diff options
Diffstat (limited to 'Marlin/src/gcode/feature/trinamic/M911-M914.cpp')
| -rw-r--r-- | Marlin/src/gcode/feature/trinamic/M911-M914.cpp | 429 |
1 files changed, 429 insertions, 0 deletions
diff --git a/Marlin/src/gcode/feature/trinamic/M911-M914.cpp b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp new file mode 100644 index 0000000..8c840db --- /dev/null +++ b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp @@ -0,0 +1,429 @@ +/** + * 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/>. + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if HAS_TRINAMIC_CONFIG + +#include "../../gcode.h" +#include "../../../feature/tmc_util.h" +#include "../../../module/stepper/indirection.h" +#include "../../../module/planner.h" +#include "../../queue.h" + +#if ENABLED(MONITOR_DRIVER_STATUS) + + #define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2208) || AXIS_DRIVER_TYPE(ST, TMC2209) || AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160)) + #define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N)) + + #define M91x_SOME_X (M91x_USE(X) || M91x_USE(X2)) + #define M91x_SOME_Y (M91x_USE(Y) || M91x_USE(Y2)) + #define M91x_SOME_Z (M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3) || M91x_USE(Z4)) + #define M91x_SOME_E (M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5) || M91x_USE_E(6) || M91x_USE_E(7)) + + #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_SOME_E + #error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160." + #endif + + /** + * 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(X2) + tmc_report_otpw(stepperX2); + #endif + #if M91x_USE(Y) + tmc_report_otpw(stepperY); + #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(Z4) + tmc_report_otpw(stepperZ4); + #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 + #if M91x_USE_E(6) + tmc_report_otpw(stepperE6); + #endif + #if M91x_USE_E(7) + tmc_report_otpw(stepperE7); + #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, Z4 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() { + #if M91x_SOME_X + const bool hasX = parser.seen(axis_codes.x); + #else + constexpr bool hasX = false; + #endif + + #if M91x_SOME_Y + const bool hasY = parser.seen(axis_codes.y); + #else + constexpr bool hasY = false; + #endif + + #if M91x_SOME_Z + const bool hasZ = parser.seen(axis_codes.z); + #else + constexpr bool hasZ = false; + #endif + + #if M91x_SOME_E + const bool hasE = parser.seen(axis_codes.e); + #else + constexpr bool hasE = false; + #endif + + const bool hasNone = !hasX && !hasY && !hasZ && !hasE; + + #if M91x_SOME_X + const int8_t xval = int8_t(parser.byteval(axis_codes.x, 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_SOME_Y + const int8_t yval = int8_t(parser.byteval(axis_codes.y, 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_SOME_Z + const int8_t zval = int8_t(parser.byteval(axis_codes.z, 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 + #if M91x_USE(Z4) + if (hasNone || zval == 4 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ4); + #endif + #endif + + #if M91x_SOME_E + const int8_t eval = int8_t(parser.byteval(axis_codes.e, 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 + #if M91x_USE_E(6) + if (hasNone || eval == 6 || (hasE && eval < 0)) tmc_clear_otpw(stepperE6); + #endif + #if M91x_USE_E(7) + if (hasNone || eval == 7 || (hasE && eval < 0)) tmc_clear_otpw(stepperE7); + #endif + #endif + } + +#endif // MONITOR_DRIVER_STATUS + +/** + * M913: Set HYBRID_THRESHOLD speed. + */ +#if ENABLED(HYBRID_THRESHOLD) + void GcodeSuite::M913() { + #define TMC_SAY_PWMTHRS(A,Q) tmc_print_pwmthrs(stepper##Q) + #define TMC_SET_PWMTHRS(A,Q) stepper##Q.set_pwm_thrs(value) + #define TMC_SAY_PWMTHRS_E(E) tmc_print_pwmthrs(stepperE##E) + #define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value) + + bool report = true; + #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) + const uint8_t index = parser.byteval('I'); + #endif + LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) { + report = false; + switch (i) { + case X_AXIS: + #if AXIS_HAS_STEALTHCHOP(X) + if (index < 2) TMC_SET_PWMTHRS(X,X); + #endif + #if AXIS_HAS_STEALTHCHOP(X2) + if (!(index & 1)) TMC_SET_PWMTHRS(X,X2); + #endif + break; + case Y_AXIS: + #if AXIS_HAS_STEALTHCHOP(Y) + if (index < 2) TMC_SET_PWMTHRS(Y,Y); + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2); + #endif + break; + case Z_AXIS: + #if AXIS_HAS_STEALTHCHOP(Z) + if (index < 2) TMC_SET_PWMTHRS(Z,Z); + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2); + #endif + #if AXIS_HAS_STEALTHCHOP(Z3) + if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3); + #endif + #if AXIS_HAS_STEALTHCHOP(Z4) + if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4); + #endif + break; + case E_AXIS: { + #if E_STEPPERS + const int8_t target_extruder = get_target_extruder_from_command(); + if (target_extruder < 0) return; + switch (target_extruder) { + #if AXIS_HAS_STEALTHCHOP(E0) + case 0: TMC_SET_PWMTHRS_E(0); break; + #endif + #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1) + case 1: TMC_SET_PWMTHRS_E(1); break; + #endif + #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2) + case 2: TMC_SET_PWMTHRS_E(2); break; + #endif + #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3) + case 3: TMC_SET_PWMTHRS_E(3); break; + #endif + #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4) + case 4: TMC_SET_PWMTHRS_E(4); break; + #endif + #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5) + case 5: TMC_SET_PWMTHRS_E(5); break; + #endif + #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6) + case 6: TMC_SET_PWMTHRS_E(6); break; + #endif + #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7) + case 7: TMC_SET_PWMTHRS_E(7); break; + #endif + } + #endif // E_STEPPERS + } break; + } + } + + if (report) { + #if AXIS_HAS_STEALTHCHOP(X) + TMC_SAY_PWMTHRS(X,X); + #endif + #if AXIS_HAS_STEALTHCHOP(X2) + TMC_SAY_PWMTHRS(X,X2); + #endif + #if AXIS_HAS_STEALTHCHOP(Y) + TMC_SAY_PWMTHRS(Y,Y); + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + TMC_SAY_PWMTHRS(Y,Y2); + #endif + #if AXIS_HAS_STEALTHCHOP(Z) + TMC_SAY_PWMTHRS(Z,Z); + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + TMC_SAY_PWMTHRS(Z,Z2); + #endif + #if AXIS_HAS_STEALTHCHOP(Z3) + TMC_SAY_PWMTHRS(Z,Z3); + #endif + #if AXIS_HAS_STEALTHCHOP(Z4) + TMC_SAY_PWMTHRS(Z,Z4); + #endif + #if E_STEPPERS && AXIS_HAS_STEALTHCHOP(E0) + TMC_SAY_PWMTHRS_E(0); + #endif + #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1) + TMC_SAY_PWMTHRS_E(1); + #endif + #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2) + TMC_SAY_PWMTHRS_E(2); + #endif + #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3) + TMC_SAY_PWMTHRS_E(3); + #endif + #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4) + TMC_SAY_PWMTHRS_E(4); + #endif + #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5) + TMC_SAY_PWMTHRS_E(5); + #endif + #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6) + TMC_SAY_PWMTHRS_E(6); + #endif + #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7) + TMC_SAY_PWMTHRS_E(7); + #endif + } + } +#endif // HYBRID_THRESHOLD + +/** + * M914: Set StallGuard sensitivity. + */ +#if USE_SENSORLESS + void GcodeSuite::M914() { + + bool report = true; + const uint8_t index = parser.byteval('I'); + LOOP_XYZ(i) if (parser.seen(XYZ_CHAR(i))) { + const int16_t value = parser.value_int(); + report = false; + switch (i) { + #if X_SENSORLESS + case X_AXIS: + #if AXIS_HAS_STALLGUARD(X) + if (index < 2) stepperX.homing_threshold(value); + #endif + #if AXIS_HAS_STALLGUARD(X2) + if (!(index & 1)) stepperX2.homing_threshold(value); + #endif + break; + #endif + #if Y_SENSORLESS + case Y_AXIS: + #if AXIS_HAS_STALLGUARD(Y) + if (index < 2) stepperY.homing_threshold(value); + #endif + #if AXIS_HAS_STALLGUARD(Y2) + if (!(index & 1)) stepperY2.homing_threshold(value); + #endif + break; + #endif + #if Z_SENSORLESS + case Z_AXIS: + #if AXIS_HAS_STALLGUARD(Z) + if (index < 2) stepperZ.homing_threshold(value); + #endif + #if AXIS_HAS_STALLGUARD(Z2) + if (index == 0 || index == 2) stepperZ2.homing_threshold(value); + #endif + #if AXIS_HAS_STALLGUARD(Z3) + if (index == 0 || index == 3) stepperZ3.homing_threshold(value); + #endif + #if AXIS_HAS_STALLGUARD(Z4) + if (index == 0 || index == 4) stepperZ4.homing_threshold(value); + #endif + break; + #endif + } + } + + if (report) { + #if X_SENSORLESS + #if AXIS_HAS_STALLGUARD(X) + tmc_print_sgt(stepperX); + #endif + #if AXIS_HAS_STALLGUARD(X2) + tmc_print_sgt(stepperX2); + #endif + #endif + #if Y_SENSORLESS + #if AXIS_HAS_STALLGUARD(Y) + tmc_print_sgt(stepperY); + #endif + #if AXIS_HAS_STALLGUARD(Y2) + tmc_print_sgt(stepperY2); + #endif + #endif + #if Z_SENSORLESS + #if AXIS_HAS_STALLGUARD(Z) + tmc_print_sgt(stepperZ); + #endif + #if AXIS_HAS_STALLGUARD(Z2) + tmc_print_sgt(stepperZ2); + #endif + #if AXIS_HAS_STALLGUARD(Z3) + tmc_print_sgt(stepperZ3); + #endif + #if AXIS_HAS_STALLGUARD(Z4) + tmc_print_sgt(stepperZ4); + #endif + #endif + } + } +#endif // USE_SENSORLESS + +#endif // HAS_TRINAMIC_CONFIG |