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/**
* 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
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