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- /**
- * 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/>.
- *
- */
- #include "MarlinConfig.h"
- #if HAS_TRINAMIC
- #include "tmc_util.h"
- #include "Marlin.h"
- #include "printcounter.h"
- #include "duration_t.h"
- #include "stepper_indirection.h"
- #if ENABLED(TMC_DEBUG)
- #include "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.
- * Reduce driver current in a persistent otpw condition.
- * Keep track of otpw counter so we don't reduce current on a single instance,
- * and so we don't repeatedly report warning before the condition is cleared.
- */
- #if ENABLED(MONITOR_DRIVER_STATUS)
- struct TMC_driver_data {
- uint32_t drv_status;
- bool is_otpw;
- bool is_ot;
- bool is_error;
- };
- #if HAS_DRIVER(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 TMC_driver_data get_driver_data(TMC2130Stepper &st) {
- constexpr uint32_t OTPW_bm = 0x4000000UL;
- constexpr uint8_t OTPW_bp = 26;
- constexpr uint32_t OT_bm = 0x2000000UL;
- constexpr uint8_t OT_bp = 25;
- constexpr uint8_t DRIVER_ERROR_bm = 0x2UL;
- 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;
- return data;
- }
- #endif
- #if HAS_DRIVER(TMC2208)
- static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
- static uint8_t get_status_response(TMC2208Stepper &st) {
- uint32_t drv_status = st.DRV_STATUS();
- uint8_t gstat = st.GSTAT();
- uint8_t response = 0;
- response |= (drv_status >> (31-3)) & 0b1000;
- response |= gstat & 0b11;
- return response;
- }
- static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
- constexpr uint32_t OTPW_bm = 0b1ul;
- constexpr uint8_t OTPW_bp = 0;
- constexpr uint32_t OT_bm = 0b10ul;
- 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_error = st.drv_err();
- return data;
- }
- #endif
- template<typename TMC>
- void monitor_tmc_driver(TMC &st, const TMC_AxisEnum axis, uint8_t &otpw_cnt) {
- TMC_driver_data data = get_driver_data(st);
- #if ENABLED(STOP_ON_ERROR)
- if (data.is_error) {
- SERIAL_EOL();
- _tmc_say_axis(axis);
- SERIAL_ECHOLNPGM(" driver error detected:");
- if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
- if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");
- if (st.s2gb()) SERIAL_ECHOLNPGM("short to ground (coil B)");
- #if ENABLED(TMC_DEBUG)
- tmc_report_all();
- #endif
- kill(PSTR("Driver error"));
- }
- #endif
- // Report if a warning was triggered
- 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);
- (void)elapsed.toDigital(timestamp, has_days);
- SERIAL_EOL();
- SERIAL_ECHO(timestamp);
- SERIAL_ECHOPGM(": ");
- _tmc_say_axis(axis);
- SERIAL_ECHOPGM(" driver overtemperature warning! (");
- SERIAL_ECHO(st.getCurrent());
- 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 ENABLED(REPORT_CURRENT_CHANGE)
- _tmc_say_axis(axis);
- SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
- #endif
- }
- #endif
- if (data.is_otpw) {
- otpw_cnt++;
- st.flag_otpw = true;
- }
- else if (otpw_cnt > 0) otpw_cnt = 0;
- if (report_tmc_status) {
- const uint32_t pwm_scale = get_pwm_scale(st);
- _tmc_say_axis(axis);
- 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.flag_otpw) SERIAL_CHAR('F');
- SERIAL_CHAR('\t');
- }
- }
- #define HAS_HW_COMMS(ST) AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && defined(ST##_HARDWARE_SERIAL))
- void monitor_tmc_driver() {
- static millis_t next_cOT = 0;
- 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);
- #endif
- #if HAS_HW_COMMS(Y)
- static uint8_t y_otpw_cnt = 0;
- monitor_tmc_driver(stepperY, TMC_Y, y_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(Z)
- static uint8_t z_otpw_cnt = 0;
- monitor_tmc_driver(stepperZ, TMC_Z, z_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(X2)
- static uint8_t x2_otpw_cnt = 0;
- monitor_tmc_driver(stepperX2, TMC_X, x2_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(Y2)
- static uint8_t y2_otpw_cnt = 0;
- monitor_tmc_driver(stepperY2, TMC_Y, y2_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(Z2)
- static uint8_t z2_otpw_cnt = 0;
- monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(E0)
- static uint8_t e0_otpw_cnt = 0;
- monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(E1)
- static uint8_t e1_otpw_cnt = 0;
- monitor_tmc_driver(stepperE1, TMC_E1, e1_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(E2)
- static uint8_t e2_otpw_cnt = 0;
- monitor_tmc_driver(stepperE2, TMC_E2, e2_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(E3)
- static uint8_t e3_otpw_cnt = 0;
- monitor_tmc_driver(stepperE3, TMC_E3, e3_otpw_cnt);
- #endif
- #if HAS_HW_COMMS(E4)
- static uint8_t e4_otpw_cnt = 0;
- monitor_tmc_driver(stepperE4, TMC_E4, e4_otpw_cnt);
- #endif
- if (report_tmc_status) SERIAL_EOL();
- }
- }
- #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",
- ext_X2[] PROGMEM = "X2", ext_Y2[] PROGMEM = "Y2", ext_Z2[] PROGMEM = "Z2",
- ext_E0[] PROGMEM = "E0", ext_E1[] PROGMEM = "E1",
- ext_E2[] PROGMEM = "E2", ext_E3[] PROGMEM = "E3",
- ext_E4[] PROGMEM = "E4";
- static const char* const tmc_axes[] PROGMEM = { ext_X, ext_Y, ext_Z, ext_X2, ext_Y2, ext_Z2, ext_E0, ext_E1, ext_E2, ext_E3, ext_E4 };
- 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 {
- 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 : char {
- 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 TMC_AxisEnum axis, const uint32_t drv_status) {
- _tmc_say_axis(axis);
- 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 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;
- 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 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;
- 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, const TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
- SERIAL_ECHO('\t');
- switch (i) {
- case TMC_CODES: _tmc_say_axis(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();
- if (tpwmthrs_val)
- SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm));
- else
- 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.hysteresis_end(), DEC); break;
- case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;
- default: tmc_status(st, i); break;
- }
- }
- template <typename TMC>
- static void tmc_parse_drv_status(TMC &st, const TMC_AxisEnum axis, const TMC_drv_status_enum i) {
- SERIAL_CHAR('\t');
- switch (i) {
- case TMC_DRV_CODES: _tmc_say_axis(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(axis, 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]);
- #endif
- #if AXIS_IS_TMC(X2)
- tmc_status(stepperX2, TMC_X2, 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]);
- #endif
- #if AXIS_IS_TMC(Y2)
- tmc_status(stepperY2, TMC_Y2, 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]);
- #endif
- #if AXIS_IS_TMC(Z2)
- tmc_status(stepperZ2, TMC_Z2, 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]);
- #endif
- #if AXIS_IS_TMC(E1)
- tmc_status(stepperE1, TMC_E1, 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
- #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
- #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
- #if ENABLED(DISTINCT_E_FACTORS)
- + 4
- #endif
- ]);
- #endif
- SERIAL_EOL();
- }
- static void drv_status_loop(const TMC_drv_status_enum i) {
- #if AXIS_IS_TMC(X)
- tmc_parse_drv_status(stepperX, TMC_X, i);
- #endif
- #if AXIS_IS_TMC(X2)
- tmc_parse_drv_status(stepperX2, TMC_X2, i);
- #endif
- #if AXIS_IS_TMC(Y)
- tmc_parse_drv_status(stepperY, TMC_Y, i);
- #endif
- #if AXIS_IS_TMC(Y2)
- tmc_parse_drv_status(stepperY2, TMC_Y2, i);
- #endif
- #if AXIS_IS_TMC(Z)
- tmc_parse_drv_status(stepperZ, TMC_Z, i);
- #endif
- #if AXIS_IS_TMC(Z2)
- tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
- #endif
- #if AXIS_IS_TMC(E0)
- tmc_parse_drv_status(stepperE0, TMC_E0, i);
- #endif
- #if AXIS_IS_TMC(E1)
- tmc_parse_drv_status(stepperE1, TMC_E1, i);
- #endif
- #if AXIS_IS_TMC(E2)
- tmc_parse_drv_status(stepperE2, TMC_E2, i);
- #endif
- #if AXIS_IS_TMC(E3)
- tmc_parse_drv_status(stepperE3, TMC_E3, i);
- #endif
- #if AXIS_IS_TMC(E4)
- 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\t", 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("hysteresis\n-end\t", TMC_HEND);
- TMC_REPORT("-start\t", TMC_HSTRT);
- TMC_REPORT("Stallguard thrs", TMC_SGT);
- DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
- #if HAS_DRIVER(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 HAS_DRIVER(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, const bool enable/*=true*/) {
- st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
- #if ENABLED(STEALTHCHOP)
- st.stealthChop(!enable);
- #endif
- st.diag1_stall(enable ? 1 : 0);
- }
- #endif // SENSORLESS_HOMING
- #if HAS_DRIVER(TMC2130)
- #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
- void tmc_init_cs_pins() {
- #if AXIS_DRIVER_TYPE(X, TMC2130)
- SET_CS_PIN(X);
- #endif
- #if AXIS_DRIVER_TYPE(Y, TMC2130)
- SET_CS_PIN(Y);
- #endif
- #if AXIS_DRIVER_TYPE(Z, TMC2130)
- SET_CS_PIN(Z);
- #endif
- #if AXIS_DRIVER_TYPE(X2, TMC2130)
- SET_CS_PIN(X2);
- #endif
- #if AXIS_DRIVER_TYPE(Y2, TMC2130)
- SET_CS_PIN(Y2);
- #endif
- #if AXIS_DRIVER_TYPE(Z2, TMC2130)
- SET_CS_PIN(Z2);
- #endif
- #if AXIS_DRIVER_TYPE(E0, TMC2130)
- SET_CS_PIN(E0);
- #endif
- #if AXIS_DRIVER_TYPE(E1, TMC2130)
- SET_CS_PIN(E1);
- #endif
- #if AXIS_DRIVER_TYPE(E2, TMC2130)
- SET_CS_PIN(E2);
- #endif
- #if AXIS_DRIVER_TYPE(E3, TMC2130)
- SET_CS_PIN(E3);
- #endif
- #if AXIS_DRIVER_TYPE(E4, TMC2130)
- SET_CS_PIN(E4);
- #endif
- }
- #endif // TMC2130
- #endif // HAS_TRINAMIC
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