diff --git a/.travis.yml b/.travis.yml
index 4f9e9ef7c1a2d503271c3e82753ba2da753b5288..a5ad47484dba4ea9dd226db215ab695723232bec 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -28,7 +28,8 @@ before_install:
- export PATH=${TRAVIS_BUILD_DIR}/buildroot/bin/:${PATH}
install:
- - pip install -U platformio
+ #- pip install -U platformio
+ - pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
before_script:
# Update PlatformIO packages
diff --git a/Marlin/src/HAL/HAL_DUE/usb/sd_mmc_spi_mem.cpp b/Marlin/src/HAL/HAL_DUE/usb/sd_mmc_spi_mem.cpp
index 1d335302769e9ea436561c74919760a97859edc6..dfc1695711b2eec8f1e58dcbf3377b38c8922ece 100644
--- a/Marlin/src/HAL/HAL_DUE/usb/sd_mmc_spi_mem.cpp
+++ b/Marlin/src/HAL/HAL_DUE/usb/sd_mmc_spi_mem.cpp
@@ -65,7 +65,7 @@ Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector) {
#ifdef DEBUG_MMC
char buffer[80];
sprintf(buffer, "SDRD: %d @ 0x%08x\n", nb_sector, addr);
- MYSERIAL.print(buffer);
+ MYSERIAL0.print(buffer);
#endif
// Start reading
@@ -99,7 +99,7 @@ Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector) {
#ifdef DEBUG_MMC
char buffer[80];
sprintf(buffer, "SDWR: %d @ 0x%08x\n", nb_sector, addr);
- MYSERIAL.print(buffer);
+ MYSERIAL0.print(buffer);
#endif
if (!card.getSd2Card().writeStart(addr, nb_sector))
diff --git a/Marlin/src/core/serial.h b/Marlin/src/core/serial.h
index 4c045338291644aaf284c2eac623105776a310d9..5f90cd0e7f0ebdb6351523b73d7e789e77da6c5c 100644
--- a/Marlin/src/core/serial.h
+++ b/Marlin/src/core/serial.h
@@ -67,13 +67,13 @@ enum DebugFlags {
#ifdef USBCON
#include <HardwareSerial.h>
#if ENABLED(BLUETOOTH)
- #define MYSERIAL bluetoothSerial
+ #define MYSERIAL0 bluetoothSerial
#else
- #define MYSERIAL Serial
+ #define MYSERIAL0 Serial
#endif // BLUETOOTH
#else
#include "../HAL/HAL_AVR/MarlinSerial.h"
- #define MYSERIAL customizedSerial
+ #define MYSERIAL0 customizedSerial
#endif
#elif defined(ARDUINO_ARCH_SAM)
// To pull the Serial port definitions and overrides
diff --git a/Marlin/src/feature/tmc_macros.h b/Marlin/src/feature/tmc_macros.h
deleted file mode 100644
index b98c460e0bae613d562b6c5a5c1efbbcfd2cc470..0000000000000000000000000000000000000000
--- a/Marlin/src/feature/tmc_macros.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
- *
- */
-#ifndef TMC_MACROS_H
-#define TMC_MACROS_H
-
- // Trinamic Stepper Drivers
- #define HAS_TRINAMIC (ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208) || ENABLED(IS_TRAMS))
- #define X_IS_TRINAMIC (ENABLED( X_IS_TMC2130) || ENABLED( X_IS_TMC2208) || ENABLED(IS_TRAMS))
- #define X2_IS_TRINAMIC (ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208))
- #define Y_IS_TRINAMIC (ENABLED( Y_IS_TMC2130) || ENABLED( Y_IS_TMC2208) || ENABLED(IS_TRAMS))
- #define Y2_IS_TRINAMIC (ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208))
- #define Z_IS_TRINAMIC (ENABLED( Z_IS_TMC2130) || ENABLED( Z_IS_TMC2208) || ENABLED(IS_TRAMS))
- #define Z2_IS_TRINAMIC (ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208))
- #define E0_IS_TRINAMIC (ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) || ENABLED(IS_TRAMS))
- #define E1_IS_TRINAMIC (ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208))
- #define E2_IS_TRINAMIC (ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208))
- #define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208))
- #define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
-
-#endif
diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
index b799462d35245295c7782aeeb80767b65ef64d89..f083258559196cbe18c69f1b5957fd597949ee5c 100644
--- a/Marlin/src/feature/tmc_util.cpp
+++ b/Marlin/src/feature/tmc_util.cpp
@@ -32,6 +32,10 @@
#include "../libs/duration_t.h"
#include "../gcode/gcode.h"
+#if ENABLED(TMC_DEBUG)
+ #include "../module/planner.h"
+#endif
+
bool report_tmc_status = false;
char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
@@ -51,7 +55,7 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
};
#if ENABLED(HAVE_TMC2130)
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
- static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response&0xF; }
+ static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response & 0xF; }
static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
constexpr uint32_t OTPW_bm = 0x4000000UL;
constexpr uint8_t OTPW_bp = 26;
@@ -61,9 +65,9 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
constexpr uint8_t DRIVER_ERROR_bp = 1;
TMC_driver_data data;
data.drv_status = st.DRV_STATUS();
- data.is_otpw = (data.drv_status & OTPW_bm)>>OTPW_bp;
- data.is_ot = (data.drv_status & OT_bm)>>OT_bp;
- data.is_error = (st.status_response & DRIVER_ERROR_bm)>>DRIVER_ERROR_bp;
+ data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
+ data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
+ data.is_error = (st.status_response & DRIVER_ERROR_bm) >> DRIVER_ERROR_bp;
return data;
}
#endif
@@ -84,35 +88,35 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
constexpr uint8_t OT_bp = 1;
TMC_driver_data data;
data.drv_status = st.DRV_STATUS();
- data.is_otpw = (data.drv_status & OTPW_bm)>>OTPW_bp;
- data.is_ot = (data.drv_status & OT_bm)>>OT_bp;
+ data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
+ data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
data.is_error = st.drv_err();
return data;
}
#endif
template<typename TMC>
- uint8_t monitor_tmc_driver(TMC &st, const char axisID, uint8_t otpw_cnt) {
+ void monitor_tmc_driver(TMC &st, const char axisID, uint8_t &otpw_cnt) {
TMC_driver_data data = get_driver_data(st);
#if ENABLED(STOP_ON_ERROR)
if (data.is_error) {
SERIAL_EOL();
SERIAL_ECHO(axisID);
- SERIAL_ECHO(" driver error detected:");
- if (data.is_ot) SERIAL_ECHO("\novertemperature");
- if (st.s2ga()) SERIAL_ECHO("\nshort to ground (coil A)");
- if (st.s2gb()) SERIAL_ECHO("\nshort to ground (coil B)");
+ SERIAL_ECHOPGM(" driver error detected:");
+ if (data.is_ot) SERIAL_ECHOPGM("\novertemperature");
+ if (st.s2ga()) SERIAL_ECHOPGM("\nshort to ground (coil A)");
+ if (st.s2gb()) SERIAL_ECHOPGM("\nshort to ground (coil B)");
SERIAL_EOL();
#if ENABLED(TMC_DEBUG)
- _M122();
+ tmc_report_all();
#endif
kill(PSTR("Driver error"));
}
#endif
// Report if a warning was triggered
- if (data.is_otpw && otpw_cnt==0) {
+ if (data.is_otpw && otpw_cnt == 0) {
char timestamp[10];
duration_t elapsed = print_job_timer.duration();
const bool has_days = (elapsed.value > 60*60*24L);
@@ -123,7 +127,7 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
SERIAL_ECHO(axisID);
SERIAL_ECHOPGM(" driver overtemperature warning! (");
SERIAL_ECHO(st.getCurrent());
- SERIAL_ECHOLN("mA)");
+ SERIAL_ECHOLNPGM("mA)");
}
#if CURRENT_STEP_DOWN > 0
// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
@@ -140,23 +144,21 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
otpw_cnt++;
st.flag_otpw = true;
}
- else if (otpw_cnt>0) otpw_cnt--;
+ else if (otpw_cnt > 0) otpw_cnt--;
if (report_tmc_status) {
const uint32_t pwm_scale = get_pwm_scale(st);
SERIAL_ECHO(axisID);
SERIAL_ECHOPAIR(":", pwm_scale);
- SERIAL_ECHO(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
- SERIAL_ECHO("| ");
- if (data.is_error) SERIAL_ECHO('E');
- else if (data.is_ot) SERIAL_ECHO('O');
- else if (data.is_otpw) SERIAL_ECHO('W');
- else if (otpw_cnt>0) SERIAL_PRINT(otpw_cnt, DEC);
- else if (st.flag_otpw) SERIAL_ECHO('F');
- SERIAL_ECHO("\t");
+ SERIAL_ECHOPGM(" |0b"); MYSERIAL0.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.flag_otpw) SERIAL_CHAR('F');
+ SERIAL_CHAR('\t');
}
-
- return otpw_cnt;
}
#define HAS_HW_COMMS(ST) ENABLED(ST##_IS_TMC2130)|| (ENABLED(ST##_IS_TMC2208) && defined(ST##_HARDWARE_SERIAL))
@@ -167,47 +169,47 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
next_cOT = millis() + 500;
#if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS)
static uint8_t x_otpw_cnt = 0;
- x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
+ monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
#endif
#if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS)
static uint8_t y_otpw_cnt = 0;
- y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
+ monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
#endif
#if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS)
static uint8_t z_otpw_cnt = 0;
- z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
+ monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
#endif
#if HAS_HW_COMMS(X2)
static uint8_t x2_otpw_cnt = 0;
- x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
+ monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
#endif
#if HAS_HW_COMMS(Y2)
static uint8_t y2_otpw_cnt = 0;
- y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
+ monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
#endif
#if HAS_HW_COMMS(Z2)
static uint8_t z2_otpw_cnt = 0;
- z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
+ monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
#endif
#if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS)
static uint8_t e0_otpw_cnt = 0;
- e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
+ monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
#endif
#if HAS_HW_COMMS(E1)
static uint8_t e1_otpw_cnt = 0;
- e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
+ monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
#endif
#if HAS_HW_COMMS(E2)
static uint8_t e2_otpw_cnt = 0;
- e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
+ monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
#endif
#if HAS_HW_COMMS(E3)
static uint8_t e3_otpw_cnt = 0;
- e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
+ monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
#endif
#if HAS_HW_COMMS(E4)
static uint8_t e4_otpw_cnt = 0;
- e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
+ monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
#endif
if (report_tmc_status) SERIAL_EOL();
@@ -216,4 +218,349 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
#endif // MONITOR_DRIVER_STATUS
+void _tmc_say_current(const char name[], const uint16_t curr) {
+ SERIAL_ECHO(name);
+ SERIAL_ECHOLNPAIR(" axis driver current: ", curr);
+}
+void _tmc_say_otpw(const char name[], const bool otpw) {
+ SERIAL_ECHO(name);
+ SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
+ serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
+ SERIAL_EOL();
+}
+void _tmc_say_otpw_cleared(const char name[]) {
+ SERIAL_ECHO(name);
+ SERIAL_ECHOLNPGM(" prewarn flag cleared");
+}
+void _tmc_say_pwmthrs(const char name[], const uint32_t thrs) {
+ SERIAL_ECHO(name);
+ SERIAL_ECHOLNPAIR(" stealthChop max speed set to ", thrs);
+}
+void _tmc_say_sgt(const char name[], const uint32_t sgt) {
+ SERIAL_ECHO(name);
+ SERIAL_ECHOPGM(" driver homing sensitivity set to ");
+ MYSERIAL0.println(sgt, DEC);
+}
+
+#if ENABLED(TMC_DEBUG)
+
+ enum TMC_debug_enum {
+ TMC_CODES,
+ TMC_ENABLED,
+ TMC_CURRENT,
+ TMC_RMS_CURRENT,
+ TMC_MAX_CURRENT,
+ TMC_IRUN,
+ TMC_IHOLD,
+ TMC_CS_ACTUAL,
+ TMC_PWM_SCALE,
+ TMC_VSENSE,
+ TMC_STEALTHCHOP,
+ TMC_MICROSTEPS,
+ TMC_TSTEP,
+ TMC_TPWMTHRS,
+ TMC_TPWMTHRS_MMS,
+ TMC_OTPW,
+ TMC_OTPW_TRIGGERED,
+ TMC_TOFF,
+ TMC_TBL,
+ TMC_HEND,
+ TMC_HSTRT,
+ TMC_SGT
+ };
+ enum TMC_drv_status_enum {
+ TMC_DRV_CODES,
+ TMC_STST,
+ TMC_OLB,
+ TMC_OLA,
+ TMC_S2GB,
+ TMC_S2GA,
+ TMC_DRV_OTPW,
+ TMC_OT,
+ TMC_STALLGUARD,
+ TMC_DRV_CS_ACTUAL,
+ TMC_FSACTIVE,
+ TMC_SG_RESULT,
+ TMC_DRV_STATUS_HEX,
+ TMC_T157,
+ TMC_T150,
+ TMC_T143,
+ TMC_T120,
+ TMC_STEALTH,
+ TMC_S2VSB,
+ TMC_S2VSA
+ };
+ static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
+ SERIAL_ECHO(name);
+ SERIAL_ECHOPGM(" = 0x");
+ for (int B = 24; B >= 8; B -= 8){
+ SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
+ SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
+ SERIAL_CHAR(':');
+ }
+ SERIAL_PRINT((drv_status >> 4) & 0xF, HEX);
+ SERIAL_PRINT(drv_status & 0xF, HEX);
+ SERIAL_EOL();
+ }
+
+ #if ENABLED(HAVE_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;
+ default: break;
+ }
+ }
+ 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;
+ case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('X'); break;
+ default: break;
+ }
+ }
+ #endif
+ #if ENABLED(HAVE_TMC2208)
+ static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
+ switch(i) {
+ case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); MYSERIAL0.print(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;
+ case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('X'); break;
+ default: break;
+ }
+ }
+ 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;
+ case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break;
+ case TMC_T120: if (st.t120()) SERIAL_CHAR('X'); break;
+ default: break;
+ }
+ }
+ #endif
+
+ template <typename TMC>
+ static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
+ SERIAL_ECHO('\t');
+ switch(i) {
+ case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
+ case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
+ case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
+ case TMC_RMS_CURRENT: MYSERIAL0.print(st.rms_current()); break;
+ case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
+ case TMC_IRUN:
+ SERIAL_PRINT(st.irun(), DEC);
+ SERIAL_ECHOPGM("/31");
+ break;
+ case TMC_IHOLD:
+ SERIAL_PRINT(st.ihold(), DEC);
+ SERIAL_ECHOPGM("/31");
+ break;
+ case TMC_CS_ACTUAL:
+ 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_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
+ case TMC_TPWMTHRS: {
+ uint32_t tpwmthrs_val = st.TPWMTHRS();
+ SERIAL_ECHO(tpwmthrs_val);
+ }
+ break;
+ case TMC_TPWMTHRS_MMS: {
+ uint32_t tpwmthrs_val = st.TPWMTHRS();
+ tpwmthrs_val ? SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm)) : SERIAL_CHAR('-');
+ }
+ break;
+ case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
+ case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
+ case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
+ case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
+ case TMC_HEND: SERIAL_PRINT(st.hysterisis_end(), DEC); break;
+ case TMC_HSTRT: SERIAL_PRINT(st.hysterisis_start(), DEC); break;
+ default: tmc_status(st, i); break;
+ }
+ }
+
+ template <typename TMC>
+ static void tmc_parse_drv_status(TMC &st, TMC_AxisEnum axis, const TMC_drv_status_enum i) {
+ SERIAL_CHAR('\t');
+ switch(i) {
+ case TMC_DRV_CODES: SERIAL_ECHO(extended_axis_codes[axis]); 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;
+ case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('X'); break;
+ case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('X'); break;
+ 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(extended_axis_codes[axis], st.DRV_STATUS()); break;
+ default: tmc_parse_drv_status(st, i); break;
+ }
+ }
+
+ static void tmc_debug_loop(const TMC_debug_enum i) {
+ #if X_IS_TRINAMIC
+ tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
+ #endif
+ #if X2_IS_TRINAMIC
+ tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
+ #endif
+
+ #if Y_IS_TRINAMIC
+ tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
+ #endif
+ #if Y2_IS_TRINAMIC
+ tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
+ #endif
+
+ #if Z_IS_TRINAMIC
+ tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
+ #endif
+ #if Z2_IS_TRINAMIC
+ tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
+ #endif
+
+ #if E0_IS_TRINAMIC
+ tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
+ #endif
+ #if E1_IS_TRINAMIC
+ tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS+1]);
+ #endif
+ #if E2_IS_TRINAMIC
+ tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS+2]);
+ #endif
+ #if E3_IS_TRINAMIC
+ tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS+3]);
+ #endif
+ #if E4_IS_TRINAMIC
+ tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS+4]);
+ #endif
+
+ SERIAL_EOL();
+ }
+
+ static void drv_status_loop(const TMC_drv_status_enum i) {
+ #if X_IS_TRINAMIC
+ tmc_parse_drv_status(stepperX, TMC_X, i);
+ #endif
+ #if X2_IS_TRINAMIC
+ tmc_parse_drv_status(stepperX2, TMC_X2, i);
+ #endif
+
+ #if Y_IS_TRINAMIC
+ tmc_parse_drv_status(stepperY, TMC_Y, i);
+ #endif
+ #if Y2_IS_TRINAMIC
+ tmc_parse_drv_status(stepperY2, TMC_Y2, i);
+ #endif
+
+ #if Z_IS_TRINAMIC
+ tmc_parse_drv_status(stepperZ, TMC_Z, i);
+ #endif
+ #if Z2_IS_TRINAMIC
+ tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
+ #endif
+
+ #if E0_IS_TRINAMIC
+ tmc_parse_drv_status(stepperE0, TMC_E0, i);
+ #endif
+ #if E1_IS_TRINAMIC
+ tmc_parse_drv_status(stepperE1, TMC_E1, i);
+ #endif
+ #if E2_IS_TRINAMIC
+ tmc_parse_drv_status(stepperE2, TMC_E2, i);
+ #endif
+ #if E3_IS_TRINAMIC
+ tmc_parse_drv_status(stepperE3, TMC_E3, i);
+ #endif
+ #if E4_IS_TRINAMIC
+ tmc_parse_drv_status(stepperE4, TMC_E4, i);
+ #endif
+
+ SERIAL_EOL();
+ }
+
+ /**
+ * M122 report functions
+ */
+ void tmc_set_report_status(const bool status) {
+ if ((report_tmc_status = status))
+ SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
+ }
+
+ void tmc_report_all() {
+ #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM); }while(0)
+ #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM); }while(0)
+ TMC_REPORT("\t", TMC_CODES);
+ TMC_REPORT("Enabled\t", TMC_ENABLED);
+ TMC_REPORT("Set current", TMC_CURRENT);
+ TMC_REPORT("RMS current", TMC_RMS_CURRENT);
+ TMC_REPORT("MAX current", TMC_MAX_CURRENT);
+ TMC_REPORT("Run current", TMC_IRUN);
+ TMC_REPORT("Hold current", TMC_IHOLD);
+ TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
+ TMC_REPORT("PWM scale", TMC_PWM_SCALE);
+ TMC_REPORT("vsense\t", TMC_VSENSE);
+ TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
+ TMC_REPORT("msteps\t", TMC_MICROSTEPS);
+ TMC_REPORT("tstep\t", TMC_TSTEP);
+ TMC_REPORT("pwm\nthreshold\t", TMC_TPWMTHRS);
+ TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);
+ TMC_REPORT("OT prewarn", TMC_OTPW);
+ TMC_REPORT("OT prewarn has\n"
+ "been triggered", TMC_OTPW_TRIGGERED);
+ TMC_REPORT("off time\t", TMC_TOFF);
+ TMC_REPORT("blank time", TMC_TBL);
+ TMC_REPORT("hysterisis\n-end\t", TMC_HEND);
+ TMC_REPORT("-start\t", TMC_HSTRT);
+ TMC_REPORT("Stallguard thrs", TMC_SGT);
+
+ DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
+ #if ENABLED(HAVE_TMC2130)
+ DRV_REPORT("stallguard\t", TMC_STALLGUARD);
+ DRV_REPORT("sg_result\t", TMC_SG_RESULT);
+ DRV_REPORT("fsactive\t", TMC_FSACTIVE);
+ #endif
+ DRV_REPORT("stst\t", TMC_STST);
+ DRV_REPORT("olb\t", TMC_OLB);
+ DRV_REPORT("ola\t", TMC_OLA);
+ DRV_REPORT("s2gb\t", TMC_S2GB);
+ DRV_REPORT("s2ga\t", TMC_S2GA);
+ DRV_REPORT("otpw\t", TMC_DRV_OTPW);
+ DRV_REPORT("ot\t", TMC_OT);
+ #if ENABLED(HAVE_TMC2208)
+ DRV_REPORT("157C\t", TMC_T157);
+ DRV_REPORT("150C\t", TMC_T150);
+ DRV_REPORT("143C\t", TMC_T143);
+ DRV_REPORT("120C\t", TMC_T120);
+ DRV_REPORT("s2vsa\t", TMC_S2VSA);
+ DRV_REPORT("s2vsb\t", TMC_S2VSB);
+ #endif
+ DRV_REPORT("Driver registers:", TMC_DRV_STATUS_HEX);
+ SERIAL_EOL();
+ }
+
+#endif // TMC_DEBUG
+
+#if ENABLED(SENSORLESS_HOMING)
+
+ void tmc_sensorless_homing(TMC2130Stepper &st, bool enable/*=true*/) {
+ #if ENABLED(STEALTHCHOP)
+ st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
+ st.stealthChop(!enable);
+ #endif
+ st.diag1_stall(enable ? 1 : 0);
+ }
+
+#endif // SENSORLESS_HOMING
+
#endif // HAS_TRINAMIC
diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
index 7741c7b4492f340ff8dda93a3a2e670aaf406f93..abe44e9dbc049d110234086e9091a3033927ad4d 100644
--- a/Marlin/src/feature/tmc_util.h
+++ b/Marlin/src/feature/tmc_util.h
@@ -35,11 +35,19 @@ enum TMC_AxisEnum {
TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4
};
+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_current(const char name[], const uint16_t curr);
+void _tmc_say_otpw(const char name[], const bool otpw);
+void _tmc_say_otpw_cleared(const char name[]);
+void _tmc_say_pwmthrs(const char name[], const uint32_t thrs);
+void _tmc_say_sgt(const char name[], const uint32_t sgt);
+
template<typename TMC>
void tmc_get_current(TMC &st, const char name[]) {
- SERIAL_ECHO(name);
- SERIAL_ECHOPGM(" axis driver current: ");
- SERIAL_ECHOLN(st.getCurrent());
+ _tmc_say_current(name, st.getCurrent());
}
template<typename TMC>
void tmc_set_current(TMC &st, const char name[], const int mA) {
@@ -48,33 +56,25 @@ void tmc_set_current(TMC &st, const char name[], const int mA) {
}
template<typename TMC>
void tmc_report_otpw(TMC &st, const char name[]) {
- SERIAL_ECHO(name);
- SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
- serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
- SERIAL_EOL();
+ _tmc_say_otpw(name, st.getOTPW());
}
template<typename TMC>
void tmc_clear_otpw(TMC &st, const char name[]) {
st.clear_otpw();
- SERIAL_ECHO(name);
- SERIAL_ECHOLNPGM(" prewarn flag cleared");
+ _tmc_say_otpw_cleared(name);
}
template<typename TMC>
void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
- SERIAL_ECHO(name);
- SERIAL_ECHOPGM(" stealthChop max speed set to ");
- SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
+ _tmc_say_pwmthrs(name, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
}
template<typename TMC>
void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
- st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
+ st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
tmc_get_pwmthrs(st, name, spmm);
}
template<typename TMC>
void tmc_get_sgt(TMC &st, const char name[]) {
- SERIAL_ECHO(name);
- SERIAL_ECHOPGM(" driver homing sensitivity set to ");
- MYSERIAL.println(st.sgt(), DEC);
+ _tmc_say_sgt(name, st.sgt());
}
template<typename TMC>
void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
@@ -82,9 +82,13 @@ void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
tmc_get_sgt(st, name);
}
-void _M122();
void monitor_tmc_driver();
+#if ENABLED(TMC_DEBUG)
+ void tmc_set_report_status(const bool status);
+ void tmc_report_all();
+#endif
+
/**
* TMC2130 specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
@@ -93,21 +97,7 @@ void monitor_tmc_driver();
* Defined here because of limitations with templates and headers.
*/
#if ENABLED(SENSORLESS_HOMING)
- template<typename TMC>
- void tmc_sensorless_homing(TMC &st, bool enable=true) {
- #if ENABLED(STEALTHCHOP)
- if (enable) {
- st.coolstep_min_speed(1024UL * 1024UL - 1UL);
- st.stealthChop(0);
- }
- else {
- st.coolstep_min_speed(0);
- st.stealthChop(1);
- }
- #endif
-
- st.diag1_stall(enable ? 1 : 0);
- }
+ void tmc_sensorless_homing(TMC2130Stepper &st, bool enable=true);
#endif
#endif // _TMC_UTIL_H_
diff --git a/Marlin/src/gcode/feature/trinamic/M122.cpp b/Marlin/src/gcode/feature/trinamic/M122.cpp
index dc6d51eed9dfab32ed923aec91580710ac2a92ac..f079b39c08d9e06be1b388ea38e93aa8bbcb83d5 100644
--- a/Marlin/src/gcode/feature/trinamic/M122.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M122.cpp
@@ -26,314 +26,15 @@
#include "../../gcode.h"
#include "../../../feature/tmc_util.h"
-#include "../../../module/stepper_indirection.h"
-#include "../../../module/planner.h"
-enum TMC_debug_enum {
- TMC_CODES,
- TMC_ENABLED,
- TMC_CURRENT,
- TMC_RMS_CURRENT,
- TMC_MAX_CURRENT,
- TMC_IRUN,
- TMC_IHOLD,
- TMC_CS_ACTUAL,
- TMC_PWM_SCALE,
- TMC_VSENSE,
- TMC_STEALTHCHOP,
- TMC_MICROSTEPS,
- TMC_TSTEP,
- TMC_TPWMTHRS,
- TMC_TPWMTHRS_MMS,
- TMC_OTPW,
- TMC_OTPW_TRIGGERED,
- TMC_TOFF,
- TMC_TBL,
- TMC_HEND,
- TMC_HSTRT,
- TMC_SGT
-};
-enum TMC_drv_status_enum {
- TMC_DRV_CODES,
- TMC_STST,
- TMC_OLB,
- TMC_OLA,
- TMC_S2GB,
- TMC_S2GA,
- TMC_DRV_OTPW,
- TMC_OT,
- TMC_STALLGUARD,
- TMC_DRV_CS_ACTUAL,
- TMC_FSACTIVE,
- TMC_SG_RESULT,
- TMC_DRV_STATUS_HEX,
- TMC_T157,
- TMC_T150,
- TMC_T143,
- TMC_T120,
- TMC_STEALTH,
- TMC_S2VSB,
- TMC_S2VSA
-};
-static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
- SERIAL_ECHO(name);
- SERIAL_ECHOPGM(" = 0x");
- for(int B=24; B>=8; B-=8){
- SERIAL_PRINT((drv_status>>(B+4))&0xF, HEX);
- SERIAL_PRINT((drv_status>>B)&0xF, HEX);
- SERIAL_CHAR(':');
- }
- SERIAL_PRINT((drv_status>>4)&0xF, HEX);
- SERIAL_PRINT((drv_status)&0xF, HEX);
- SERIAL_EOL();
-}
-
-#if ENABLED(HAVE_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;
- default: break;
- }
- }
- static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
- switch(i) {
- case TMC_STALLGUARD: if (st.stallguard()) SERIAL_ECHOPGM("X"); break;
- case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
- case TMC_FSACTIVE: if (st.fsactive()) SERIAL_ECHOPGM("X"); break;
- default: break;
- }
- }
-#endif
-#if ENABLED(HAVE_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_ECHOPGM("X"); break;
- case TMC_S2VSB: if (st.s2vsb()) SERIAL_ECHOPGM("X"); break;
- default: break;
- }
- }
- static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
- switch(i) {
- case TMC_T157: if (st.t157()) SERIAL_ECHOPGM("X"); break;
- case TMC_T150: if (st.t150()) SERIAL_ECHOPGM("X"); break;
- case TMC_T143: if (st.t143()) SERIAL_ECHOPGM("X"); break;
- case TMC_T120: if (st.t120()) SERIAL_ECHOPGM("X"); break;
- default: break;
- }
- }
-#endif
-template <typename TMC>
-static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
- SERIAL_ECHO('\t');
- switch(i) {
- case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
- case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
- case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); 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:
- SERIAL_PRINT(st.irun(), DEC);
- SERIAL_ECHOPGM("/31");
- break;
- case TMC_IHOLD:
- SERIAL_PRINT(st.ihold(), DEC);
- SERIAL_ECHOPGM("/31");
- break;
- case TMC_CS_ACTUAL:
- 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_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
- case TMC_TPWMTHRS: {
- uint32_t tpwmthrs_val = st.TPWMTHRS();
- SERIAL_ECHO(tpwmthrs_val);
- }
- break;
- case TMC_TPWMTHRS_MMS: {
- uint32_t tpwmthrs_val = st.TPWMTHRS();
- tpwmthrs_val ? SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm)) : SERIAL_ECHO('-');
- }
- break;
- case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
- case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
- case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
- case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
- case TMC_HEND: SERIAL_PRINT(st.hysterisis_end(), DEC); break;
- case TMC_HSTRT: SERIAL_PRINT(st.hysterisis_start(), DEC); break;
- default: tmc_status(st, i); break;
- }
-}
-template <typename TMC>
-static void tmc_parse_drv_status(TMC &st, TMC_AxisEnum axis, const TMC_drv_status_enum i) {
- SERIAL_ECHOPGM("\t");
- switch(i) {
- case TMC_DRV_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
- case TMC_STST: if (st.stst()) SERIAL_ECHOPGM("X"); break;
- case TMC_OLB: if (st.olb()) SERIAL_ECHOPGM("X"); break;
- case TMC_OLA: if (st.ola()) SERIAL_ECHOPGM("X"); break;
- case TMC_S2GB: if (st.s2gb()) SERIAL_ECHOPGM("X"); break;
- case TMC_S2GA: if (st.s2ga()) SERIAL_ECHOPGM("X"); break;
- case TMC_DRV_OTPW: if (st.otpw()) SERIAL_ECHOPGM("X"); break;
- case TMC_OT: if (st.ot()) SERIAL_ECHOPGM("X"); break;
- case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
- case TMC_DRV_STATUS_HEX:drv_status_print_hex(extended_axis_codes[axis], st.DRV_STATUS()); break;
- default: tmc_parse_drv_status(st, i); break;
- }
-}
-
-static void tmc_debug_loop(const TMC_debug_enum i) {
- #if X_IS_TRINAMIC
- tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
- #endif
- #if X2_IS_TRINAMIC
- tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
- #endif
-
- #if Y_IS_TRINAMIC
- tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
- #endif
- #if Y2_IS_TRINAMIC
- tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
- #endif
-
- #if Z_IS_TRINAMIC
- tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
- #endif
- #if Z2_IS_TRINAMIC
- tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
- #endif
-
- #if E0_IS_TRINAMIC
- tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
- #endif
- #if E1_IS_TRINAMIC
- tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS+1]);
- #endif
- #if E2_IS_TRINAMIC
- tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS+2]);
- #endif
- #if E3_IS_TRINAMIC
- tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS+3]);
- #endif
- #if E4_IS_TRINAMIC
- tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS+4]);
- #endif
-
- SERIAL_EOL();
-}
-
-static void drv_status_loop(const TMC_drv_status_enum i) {
- #if X_IS_TRINAMIC
- tmc_parse_drv_status(stepperX, TMC_X, i);
- #endif
- #if X2_IS_TRINAMIC
- tmc_parse_drv_status(stepperX2, TMC_X2, i);
- #endif
-
- #if Y_IS_TRINAMIC
- tmc_parse_drv_status(stepperY, TMC_Y, i);
- #endif
- #if Y2_IS_TRINAMIC
- tmc_parse_drv_status(stepperY2, TMC_Y2, i);
- #endif
-
- #if Z_IS_TRINAMIC
- tmc_parse_drv_status(stepperZ, TMC_Z, i);
- #endif
- #if Z2_IS_TRINAMIC
- tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
- #endif
-
- #if E0_IS_TRINAMIC
- tmc_parse_drv_status(stepperE0, TMC_E0, i);
- #endif
- #if E1_IS_TRINAMIC
- tmc_parse_drv_status(stepperE1, TMC_E1, i);
- #endif
- #if E2_IS_TRINAMIC
- tmc_parse_drv_status(stepperE2, TMC_E2, i);
- #endif
- #if E3_IS_TRINAMIC
- tmc_parse_drv_status(stepperE3, TMC_E3, i);
- #endif
- #if E4_IS_TRINAMIC
- tmc_parse_drv_status(stepperE4, TMC_E4, i);
- #endif
-
- SERIAL_EOL();
-}
-
-void _M122() {
- if (parser.seen('S')) {
- if (parser.value_bool()) {
- SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
- report_tmc_status = true;
- } else
- report_tmc_status = false;
- } else {
- SERIAL_ECHOPGM("\t"); tmc_debug_loop(TMC_CODES);
- SERIAL_ECHOPGM("Enabled\t"); tmc_debug_loop(TMC_ENABLED);
- SERIAL_ECHOPGM("Set current"); tmc_debug_loop(TMC_CURRENT);
- SERIAL_ECHOPGM("RMS current"); tmc_debug_loop(TMC_RMS_CURRENT);
- SERIAL_ECHOPGM("MAX current"); tmc_debug_loop(TMC_MAX_CURRENT);
- SERIAL_ECHOPGM("Run current"); tmc_debug_loop(TMC_IRUN);
- SERIAL_ECHOPGM("Hold current"); tmc_debug_loop(TMC_IHOLD);
- SERIAL_ECHOPGM("CS actual\t"); tmc_debug_loop(TMC_CS_ACTUAL);
- SERIAL_ECHOPGM("PWM scale"); tmc_debug_loop(TMC_PWM_SCALE);
- SERIAL_ECHOPGM("vsense\t"); tmc_debug_loop(TMC_VSENSE);
- SERIAL_ECHOPGM("stealthChop"); tmc_debug_loop(TMC_STEALTHCHOP);
- SERIAL_ECHOPGM("msteps\t"); tmc_debug_loop(TMC_MICROSTEPS);
- SERIAL_ECHOPGM("tstep\t"); tmc_debug_loop(TMC_TSTEP);
- SERIAL_ECHOPGM("pwm\nthreshold\t"); tmc_debug_loop(TMC_TPWMTHRS);
- SERIAL_ECHOPGM("[mm/s]\t"); tmc_debug_loop(TMC_TPWMTHRS_MMS);
- SERIAL_ECHOPGM("OT prewarn"); tmc_debug_loop(TMC_OTPW);
- SERIAL_ECHOPGM("OT prewarn has\nbeen triggered"); tmc_debug_loop(TMC_OTPW_TRIGGERED);
- SERIAL_ECHOPGM("off time\t"); tmc_debug_loop(TMC_TOFF);
- SERIAL_ECHOPGM("blank time"); tmc_debug_loop(TMC_TBL);
- SERIAL_ECHOPGM("hysterisis\n-end\t"); tmc_debug_loop(TMC_HEND);
- SERIAL_ECHOPGM("-start\t"); tmc_debug_loop(TMC_HSTRT);
- SERIAL_ECHOPGM("Stallguard thrs"); tmc_debug_loop(TMC_SGT);
-
- SERIAL_ECHOPGM("DRVSTATUS"); drv_status_loop(TMC_DRV_CODES);
- #if ENABLED(HAVE_TMC2130)
- SERIAL_ECHOPGM("stallguard\t"); drv_status_loop(TMC_STALLGUARD);
- SERIAL_ECHOPGM("sg_result\t"); drv_status_loop(TMC_SG_RESULT);
- SERIAL_ECHOPGM("fsactive\t"); drv_status_loop(TMC_FSACTIVE);
- #endif
- SERIAL_ECHOPGM("stst\t"); drv_status_loop(TMC_STST);
- SERIAL_ECHOPGM("olb\t"); drv_status_loop(TMC_OLB);
- SERIAL_ECHOPGM("ola\t"); drv_status_loop(TMC_OLA);
- SERIAL_ECHOPGM("s2gb\t"); drv_status_loop(TMC_S2GB);
- SERIAL_ECHOPGM("s2ga\t"); drv_status_loop(TMC_S2GA);
- SERIAL_ECHOPGM("otpw\t"); drv_status_loop(TMC_DRV_OTPW);
- SERIAL_ECHOPGM("ot\t"); drv_status_loop(TMC_OT);
- #if ENABLED(HAVE_TMC2208)
- SERIAL_ECHOPGM("157C\t"); drv_status_loop(TMC_T157);
- SERIAL_ECHOPGM("150C\t"); drv_status_loop(TMC_T150);
- SERIAL_ECHOPGM("143C\t"); drv_status_loop(TMC_T143);
- SERIAL_ECHOPGM("120C\t"); drv_status_loop(TMC_T120);
- SERIAL_ECHOPGM("s2vsa\t"); drv_status_loop(TMC_S2VSA);
- SERIAL_ECHOPGM("s2vsb\t"); drv_status_loop(TMC_S2VSB);
- #endif
- SERIAL_ECHOLNPGM("Driver registers:");drv_status_loop(TMC_DRV_STATUS_HEX);
- }
+/**
+ * M122: Debug TMC drivers
+ */
+void GcodeSuite::M122() {
+ if (parser.seen('S'))
+ tmc_set_report_status(parser.value_bool());
+ else
+ tmc_report_all();
}
-// We need to call M122 from monitor_tmc_driver() as well but GcodeSuite::M122 is private.
-void GcodeSuite::M122() { _M122(); }
-
#endif // TMC_DEBUG
diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp
index aa43f9269d12563b9c3ef4ad42e73dc45653bc66..04c26cb21a0f79b86e7b326fd2a0ceb165496bfd 100644
--- a/Marlin/src/gcode/feature/trinamic/M906.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M906.cpp
@@ -27,7 +27,6 @@
#include "../../gcode.h"
#include "../../../feature/tmc_util.h"
#include "../../../module/stepper_indirection.h"
-#include "../../../module/planner.h"
/**
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
@@ -35,54 +34,45 @@
*/
void GcodeSuite::M906() {
uint16_t values[XYZE];
- LOOP_XYZE(i)
- values[i] = parser.intval(axis_codes[i]);
+ LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
+
+ #define TMC_SET_GET_CURRENT(P,Q) do { \
+ if (values[P##_AXIS]) tmc_set_current(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS]); \
+ else tmc_get_current(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
#if X_IS_TRINAMIC
- if (values[X_AXIS]) tmc_set_current(stepperX, extended_axis_codes[TMC_X], values[X_AXIS]);
- else tmc_get_current(stepperX, extended_axis_codes[TMC_X]);
+ TMC_SET_GET_CURRENT(X,X);
#endif
#if X2_IS_TRINAMIC
- if (values[X_AXIS]) tmc_set_current(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS]);
- else tmc_get_current(stepperX2, extended_axis_codes[TMC_X2]);
+ TMC_SET_GET_CURRENT(X,X2);
#endif
#if Y_IS_TRINAMIC
- if (values[Y_AXIS]) tmc_set_current(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS]);
- else tmc_get_current(stepperY, extended_axis_codes[TMC_Y]);
+ TMC_SET_GET_CURRENT(Y,Y);
#endif
#if Y2_IS_TRINAMIC
- if (values[Y_AXIS]) tmc_set_current(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS]);
- else tmc_get_current(stepperY2, extended_axis_codes[TMC_Y2]);
+ TMC_SET_GET_CURRENT(Y,Y2);
#endif
#if Z_IS_TRINAMIC
- if (values[Z_AXIS]) tmc_set_current(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS]);
- else tmc_get_current(stepperZ, extended_axis_codes[TMC_Z]);
+ TMC_SET_GET_CURRENT(Z,Z);
#endif
#if Z2_IS_TRINAMIC
- if (values[Z_AXIS]) tmc_set_current(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS]);
- else tmc_get_current(stepperZ2, extended_axis_codes[TMC_Z2]);
+ TMC_SET_GET_CURRENT(Z,Z2);
#endif
#if E0_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_current(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS]);
- else tmc_get_current(stepperE0, extended_axis_codes[TMC_E0]);
+ TMC_SET_GET_CURRENT(E,E0);
#endif
#if E1_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_current(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS]);
- else tmc_get_current(stepperE1, extended_axis_codes[TMC_E1]);
+ TMC_SET_GET_CURRENT(E,E1);
#endif
#if E2_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_current(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS]);
- else tmc_get_current(stepperE2, extended_axis_codes[TMC_E2]);
+ TMC_SET_GET_CURRENT(E,E2);
#endif
#if E3_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_current(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS]);
- else tmc_get_current(stepperE3, extended_axis_codes[TMC_E3]);
+ TMC_SET_GET_CURRENT(E,E3);
#endif
#if E4_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_current(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS]);
- else tmc_get_current(stepperE4, extended_axis_codes[TMC_E4]);
+ TMC_SET_GET_CURRENT(E,E4);
#endif
-
}
#endif // HAS_TRINAMIC
diff --git a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
index 6cca7105d710c05a2a3839b8bf0d0389c22dc68a..ea35e436cd25ce99ebbd2ff7fc625118016009e3 100644
--- a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
@@ -81,55 +81,44 @@ void GcodeSuite::M912() {
#if ENABLED(HYBRID_THRESHOLD)
void GcodeSuite::M913() {
uint16_t values[XYZE];
- LOOP_XYZE(i)
- values[i] = parser.intval(axis_codes[i]);
+ LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
+
+ #define TMC_SET_GET_PWMTHRS(P,Q) do { \
+ if (values[P##_AXIS]) tmc_set_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS], planner.axis_steps_per_mm[P##_AXIS]); \
+ else tmc_get_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], planner.axis_steps_per_mm[P##_AXIS]); } while(0)
#if X_IS_TRINAMIC
- if (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
- else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]);
+ TMC_SET_GET_PWMTHRS(X,X);
#endif
#if X2_IS_TRINAMIC
- if (values[X_AXIS]) tmc_set_pwmthrs(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
- else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]);
+ TMC_SET_GET_PWMTHRS(X,X2);
#endif
-
#if Y_IS_TRINAMIC
- if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
- else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]);
+ TMC_SET_GET_PWMTHRS(Y,Y);
#endif
#if Y2_IS_TRINAMIC
- if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
- else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]);
+ TMC_SET_GET_PWMTHRS(Y,Y2);
#endif
-
#if Z_IS_TRINAMIC
- if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
- else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]);
+ TMC_SET_GET_PWMTHRS(Z,Z);
#endif
#if Z2_IS_TRINAMIC
- if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
- else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]);
+ TMC_SET_GET_PWMTHRS(Z,Z2);
#endif
-
#if E0_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
- else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]);
+ TMC_SET_GET_PWMTHRS(E,E0);
#endif
#if E1_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
- else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]);
+ TMC_SET_GET_PWMTHRS(E,E1);
#endif
#if E2_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
- else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]);
+ TMC_SET_GET_PWMTHRS(E,E2);
#endif
#if E3_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
- else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]);
+ TMC_SET_GET_PWMTHRS(E,E3);
#endif
#if E4_IS_TRINAMIC
- if (values[E_AXIS]) tmc_set_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
- else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]);
+ TMC_SET_GET_PWMTHRS(E,E4);
#endif
}
#endif // HYBRID_THRESHOLD
@@ -139,21 +128,21 @@ void GcodeSuite::M912() {
*/
#if ENABLED(SENSORLESS_HOMING)
void GcodeSuite::M914() {
+ #define TMC_SET_GET_SGT(P,Q) do { \
+ if (parser.seen(axis_codes[P##_AXIS])) tmc_set_sgt(stepper##Q, extended_axis_codes[TMC_##Q], parser.value_int()); \
+ else tmc_get_sgt(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
+
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
- if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int());
- else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
+ TMC_SET_GET_SGT(X,X);
#endif
#if ENABLED(X2_IS_TMC2130)
- if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX2, extended_axis_codes[TMC_X2], parser.value_int());
- else tmc_get_sgt(stepperX2, extended_axis_codes[TMC_X2]);
+ TMC_SET_GET_SGT(X,X2);
#endif
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
- if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY, extended_axis_codes[TMC_Y], parser.value_int());
- else tmc_get_sgt(stepperY, extended_axis_codes[TMC_Y]);
+ TMC_SET_GET_SGT(Y,Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
- if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY2, extended_axis_codes[TMC_Y2], parser.value_int());
- else tmc_get_sgt(stepperY2, extended_axis_codes[TMC_Y2]);
+ TMC_SET_GET_SGT(Y,Y2);
#endif
}
#endif // SENSORLESS_HOMING
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 36a8a0d94d7e716458a565fc00a51aeb6815c933..5ce961dcf0f04f2d2aed727f7c34e67dfbb3b54e 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -679,6 +679,20 @@
#define HAS_E4_MICROSTEPS (PIN_EXISTS(E4_MS1))
#define HAS_SOLENOID_4 (PIN_EXISTS(SOL4))
+// Trinamic Stepper Drivers
+#define HAS_TRINAMIC (ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208) || ENABLED(IS_TRAMS))
+#define X_IS_TRINAMIC (ENABLED( X_IS_TMC2130) || ENABLED( X_IS_TMC2208) || ENABLED(IS_TRAMS))
+#define X2_IS_TRINAMIC (ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208))
+#define Y_IS_TRINAMIC (ENABLED( Y_IS_TMC2130) || ENABLED( Y_IS_TMC2208) || ENABLED(IS_TRAMS))
+#define Y2_IS_TRINAMIC (ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208))
+#define Z_IS_TRINAMIC (ENABLED( Z_IS_TMC2130) || ENABLED( Z_IS_TMC2208) || ENABLED(IS_TRAMS))
+#define Z2_IS_TRINAMIC (ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208))
+#define E0_IS_TRINAMIC (ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) || ENABLED(IS_TRAMS))
+#define E1_IS_TRINAMIC (ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208))
+#define E2_IS_TRINAMIC (ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208))
+#define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208))
+#define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
+
// Endstops and bed probe
#define HAS_X_MIN (PIN_EXISTS(X_MIN) && !IS_X2_ENDSTOP(X,MIN) && !IS_Y2_ENDSTOP(X,MIN) && !IS_Z2_OR_PROBE(X,MIN))
#define HAS_X_MAX (PIN_EXISTS(X_MAX) && !IS_X2_ENDSTOP(X,MAX) && !IS_Y2_ENDSTOP(X,MAX) && !IS_Z2_OR_PROBE(X,MAX))
diff --git a/Marlin/src/inc/MarlinConfigPre.h b/Marlin/src/inc/MarlinConfigPre.h
index bb0642f9868b29cd7c7b7b7e19ca22f9f6d76f04..fb7258fb0a839a28d4d24a2115bdce8c5599c5c9 100644
--- a/Marlin/src/inc/MarlinConfigPre.h
+++ b/Marlin/src/inc/MarlinConfigPre.h
@@ -28,7 +28,6 @@
#include "Version.h"
#include "../../Configuration.h"
#include "Conditionals_LCD.h"
-#include "../feature/tmc_macros.h"
#include "../../Configuration_adv.h"
#include "Conditionals_adv.h"
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index f4278a9d695219135174f7e6ed5e4a008461fe46..c169cf0d27f127b193ad611f5a9172eb679c17bc 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -1491,8 +1491,6 @@ static_assert(1 >= 0
#error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
#endif
-#include "../feature/tmc_macros.h"
-
#if ENABLED(TMC_Z_CALIBRATION) && !Z_IS_TRINAMIC && !Z2_IS_TRINAMIC
#error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
#endif