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Diffstat (limited to 'Marlin/src/feature/tmc_util.h')
| -rw-r--r-- | Marlin/src/feature/tmc_util.h | 401 |
1 files changed, 401 insertions, 0 deletions
diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h new file mode 100644 index 0000000..b21b89f --- /dev/null +++ b/Marlin/src/feature/tmc_util.h @@ -0,0 +1,401 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <https://www.gnu.org/licenses/>. + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" +#include "../lcd/marlinui.h" + +#if HAS_TRINAMIC_CONFIG + +#include <TMCStepper.h> +#include "../module/planner.h" + +#define CHOPPER_DEFAULT_12V { 3, -1, 1 } +#define CHOPPER_DEFAULT_19V { 4, 1, 1 } +#define CHOPPER_DEFAULT_24V { 4, 2, 1 } +#define CHOPPER_DEFAULT_36V { 5, 2, 4 } +#define CHOPPER_PRUSAMK3_24V { 3, -2, 6 } +#define CHOPPER_MARLIN_119 { 5, 2, 3 } +#define CHOPPER_09STEP_24V { 3, -1, 5 } + +#if ENABLED(MONITOR_DRIVER_STATUS) && !defined(MONITOR_DRIVER_STATUS_INTERVAL_MS) + #define MONITOR_DRIVER_STATUS_INTERVAL_MS 500U +#endif + +constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const uint32_t spmm) { + return 12650000UL * msteps / (256 * thrs * spmm); +} + +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() {} + + public: + uint16_t val_mA = 0; + + #if ENABLED(MONITOR_DRIVER_STATUS) + uint8_t otpw_count = 0, + error_count = 0; + bool flag_otpw = false; + inline bool getOTPW() { return flag_otpw; } + inline void clear_otpw() { flag_otpw = 0; } + #endif + + inline uint16_t getMilliamps() { return val_mA; } + + inline void printLabel() { + SERIAL_CHAR(AXIS_LETTER); + if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID); + } + + struct { + TERN_(HAS_STEALTHCHOP, bool stealthChop_enabled = false); + TERN_(HYBRID_THRESHOLD, uint8_t hybrid_thrs = 0); + TERN_(USE_SENSORLESS, int16_t homing_thrs = 0); + } stored; +}; + +template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID> +class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> { + public: + TMCMarlin(const uint16_t cs_pin, const float RS) : + TMC(cs_pin, RS) + {} + TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t axis_chain_index) : + TMC(cs_pin, RS, axis_chain_index) + {} + TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) : + TMC(CS, RS, pinMOSI, pinMISO, pinSCK) + {} + TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) : + TMC(CS, RS, pinMOSI, pinMISO, pinSCK, axis_chain_index) + {} + inline uint16_t rms_current() { return TMC::rms_current(); } + inline void rms_current(uint16_t mA) { + this->val_mA = mA; + TMC::rms_current(mA); + } + inline void rms_current(const uint16_t mA, const float mult) { + this->val_mA = mA; + TMC::rms_current(mA, mult); + } + inline uint16_t get_microstep_counter() { return TMC::MSCNT(); } + + #if HAS_STEALTHCHOP + inline bool get_stealthChop() { return this->en_pwm_mode(); } + inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } + inline void refresh_stepping_mode() { this->en_pwm_mode(this->stored.stealthChop_enabled); } + inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } + inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); } + #endif + + #if ENABLED(HYBRID_THRESHOLD) + uint32_t get_pwm_thrs() { + return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]); + } + void set_pwm_thrs(const uint32_t thrs) { + TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID])); + TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs); + } + #endif + + #if USE_SENSORLESS + inline int16_t homing_threshold() { return TMC::sgt(); } + void homing_threshold(int16_t sgt_val) { + sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max); + TMC::sgt(sgt_val); + TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val); + } + #if ENABLED(SPI_ENDSTOPS) + bool test_stall_status(); + #endif + #endif + + #if HAS_LCD_MENU + inline void refresh_stepper_current() { rms_current(this->val_mA); } + + #if ENABLED(HYBRID_THRESHOLD) + inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + #endif + #if USE_SENSORLESS + inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + #endif + #endif + + static constexpr int8_t sgt_min = -64, + sgt_max = 63; +}; + +template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID> +class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> { + public: + TMCMarlin(Stream * SerialPort, const float RS, const uint8_t) : + TMC2208Stepper(SerialPort, RS) + {} + TMCMarlin(Stream * SerialPort, const float RS, uint8_t addr, const uint16_t mul_pin1, const uint16_t mul_pin2) : + TMC2208Stepper(SerialPort, RS, addr, mul_pin1, mul_pin2) + {} + TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t) : + TMC2208Stepper(RX, TX, RS) + {} + + uint16_t rms_current() { return TMC2208Stepper::rms_current(); } + inline void rms_current(const uint16_t mA) { + this->val_mA = mA; + TMC2208Stepper::rms_current(mA); + } + inline void rms_current(const uint16_t mA, const float mult) { + this->val_mA = mA; + TMC2208Stepper::rms_current(mA, mult); + } + inline uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); } + + #if HAS_STEALTHCHOP + inline bool get_stealthChop() { return !this->en_spreadCycle(); } + inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } + inline void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); } + inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } + inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); } + #endif + + #if ENABLED(HYBRID_THRESHOLD) + uint32_t get_pwm_thrs() { + return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]); + } + void set_pwm_thrs(const uint32_t thrs) { + TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID])); + TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs); + } + #endif + + #if HAS_LCD_MENU + inline void refresh_stepper_current() { rms_current(this->val_mA); } + + #if ENABLED(HYBRID_THRESHOLD) + inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + #endif + #endif +}; + +template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID> +class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2209Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> { + public: + TMCMarlin(Stream * SerialPort, const float RS, const uint8_t addr) : + TMC2209Stepper(SerialPort, RS, addr) + {} + TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t addr) : + TMC2209Stepper(RX, TX, RS, addr) + {} + uint8_t get_address() { return slave_address; } + uint16_t rms_current() { return TMC2209Stepper::rms_current(); } + inline void rms_current(const uint16_t mA) { + this->val_mA = mA; + TMC2209Stepper::rms_current(mA); + } + inline void rms_current(const uint16_t mA, const float mult) { + this->val_mA = mA; + TMC2209Stepper::rms_current(mA, mult); + } + inline uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); } + + #if HAS_STEALTHCHOP + inline bool get_stealthChop() { return !this->en_spreadCycle(); } + inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } + inline void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); } + inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } + inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); } + #endif + + #if ENABLED(HYBRID_THRESHOLD) + uint32_t get_pwm_thrs() { + return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]); + } + void set_pwm_thrs(const uint32_t thrs) { + TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID])); + TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs); + } + #endif + #if USE_SENSORLESS + inline int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); } + void homing_threshold(int16_t sgt_val) { + sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max); + TMC2209Stepper::SGTHRS(sgt_val); + TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val); + } + #endif + + #if HAS_LCD_MENU + inline void refresh_stepper_current() { rms_current(this->val_mA); } + + #if ENABLED(HYBRID_THRESHOLD) + inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + #endif + #if USE_SENSORLESS + inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + #endif + #endif + + static constexpr uint8_t sgt_min = 0, + sgt_max = 255; +}; + +template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID> +class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> { + public: + TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t) : + TMC2660Stepper(cs_pin, RS) + {} + TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t) : + TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK) + {} + inline uint16_t rms_current() { return TMC2660Stepper::rms_current(); } + inline void rms_current(const uint16_t mA) { + this->val_mA = mA; + TMC2660Stepper::rms_current(mA); + } + inline uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); } + + #if USE_SENSORLESS + inline int16_t homing_threshold() { return TMC2660Stepper::sgt(); } + void homing_threshold(int16_t sgt_val) { + sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max); + TMC2660Stepper::sgt(sgt_val); + TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val); + } + #endif + + #if HAS_LCD_MENU + inline void refresh_stepper_current() { rms_current(this->val_mA); } + + #if USE_SENSORLESS + inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + #endif + #endif + + static constexpr int8_t sgt_min = -64, + sgt_max = 63; +}; + +template<typename TMC> +void tmc_print_current(TMC &st) { + st.printLabel(); + SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps()); +} + +#if ENABLED(MONITOR_DRIVER_STATUS) + template<typename TMC> + void tmc_report_otpw(TMC &st) { + st.printLabel(); + SERIAL_ECHOPGM(" temperature prewarn triggered: "); + serialprint_truefalse(st.getOTPW()); + SERIAL_EOL(); + } + template<typename TMC> + void tmc_clear_otpw(TMC &st) { + st.clear_otpw(); + st.printLabel(); + SERIAL_ECHOLNPGM(" prewarn flag cleared"); + } +#endif +#if ENABLED(HYBRID_THRESHOLD) + template<typename TMC> + void tmc_print_pwmthrs(TMC &st) { + st.printLabel(); + SERIAL_ECHOLNPAIR(" stealthChop max speed: ", st.get_pwm_thrs()); + } +#endif +#if USE_SENSORLESS + template<typename TMC> + void tmc_print_sgt(TMC &st) { + st.printLabel(); + SERIAL_ECHOPGM(" homing sensitivity: "); + SERIAL_PRINTLN(st.homing_threshold(), DEC); + } +#endif + +void monitor_tmc_drivers(); +void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z, const bool test_e); + +#if ENABLED(TMC_DEBUG) + #if ENABLED(MONITOR_DRIVER_STATUS) + void tmc_set_report_interval(const uint16_t update_interval); + #endif + void tmc_report_all(const bool print_x, const bool print_y, const bool print_z, const bool print_e); + void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e); +#endif + +/** + * TMC2130-specific sensorless homing using stallGuard2. + * stallGuard2 only works when in spreadCycle mode. + * spreadCycle and stealthChop are mutually-exclusive. + * + * Defined here because of limitations with templates and headers. + */ +#if USE_SENSORLESS + + // Track enabled status of stealthChop and only re-enable where applicable + struct sensorless_t { bool x, y, z, x2, y2, z2, z3, z4; }; + + #if ENABLED(IMPROVE_HOMING_RELIABILITY) + extern millis_t sg_guard_period; + constexpr uint16_t default_sg_guard_duration = 400; + + struct slow_homing_t { + xy_ulong_t acceleration; + TERN_(HAS_CLASSIC_JERK, xy_float_t jerk_xy); + }; + #endif + + bool tmc_enable_stallguard(TMC2130Stepper &st); + void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth); + + bool tmc_enable_stallguard(TMC2209Stepper &st); + void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth); + + bool tmc_enable_stallguard(TMC2660Stepper); + void tmc_disable_stallguard(TMC2660Stepper, const bool); + + #if ENABLED(SPI_ENDSTOPS) + + template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID> + bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() { + this->switchCSpin(LOW); + + // read stallGuard flag from TMC library, will handle HW and SW SPI + TMC2130_n::DRV_STATUS_t drv_status{0}; + drv_status.sr = this->DRV_STATUS(); + + this->switchCSpin(HIGH); + + return drv_status.stallGuard; + } + #endif // SPI_ENDSTOPS + +#endif // USE_SENSORLESS + +#if HAS_TMC_SPI + void tmc_init_cs_pins(); +#endif + +#endif // HAS_TRINAMIC_CONFIG |