- stepperX.sgt(X_STALL_SENSITIVITY);
- #endif
- #if AXIS_DRIVER_TYPE(X2, TMC2130)
- stepperX2.sgt(X_STALL_SENSITIVITY);
- #endif
- #endif
- #if Y_SENSORLESS
- #if AXIS_DRIVER_TYPE(Y, TMC2130)
- stepperY.sgt(Y_STALL_SENSITIVITY);
- #endif
- #if AXIS_DRIVER_TYPE(Y2, TMC2130)
- stepperY2.sgt(Y_STALL_SENSITIVITY);
- #endif
- #endif
- #if Z_SENSORLESS
- #if AXIS_DRIVER_TYPE(Z, TMC2130)
- stepperZ.sgt(Z_STALL_SENSITIVITY);
- #endif
- #if AXIS_DRIVER_TYPE(Z2, TMC2130)
- stepperZ2.sgt(Z_STALL_SENSITIVITY);
- #endif
- #if ENABLED(Z3_IS_TMC2130)
- stepperZ3.sgt(Z_STALL_SENSITIVITY);
- #endif
- #endif
- #endif
- }
#endif // TMC2130
//
@@ -311,106 +244,104 @@
//
#if HAS_DRIVER(TMC2208)
#include <HardwareSerial.h>
- #include <TMC2208Stepper.h>
#include "planner.h"
- #if TMC2208STEPPER_VERSION < 0x000101
- #error "Update TMC2208Stepper library to 0.1.1 or newer."
- #endif
+ #define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, R_SENSE)
+ #define TMC2208_DEFINE_HARDWARE(ST) _TMC2208_DEFINE_HARDWARE(ST, TMC_##ST##_LABEL)
- #define _TMC2208_DEFINE_HARDWARE(ST) TMC2208Stepper stepper##ST(&ST##_HARDWARE_SERIAL)
- #define _TMC2208_DEFINE_SOFTWARE(ST) TMC2208Stepper stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_SERIAL_RX_PIN > -1)
+ #define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, R_SENSE, ST##_SERIAL_RX_PIN > -1)
+ #define TMC2208_DEFINE_SOFTWARE(ST) _TMC2208_DEFINE_SOFTWARE(ST, TMC_##ST##_LABEL)
// Stepper objects of TMC2208 steppers used
#if AXIS_DRIVER_TYPE(X, TMC2208)
#ifdef X_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(X);
+ TMC2208_DEFINE_HARDWARE(X);
#else
- _TMC2208_DEFINE_SOFTWARE(X);
+ TMC2208_DEFINE_SOFTWARE(X);
#endif
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2208)
#ifdef X2_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(X2);
+ TMC2208_DEFINE_HARDWARE(X2);
#else
- _TMC2208_DEFINE_SOFTWARE(X2);
+ TMC2208_DEFINE_SOFTWARE(X2);
#endif
#endif
#if AXIS_DRIVER_TYPE(Y, TMC2208)
#ifdef Y_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(Y);
+ TMC2208_DEFINE_HARDWARE(Y);
#else
- _TMC2208_DEFINE_SOFTWARE(Y);
+ TMC2208_DEFINE_SOFTWARE(Y);
#endif
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2208)
#ifdef Y2_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(Y2);
+ TMC2208_DEFINE_HARDWARE(Y2);
#else
- _TMC2208_DEFINE_SOFTWARE(Y2);
+ TMC2208_DEFINE_SOFTWARE(Y2);
#endif
#endif
#if AXIS_DRIVER_TYPE(Z, TMC2208)
#ifdef Z_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(Z);
+ TMC2208_DEFINE_HARDWARE(Z);
#else
- _TMC2208_DEFINE_SOFTWARE(Z);
+ TMC2208_DEFINE_SOFTWARE(Z);
#endif
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2208)
#ifdef Z2_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(Z2);
+ TMC2208_DEFINE_HARDWARE(Z2);
#else
- _TMC2208_DEFINE_SOFTWARE(Z2);
+ TMC2208_DEFINE_SOFTWARE(Z2);
#endif
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2208)
#ifdef Z3_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(Z3);
+ TMC2208_DEFINE_HARDWARE(Z3);
#else
- _TMC2208_DEFINE_SOFTWARE(Z3);
+ TMC2208_DEFINE_SOFTWARE(Z3);
#endif
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2208)
#ifdef E0_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(E0);
+ TMC2208_DEFINE_HARDWARE(E0);
#else
- _TMC2208_DEFINE_SOFTWARE(E0);
+ TMC2208_DEFINE_SOFTWARE(E0);
#endif
#endif
#if AXIS_DRIVER_TYPE(E1, TMC2208)
#ifdef E1_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(E1);
+ TMC2208_DEFINE_HARDWARE(E1);
#else
- _TMC2208_DEFINE_SOFTWARE(E1);
+ TMC2208_DEFINE_SOFTWARE(E1);
#endif
#endif
#if AXIS_DRIVER_TYPE(E2, TMC2208)
#ifdef E2_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(E2);
+ TMC2208_DEFINE_HARDWARE(E2);
#else
- _TMC2208_DEFINE_SOFTWARE(E2);
+ TMC2208_DEFINE_SOFTWARE(E2);
#endif
#endif
#if AXIS_DRIVER_TYPE(E3, TMC2208)
#ifdef E3_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(E3);
+ TMC2208_DEFINE_HARDWARE(E3);
#else
- _TMC2208_DEFINE_SOFTWARE(E3);
+ TMC2208_DEFINE_SOFTWARE(E3);
#endif
#endif
#if AXIS_DRIVER_TYPE(E4, TMC2208)
#ifdef E4_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(E4);
+ TMC2208_DEFINE_HARDWARE(E4);
#else
- _TMC2208_DEFINE_SOFTWARE(E4);
+ TMC2208_DEFINE_SOFTWARE(E4);
#endif
#endif
#if AXIS_DRIVER_TYPE(E5, TMC2208)
#ifdef E5_HARDWARE_SERIAL
- _TMC2208_DEFINE_HARDWARE(E5);
+ TMC2208_DEFINE_HARDWARE(E5);
#else
- _TMC2208_DEFINE_SOFTWARE(E5);
+ TMC2208_DEFINE_SOFTWARE(E5);
#endif
#endif
@@ -508,85 +439,52 @@
#endif
}
- // 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 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(mA, HOLD_MULTIPLIER, R_SENSE);
+ template<char AXIS_LETTER, char DRIVER_ID>
+ void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
+ #if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
+ UNUSED(thrs);
+ UNUSED(spmm);
+ #endif
+
+ TMC2208_n::GCONF_t gconf{0};
+ gconf.pdn_disable = true; // Use UART
+ gconf.mstep_reg_select = true; // Select microsteps with UART
+ gconf.i_scale_analog = false;
+
+ TMC2208_n::CHOPCONF_t chopconf{0};
+ chopconf.tbl = 0b01; // blank_time = 24
+ chopconf.toff = 5;
+ chopconf.intpol = INTERPOLATE;
+ chopconf.hstrt = 2;
+ chopconf.hend = 5;
+ st.CHOPCONF(chopconf.sr);
+
+ st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
- st.blank_time(24);
- st.toff(5);
- st.intpol(INTERPOLATE);
+ st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
- st.hysteresis_start(3);
- st.hysteresis_end(2);
#if ENABLED(STEALTHCHOP)
- st.pwm_lim(12);
- st.pwm_reg(8);
- st.pwm_autograd(1);
- st.pwm_autoscale(1);
- st.pwm_freq(1);
- st.pwm_grad(14);
- st.pwm_ofs(36);
- st.en_spreadCycle(false);
+ gconf.en_spreadcycle = false;
+
+ TMC2208_n::PWMCONF_t pwmconf{0};
+ pwmconf.pwm_lim = 12;
+ pwmconf.pwm_reg = 8;
+ pwmconf.pwm_autograd = true;
+ pwmconf.pwm_autoscale = true;
+ pwmconf.pwm_freq = 0b01;
+ pwmconf.pwm_grad = 14;
+ pwmconf.pwm_ofs = 36;
+ st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
- #else
- UNUSED(thrs);
- UNUSED(spmm);
#endif
#else
- st.en_spreadCycle(true);
+ gconf.en_spreadcycle = true;
#endif
+ st.GCONF(gconf.sr);
st.GSTAT(0b111); // Clear
delay(200);
}
-
- #define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
-
- void tmc2208_init_to_defaults() {
- #if AXIS_DRIVER_TYPE(X, TMC2208)
- _TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(X2, TMC2208)
- _TMC2208_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Y, TMC2208)
- _TMC2208_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Y2, TMC2208)
- _TMC2208_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Z, TMC2208)
- _TMC2208_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Z2, TMC2208)
- _TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(Z3, TMC2208)
- _TMC2208_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(E0, TMC2208)
- _TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
- #endif
- #if AXIS_DRIVER_TYPE(E1, TMC2208)
- { constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
- #endif
- #if AXIS_DRIVER_TYPE(E2, TMC2208)
- { constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
- #endif
- #if AXIS_DRIVER_TYPE(E3, TMC2208)
- { constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
- #endif
- #if AXIS_DRIVER_TYPE(E4, TMC2208)
- { constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
- #endif
- #if AXIS_DRIVER_TYPE(E5, TMC2208)
- { constexpr int extruder = 5; _TMC2208_INIT(E5, planner.axis_steps_per_mm[E_AXIS_N]); }
- #endif
- }
#endif // TMC2208
void restore_stepper_drivers() {
@@ -635,20 +533,84 @@ void reset_stepper_drivers() {
#if HAS_DRIVER(TMC26X)
tmc26x_init_to_defaults();
#endif
- #if HAS_DRIVER(TMC2130)
- delay(100);
- tmc2130_init_to_defaults();
+ #if ENABLED(HAVE_L6470DRIVER)
+ L6470_init_to_defaults();
#endif
- #if HAS_DRIVER(TMC2208)
- delay(100);
- tmc2208_init_to_defaults();
+
+ #if AXIS_IS_TMC(X)
+ _TMC_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
#endif
+ #if AXIS_IS_TMC(X2)
+ _TMC_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
+ #endif
+ #if AXIS_IS_TMC(Y)
+ _TMC_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
+ #endif
+ #if AXIS_IS_TMC(Y2)
+ _TMC_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
+ #endif
+ #if AXIS_IS_TMC(Z)
+ _TMC_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
+ #endif
+ #if AXIS_IS_TMC(Z2)
+ _TMC_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
+ #endif
+ #if AXIS_IS_TMC(Z3)
+ _TMC_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
+ #endif
+ #if AXIS_IS_TMC(E0)
+ _TMC_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
+ #endif
+ #if AXIS_IS_TMC(E1)
+ { constexpr uint8_t extruder = 1; _TMC_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+ #endif
+ #if AXIS_IS_TMC(E2)
+ { constexpr uint8_t extruder = 2; _TMC_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+ #endif
+ #if AXIS_IS_TMC(E3)
+ { constexpr uint8_t extruder = 3; _TMC_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+ #endif
+ #if AXIS_IS_TMC(E4)
+ { constexpr uint8_t extruder = 4; _TMC_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+ #endif
+ #if AXIS_IS_TMC(E5)
+ { constexpr uint8_t extruder = 5; _TMC_INIT(E5, planner.axis_steps_per_mm[E_AXIS_N]); UNUSED(extruder); }
+ #endif
+
+ #if ENABLED(SENSORLESS_HOMING)
+ #if X_SENSORLESS
+ #if AXIS_HAS_STALLGUARD(X)
+ stepperX.sgt(X_STALL_SENSITIVITY);
+ #endif
+ #if AXIS_HAS_STALLGUARD(X2)
+ stepperX2.sgt(X_STALL_SENSITIVITY);
+ #endif
+ #endif
+ #if Y_SENSORLESS
+ #if AXIS_HAS_STALLGUARD(Y)
+ stepperY.sgt(Y_STALL_SENSITIVITY);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Y2)
+ stepperY2.sgt(Y_STALL_SENSITIVITY);
+ #endif
+ #endif
+ #if Z_SENSORLESS
+ #if AXIS_HAS_STALLGUARD(Z)
+ stepperZ.sgt(Z_STALL_SENSITIVITY);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Z2)
+ stepperZ2.sgt(Z_STALL_SENSITIVITY);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Z3)
+ stepperZ3.sgt(Z_STALL_SENSITIVITY);
+ #endif
+ #endif
+ #endif
+
#ifdef TMC_ADV
TMC_ADV()
#endif
- #if HAS_DRIVER(L6470)
- L6470_init_to_defaults();
- #endif
+
stepper.set_directions();
}
diff --git a/Marlin/src/module/stepper_indirection.h b/Marlin/src/module/stepper_indirection.h
index 1a615e395cc..3f884c25d7b 100644
--- a/Marlin/src/module/stepper_indirection.h
+++ b/Marlin/src/module/stepper_indirection.h
@@ -57,15 +57,20 @@
void tmc26x_init_to_defaults();
#endif
-#if HAS_DRIVER(TMC2130)
- #include <TMC2130Stepper.h>
- void tmc2130_init_to_defaults();
-#endif
+#if HAS_TRINAMIC
+ #include <TMCStepper.h>
+ #include "../feature/tmc_util.h"
+ #if TMCSTEPPER_VERSION < 0x000001
+ #error "Update TMCStepper library to 0.0.1 or newer."
+ #endif
-#if HAS_DRIVER(TMC2208)
- #include <TMC2208Stepper.h>
- void tmc2208_serial_begin();
- void tmc2208_init_to_defaults();
+ #define __TMC_CLASS(MODEL, A, I) TMCMarlin<TMC##MODEL##Stepper, A, I>
+ #define _TMC_CLASS(MODEL, L) __TMC_CLASS(MODEL, L)
+ #define TMC_CLASS(ST) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL)
+
+ #if HAS_DRIVER(TMC2208)
+ void tmc2208_serial_begin();
+ #endif
#endif
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
@@ -88,17 +93,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
#define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(X)
+ extern TMC_CLASS(X) stepperX;
+ #endif
#if AXIS_DRIVER_TYPE(X, 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 AXIS_DRIVER_TYPE(X, TMC2130)
- extern TMC2130Stepper stepperX;
- #elif AXIS_DRIVER_TYPE(X, TMC2208)
- extern TMC2208Stepper stepperX;
- #endif
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
#define X_ENABLE_READ READ(X_ENABLE_PIN)
@@ -121,17 +124,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
#define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(Y)
+ extern TMC_CLASS(Y) stepperY;
+ #endif
#if AXIS_DRIVER_TYPE(Y, 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 AXIS_DRIVER_TYPE(Y, TMC2130)
- extern TMC2130Stepper stepperY;
- #elif AXIS_DRIVER_TYPE(Y, TMC2208)
- extern TMC2208Stepper stepperY;
- #endif
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
#define Y_ENABLE_READ READ(Y_ENABLE_PIN)
@@ -154,17 +155,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
#define Z_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(Z)
+ extern TMC_CLASS(Z) stepperZ;
+ #endif
#if AXIS_DRIVER_TYPE(Z, 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 AXIS_DRIVER_TYPE(Z, TMC2130)
- extern TMC2130Stepper stepperZ;
- #elif AXIS_DRIVER_TYPE(Z, TMC2208)
- extern TMC2208Stepper stepperZ;
- #endif
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
#define Z_ENABLE_READ READ(Z_ENABLE_PIN)
@@ -188,17 +187,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
#define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(X2)
+ extern TMC_CLASS(X2) stepperX2;
+ #endif
#if AXIS_DRIVER_TYPE(X2, 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 AXIS_DRIVER_TYPE(X2, TMC2130)
- extern TMC2130Stepper stepperX2;
- #elif AXIS_DRIVER_TYPE(X2, TMC2208)
- extern TMC2208Stepper stepperX2;
- #endif
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ READ(X2_ENABLE_PIN)
@@ -223,17 +220,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
#define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(Y2)
+ extern TMC_CLASS(Y2) stepperY2;
+ #endif
#if AXIS_DRIVER_TYPE(Y2, 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 AXIS_DRIVER_TYPE(Y2, TMC2130)
- extern TMC2130Stepper stepperY2;
- #elif AXIS_DRIVER_TYPE(Y2, TMC2208)
- extern TMC2208Stepper stepperY2;
- #endif
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
#define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
@@ -258,17 +253,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
#define Z2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(Z2)
+ extern TMC_CLASS(Z2) stepperZ2;
+ #endif
#if AXIS_DRIVER_TYPE(Z2, 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 AXIS_DRIVER_TYPE(Z2, TMC2130)
- extern TMC2130Stepper stepperZ2;
- #elif AXIS_DRIVER_TYPE(Z2, TMC2208)
- extern TMC2208Stepper stepperZ2;
- #endif
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
#define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
@@ -293,17 +286,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Z3_DIR_WRITE(STATE) stepperZ3.Step_Clock(STATE)
#define Z3_DIR_READ (stepperZ3.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(Z3)
+ extern TMC_CLASS(Z3) stepperZ3;
+ #endif
#if ENABLED(Z3_IS_TMC26X)
extern TMC26XStepper stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
#define Z3_ENABLE_READ stepperZ3.isEnabled()
#else
- #if ENABLED(Z3_IS_TMC2130)
- extern TMC2130Stepper stepperZ3;
- #elif ENABLED(Z3_IS_TMC2208)
- extern TMC2208Stepper stepperZ3;
- #endif
#define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
#define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
#define Z3_ENABLE_READ READ(Z3_ENABLE_PIN)
@@ -327,17 +318,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
#define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(E0)
+ extern TMC_CLASS(E0) stepperE0;
+ #endif
#if AXIS_DRIVER_TYPE(E0, 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 AXIS_DRIVER_TYPE(E0, TMC2130)
- extern TMC2130Stepper stepperE0;
- #elif AXIS_DRIVER_TYPE(E0, TMC2208)
- extern TMC2208Stepper stepperE0;
- #endif
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
#define E0_ENABLE_READ READ(E0_ENABLE_PIN)
@@ -360,17 +349,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
#define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(E1)
+ extern TMC_CLASS(E1) stepperE1;
+ #endif
#if AXIS_DRIVER_TYPE(E1, 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 AXIS_DRIVER_TYPE(E1, TMC2130)
- extern TMC2130Stepper stepperE1;
- #elif AXIS_DRIVER_TYPE(E1, TMC2208)
- extern TMC2208Stepper stepperE1;
- #endif
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
#define E1_ENABLE_READ READ(E1_ENABLE_PIN)
@@ -393,17 +380,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
#define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(E2)
+ extern TMC_CLASS(E2) stepperE2;
+ #endif
#if AXIS_DRIVER_TYPE(E2, 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 AXIS_DRIVER_TYPE(E2, TMC2130)
- extern TMC2130Stepper stepperE2;
- #elif AXIS_DRIVER_TYPE(E2, TMC2208)
- extern TMC2208Stepper stepperE2;
- #endif
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
#define E2_ENABLE_READ READ(E2_ENABLE_PIN)
@@ -426,17 +411,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
#define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(E3)
+ extern TMC_CLASS(E3) stepperE3;
+ #endif
#if AXIS_DRIVER_TYPE(E3, 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 AXIS_DRIVER_TYPE(E3, TMC2130)
- extern TMC2130Stepper stepperE3;
- #elif AXIS_DRIVER_TYPE(E3, TMC2208)
- extern TMC2208Stepper stepperE3;
- #endif
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
@@ -459,17 +442,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E4_DIR_WRITE(STATE) stepperE4.Step_Clock(STATE)
#define E4_DIR_READ (stepperE4.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(E4)
+ extern TMC_CLASS(E4) stepperE4;
+ #endif
#if AXIS_DRIVER_TYPE(E4, 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 AXIS_DRIVER_TYPE(E4, TMC2130)
- extern TMC2130Stepper stepperE4;
- #elif AXIS_DRIVER_TYPE(E4, TMC2208)
- extern TMC2208Stepper stepperE4;
- #endif
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
#define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
#define E4_ENABLE_READ READ(E4_ENABLE_PIN)
@@ -492,17 +473,15 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define E5_DIR_WRITE(STATE) stepperE5.Step_Clock(STATE)
#define E5_DIR_READ (stepperE5.getStatus() & STATUS_DIR)
#else
+ #if AXIS_IS_TMC(E5)
+ extern TMC_CLASS(E5) stepperE5;
+ #endif
#if AXIS_DRIVER_TYPE(E5, TMC26X)
extern TMC26XStepper stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.setEnabled(STATE)
#define E5_ENABLE_READ stepperE5.isEnabled()
#else
- #if AXIS_DRIVER_TYPE(E5, TMC2130)
- extern TMC2130Stepper stepperE5;
- #elif AXIS_DRIVER_TYPE(E5, TMC2208)
- extern TMC2208Stepper stepperE5;
- #endif
#define E5_ENABLE_INIT SET_OUTPUT(E5_ENABLE_PIN)
#define E5_ENABLE_WRITE(STATE) WRITE(E5_ENABLE_PIN,STATE)
#define E5_ENABLE_READ READ(E5_ENABLE_PIN)
diff --git a/platformio.ini b/platformio.ini
index 77756c66406..cf438d4f534 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -31,8 +31,7 @@ build_flags = -fmax-errors=5
lib_deps =
https://github.com/MarlinFirmware/U8glib-HAL/archive/dev.zip
LiquidCrystal@1.3.4
- TMC2130Stepper
- https://github.com/teemuatlut/TMC2208Stepper/archive/v0.2.5.zip
+ https://github.com/teemuatlut/TMCStepper.git
Adafruit NeoPixel@1.1.3
https://github.com/lincomatic/LiquidTWI2/archive/30aa480.zip
https://github.com/ameyer/Arduino-L6470/archive/master.zip
@@ -162,7 +161,7 @@ lib_ldf_mode = off
lib_extra_dirs = frameworks
lib_deps = CMSIS-LPC1768
https://github.com/MarlinFirmware/U8glib-HAL/archive/dev.zip
- TMC2130Stepper@>=2.2.1
+ https://github.com/teemuatlut/TMCStepper.git
extra_scripts = Marlin/src/HAL/HAL_LPC1768/debug_extra_script.py, Marlin/src/HAL/HAL_LPC1768/lpc1768_flag_script.py, Marlin/src/HAL/HAL_LPC1768/upload_extra_script.py
src_filter = ${common.default_src_filter} +<src/HAL/HAL_LPC1768>
monitor_speed = 250000
@@ -270,7 +269,7 @@ framework = arduino
board = disco_f407vg
build_flags = ${common.build_flags} -DUSE_STM32GENERIC -DSTM32GENERIC -DMENU_USB_SERIAL -DMENU_SERIAL=SerialUSB
lib_deps = ${common.lib_deps}
-lib_ignore = Adafruit NeoPixel, c1921b4, TMC2130Stepper
+lib_ignore = Adafruit NeoPixel, c1921b4, TMCStepper
src_filter = ${common.default_src_filter} +<src/HAL/HAL_STM32F4>
monitor_speed = 250000
@@ -301,11 +300,10 @@ lib_ignore =
NewliquidCrystal
LiquidTWI2
Adafruit NeoPixel
- TMC2130Stepper
+ TMCStepper
Servo(STM32F1)
TMC26XStepper
U8glib-HAL
- TMC2208Stepper
c1921b4
#