From 48d7036874e55131847360e5693d9807ee0e5184 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 18 Mar 2018 19:01:42 -0500 Subject: [PATCH 1/4] Consolidate smart stepper driver initialization --- Marlin/src/feature/power.cpp | 5 + Marlin/src/gcode/control/M80_M81.cpp | 11 +- Marlin/src/module/stepper.cpp | 25 --- Marlin/src/module/stepper_indirection.cpp | 201 ++++++++++++++-------- Marlin/src/module/stepper_indirection.h | 77 +++++---- 5 files changed, 173 insertions(+), 146 deletions(-) diff --git a/Marlin/src/feature/power.cpp b/Marlin/src/feature/power.cpp index 6e5ba9d43f..72b2504cc0 100644 --- a/Marlin/src/feature/power.cpp +++ b/Marlin/src/feature/power.cpp @@ -88,6 +88,11 @@ void Power::check() { void Power::power_on() { lastPowerOn = millis(); PSU_PIN_ON(); + + #if HAS_TRINAMIC + delay(100); // Wait for power to settle + restore_stepper_drivers(); + #endif } void Power::power_off() { diff --git a/Marlin/src/gcode/control/M80_M81.cpp b/Marlin/src/gcode/control/M80_M81.cpp index eee197dbbd..59ae933221 100644 --- a/Marlin/src/gcode/control/M80_M81.cpp +++ b/Marlin/src/gcode/control/M80_M81.cpp @@ -76,14 +76,9 @@ OUT_WRITE(SUICIDE_PIN, HIGH); #endif - #if ENABLED(HAVE_TMC2130) - delay(100); - tmc2130_init(); // Settings only stick when the driver has power - #endif - - #if ENABLED(HAVE_TMC2208) - delay(100); - tmc2208_init(); + #if DISABLED(AUTO_POWER_CONTROL) + delay(100); // Wait for power to settle + restore_stepper_drivers(); #endif #if ENABLED(ULTIPANEL) diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 60305919b8..bdb25bbf6a 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -921,31 +921,6 @@ void Stepper::init() { microstep_init(); #endif - // Init TMC Steppers - #if ENABLED(HAVE_TMC26X) - tmc26x_init(); - #endif - - // Init TMC2130 Steppers - #if ENABLED(HAVE_TMC2130) - tmc2130_init(); - #endif - - // Init TMC2208 Steppers - #if ENABLED(HAVE_TMC2208) - tmc2208_init(); - #endif - - // TRAMS, TMC2130 and TMC2208 advanced settings - #if HAS_TRINAMIC - TMC_ADV() - #endif - - // Init L6470 Steppers - #if ENABLED(HAVE_L6470DRIVER) - L6470_init(); - #endif - // Init Dir Pins #if HAS_X_DIR X_DIR_INIT; diff --git a/Marlin/src/module/stepper_indirection.cpp b/Marlin/src/module/stepper_indirection.cpp index e92ad8826c..1e54fc8768 100644 --- a/Marlin/src/module/stepper_indirection.cpp +++ b/Marlin/src/module/stepper_indirection.cpp @@ -47,83 +47,82 @@ #include #endif - #define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR) + #define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR) #if ENABLED(X_IS_TMC26X) - _TMC_DEFINE(X); + _TMC26X_DEFINE(X); #endif #if ENABLED(X2_IS_TMC26X) - _TMC_DEFINE(X2); + _TMC26X_DEFINE(X2); #endif #if ENABLED(Y_IS_TMC26X) - _TMC_DEFINE(Y); + _TMC26X_DEFINE(Y); #endif #if ENABLED(Y2_IS_TMC26X) - _TMC_DEFINE(Y2); + _TMC26X_DEFINE(Y2); #endif #if ENABLED(Z_IS_TMC26X) - _TMC_DEFINE(Z); + _TMC26X_DEFINE(Z); #endif #if ENABLED(Z2_IS_TMC26X) - _TMC_DEFINE(Z2); + _TMC26X_DEFINE(Z2); #endif #if ENABLED(E0_IS_TMC26X) - _TMC_DEFINE(E0); + _TMC26X_DEFINE(E0); #endif #if ENABLED(E1_IS_TMC26X) - _TMC_DEFINE(E1); + _TMC26X_DEFINE(E1); #endif #if ENABLED(E2_IS_TMC26X) - _TMC_DEFINE(E2); + _TMC26X_DEFINE(E2); #endif #if ENABLED(E3_IS_TMC26X) - _TMC_DEFINE(E3); + _TMC26X_DEFINE(E3); #endif #if ENABLED(E4_IS_TMC26X) - _TMC_DEFINE(E4); + _TMC26X_DEFINE(E4); #endif - #define _TMC_INIT(A) do{ \ + #define _TMC26X_INIT(A) do{ \ stepper##A.setMicrosteps(A##_MICROSTEPS); \ stepper##A.start(); \ }while(0) - void tmc26x_init() { + void tmc26x_init_to_defaults() { #if ENABLED(X_IS_TMC26X) - _TMC_INIT(X); + _TMC26X_INIT(X); #endif #if ENABLED(X2_IS_TMC26X) - _TMC_INIT(X2); + _TMC26X_INIT(X2); #endif #if ENABLED(Y_IS_TMC26X) - _TMC_INIT(Y); + _TMC26X_INIT(Y); #endif #if ENABLED(Y2_IS_TMC26X) - _TMC_INIT(Y2); + _TMC26X_INIT(Y2); #endif #if ENABLED(Z_IS_TMC26X) - _TMC_INIT(Z); + _TMC26X_INIT(Z); #endif #if ENABLED(Z2_IS_TMC26X) - _TMC_INIT(Z2); + _TMC26X_INIT(Z2); #endif #if ENABLED(E0_IS_TMC26X) - _TMC_INIT(E0); + _TMC26X_INIT(E0); #endif #if ENABLED(E1_IS_TMC26X) - _TMC_INIT(E1); + _TMC26X_INIT(E1); #endif #if ENABLED(E2_IS_TMC26X) - _TMC_INIT(E2); + _TMC26X_INIT(E2); #endif #if ENABLED(E3_IS_TMC26X) - _TMC_INIT(E3); + _TMC26X_INIT(E3); #endif #if ENABLED(E4_IS_TMC26X) - _TMC_INIT(E4); + _TMC26X_INIT(E4); #endif } - #endif // HAVE_TMC26X // @@ -180,9 +179,9 @@ // Use internal reference voltage for current calculations. This is the default. // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609) // https://www.trinamic.com/products/integrated-circuits/details/tmc2130/ - void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) { + void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) { st.begin(); - st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER); + st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER); st.microsteps(microsteps); st.blank_time(24); st.off_time(5); // Only enables the driver if used with stealthChop @@ -209,9 +208,9 @@ st.GSTAT(); // Clear GSTAT } - #define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM) + #define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM) - void tmc2130_init() { + void tmc2130_init_to_defaults() { #if ENABLED(X_IS_TMC2130) _TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]); #endif @@ -234,34 +233,45 @@ _TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]); #endif #if ENABLED(E1_IS_TMC2130) - _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS - #if ENABLED(DISTINCT_E_FACTORS) - + 1 - #endif - ]); + { constexpr int extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); } #endif #if ENABLED(E2_IS_TMC2130) - _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS - #if ENABLED(DISTINCT_E_FACTORS) - + 2 - #endif - ]); + { constexpr int extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); } #endif #if ENABLED(E3_IS_TMC2130) - _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS - #if ENABLED(DISTINCT_E_FACTORS) - + 3 - #endif - ]); + { constexpr int extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); } #endif #if ENABLED(E4_IS_TMC2130) - _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS - #if ENABLED(DISTINCT_E_FACTORS) - + 4 - #endif - ]); + { constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); } #endif + #if ENABLED(SENSORLESS_HOMING) + #define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY); + #ifdef X_HOMING_SENSITIVITY + #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) + stepperX.sgt(X_HOMING_SENSITIVITY); + #endif + #if ENABLED(X2_IS_TMC2130) + stepperX2.sgt(X_HOMING_SENSITIVITY); + #endif + #endif + #ifdef Y_HOMING_SENSITIVITY + #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) + stepperY.sgt(Y_HOMING_SENSITIVITY); + #endif + #if ENABLED(Y2_IS_TMC2130) + stepperY2.sgt(Y_HOMING_SENSITIVITY); + #endif + #endif + #ifdef Z_HOMING_SENSITIVITY + #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) + stepperZ.sgt(Z_HOMING_SENSITIVITY); + #endif + #if ENABLED(Z2_IS_TMC2130) + stepperZ2.sgt(Z_HOMING_SENSITIVITY); + #endif + #endif + #endif } #endif // HAVE_TMC2130 @@ -396,11 +406,11 @@ // Use internal reference voltage for current calculations. This is the default. // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609) - void tmc2208_init(TMC2208Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) { + void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) { st.pdn_disable(true); // Use UART st.mstep_reg_select(true); // Select microsteps with UART st.I_scale_analog(false); - st.rms_current(st.getCurrent(), HOLD_MULTIPLIER, R_SENSE); + st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE); st.microsteps(microsteps); st.blank_time(24); st.toff(5); @@ -430,9 +440,9 @@ delay(200); } - #define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM) + #define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM) - void tmc2208_init() { + void tmc2208_init_to_defaults() { #if ENABLED(X_IS_TMC2208) _TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]); #endif @@ -455,36 +465,76 @@ _TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]); #endif #if ENABLED(E1_IS_TMC2208) - _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS - #if ENABLED(DISTINCT_E_FACTORS) - + 1 - #endif - ]); + { constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); } #endif #if ENABLED(E2_IS_TMC2208) - _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS - #if ENABLED(DISTINCT_E_FACTORS) - + 2 - #endif - ]); + { constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); } #endif #if ENABLED(E3_IS_TMC2208) - _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS - #if ENABLED(DISTINCT_E_FACTORS) - + 3 - #endif - ]); + { constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); } #endif #if ENABLED(E4_IS_TMC2208) - _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS - #if ENABLED(DISTINCT_E_FACTORS) - + 4 - #endif - ]); + { constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); } #endif } #endif // HAVE_TMC2208 +void restore_stepper_drivers() { + #if X_IS_TRINAMIC + stepperX.push(); + #endif + #if X2_IS_TRINAMIC + stepperX2.push(); + #endif + #if Y_IS_TRINAMIC + stepperY.push(); + #endif + #if Y2_IS_TRINAMIC + stepperY2.push(); + #endif + #if Z_IS_TRINAMIC + stepperZ.push(); + #endif + #if Z2_IS_TRINAMIC + stepperZ2.push(); + #endif + #if E0_IS_TRINAMIC + stepperE0.push(); + #endif + #if E1_IS_TRINAMIC + stepperE1.push(); + #endif + #if E2_IS_TRINAMIC + stepperE2.push(); + #endif + #if E3_IS_TRINAMIC + stepperE3.push(); + #endif + #if E4_IS_TRINAMIC + stepperE4.push(); + #endif +} + +void reset_stepper_drivers() { + #if ENABLED(HAVE_TMC26X) + tmc26x_init_to_defaults(); + #endif + #if ENABLED(HAVE_TMC2130) + delay(100); + tmc2130_init_to_defaults(); + #endif + #if ENABLED(HAVE_TMC2208) + delay(100); + tmc2208_init_to_defaults(); + #endif + #ifdef TMC_ADV + TMC_ADV() + #endif + #if ENABLED(HAVE_L6470DRIVER) + L6470_init_to_defaults(); + #endif +} + // // L6470 Driver objects and inits // @@ -538,7 +588,7 @@ stepper##A.setStallCurrent(A##_STALLCURRENT); \ }while(0) - void L6470_init() { + void L6470_init_to_defaults() { #if ENABLED(X_IS_L6470) _L6470_INIT(X); #endif @@ -575,4 +625,3 @@ } #endif // HAVE_L6470DRIVER - diff --git a/Marlin/src/module/stepper_indirection.h b/Marlin/src/module/stepper_indirection.h index 6a4126e5b7..3342337340 100644 --- a/Marlin/src/module/stepper_indirection.h +++ b/Marlin/src/module/stepper_indirection.h @@ -54,29 +54,32 @@ #else #include #endif - void tmc26x_init(); + void tmc26x_init_to_defaults(); #endif #if ENABLED(HAVE_TMC2130) #include - void tmc2130_init(); + void tmc2130_init_to_defaults(); #endif #if ENABLED(HAVE_TMC2208) #include void tmc2208_serial_begin(); - void tmc2208_init(); + void tmc2208_init_to_defaults(); #endif // L6470 has STEP on normal pins, but DIR/ENABLE via SPI #if ENABLED(HAVE_L6470DRIVER) #include #include - void L6470_init(); + void L6470_init_to_defaults(); #endif +void restore_stepper_drivers(); // Called by PSU_ON +void reset_stepper_drivers(); // Called by settings.load / settings.reset + // X Stepper -#if ENABLED(HAVE_L6470DRIVER) && ENABLED(X_IS_L6470) +#if ENABLED(X_IS_L6470) extern L6470 stepperX; #define X_ENABLE_INIT NOOP #define X_ENABLE_WRITE(STATE) do{ if (STATE) stepperX.Step_Clock(stepperX.getStatus() & STATUS_HIZ); else stepperX.softFree(); }while(0) @@ -91,9 +94,9 @@ #define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE) #define X_ENABLE_READ stepperX.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(X_IS_TMC2130) + #if ENABLED(X_IS_TMC2130) extern TMC2130Stepper stepperX; - #elif ENABLED(HAVE_TMC2208) && ENABLED(X_IS_TMC2208) + #elif ENABLED(X_IS_TMC2208) extern TMC2208Stepper stepperX; #endif #define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN) @@ -109,7 +112,7 @@ #define X_STEP_READ READ(X_STEP_PIN) // Y Stepper -#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Y_IS_L6470) +#if ENABLED(Y_IS_L6470) extern L6470 stepperY; #define Y_ENABLE_INIT NOOP #define Y_ENABLE_WRITE(STATE) do{ if (STATE) stepperY.Step_Clock(stepperY.getStatus() & STATUS_HIZ); else stepperY.softFree(); }while(0) @@ -124,9 +127,9 @@ #define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE) #define Y_ENABLE_READ stepperY.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(Y_IS_TMC2130) + #if ENABLED(Y_IS_TMC2130) extern TMC2130Stepper stepperY; - #elif ENABLED(HAVE_TMC2208) && ENABLED(Y_IS_TMC2208) + #elif ENABLED(Y_IS_TMC2208) extern TMC2208Stepper stepperY; #endif #define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN) @@ -142,7 +145,7 @@ #define Y_STEP_READ READ(Y_STEP_PIN) // Z Stepper -#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Z_IS_L6470) +#if ENABLED(Z_IS_L6470) extern L6470 stepperZ; #define Z_ENABLE_INIT NOOP #define Z_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ.Step_Clock(stepperZ.getStatus() & STATUS_HIZ); else stepperZ.softFree(); }while(0) @@ -157,9 +160,9 @@ #define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE) #define Z_ENABLE_READ stepperZ.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(Z_IS_TMC2130) + #if ENABLED(Z_IS_TMC2130) extern TMC2130Stepper stepperZ; - #elif ENABLED(HAVE_TMC2208) && ENABLED(Z_IS_TMC2208) + #elif ENABLED(Z_IS_TMC2208) extern TMC2208Stepper stepperZ; #endif #define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN) @@ -176,7 +179,7 @@ // X2 Stepper #if HAS_X2_ENABLE - #if ENABLED(HAVE_L6470DRIVER) && ENABLED(X2_IS_L6470) + #if ENABLED(X2_IS_L6470) extern L6470 stepperX2; #define X2_ENABLE_INIT NOOP #define X2_ENABLE_WRITE(STATE) do{ if (STATE) stepperX2.Step_Clock(stepperX2.getStatus() & STATUS_HIZ); else stepperX2.softFree(); }while(0) @@ -191,9 +194,9 @@ #define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE) #define X2_ENABLE_READ stepperX2.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(X2_IS_TMC2130) + #if ENABLED(X2_IS_TMC2130) extern TMC2130Stepper stepperX2; - #elif ENABLED(HAVE_TMC2208) && ENABLED(X2_IS_TMC2208) + #elif ENABLED(X2_IS_TMC2208) extern TMC2208Stepper stepperX2; #endif #define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN) @@ -211,7 +214,7 @@ // Y2 Stepper #if HAS_Y2_ENABLE - #if ENABLED(HAVE_L6470DRIVER) && ENABLED(Y2_IS_L6470) + #if ENABLED(Y2_IS_L6470) extern L6470 stepperY2; #define Y2_ENABLE_INIT NOOP #define Y2_ENABLE_WRITE(STATE) do{ if (STATE) stepperY2.Step_Clock(stepperY2.getStatus() & STATUS_HIZ); else stepperY2.softFree(); }while(0) @@ -226,9 +229,9 @@ #define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE) #define Y2_ENABLE_READ stepperY2.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(Y2_IS_TMC2130) + #if ENABLED(Y2_IS_TMC2130) extern TMC2130Stepper stepperY2; - #elif ENABLED(HAVE_TMC2208) && ENABLED(Y2_IS_TMC2208) + #elif ENABLED(Y2_IS_TMC2208) extern TMC2208Stepper stepperY2; #endif #define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN) @@ -246,7 +249,7 @@ // Z2 Stepper #if HAS_Z2_ENABLE - #if ENABLED(HAVE_L6470DRIVER) && ENABLED(Z2_IS_L6470) + #if ENABLED(Z2_IS_L6470) extern L6470 stepperZ2; #define Z2_ENABLE_INIT NOOP #define Z2_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ2.Step_Clock(stepperZ2.getStatus() & STATUS_HIZ); else stepperZ2.softFree(); }while(0) @@ -261,9 +264,9 @@ #define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE) #define Z2_ENABLE_READ stepperZ2.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(Z2_IS_TMC2130) + #if ENABLED(Z2_IS_TMC2130) extern TMC2130Stepper stepperZ2; - #elif ENABLED(HAVE_TMC2208) && ENABLED(Z2_IS_TMC2208) + #elif ENABLED(Z2_IS_TMC2208) extern TMC2208Stepper stepperZ2; #endif #define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN) @@ -280,7 +283,7 @@ #endif // E0 Stepper -#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E0_IS_L6470) +#if ENABLED(E0_IS_L6470) extern L6470 stepperE0; #define E0_ENABLE_INIT NOOP #define E0_ENABLE_WRITE(STATE) do{ if (STATE) stepperE0.Step_Clock(stepperE0.getStatus() & STATUS_HIZ); else stepperE0.softFree(); }while(0) @@ -295,9 +298,9 @@ #define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE) #define E0_ENABLE_READ stepperE0.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(E0_IS_TMC2130) + #if ENABLED(E0_IS_TMC2130) extern TMC2130Stepper stepperE0; - #elif ENABLED(HAVE_TMC2208) && ENABLED(E0_IS_TMC2208) + #elif ENABLED(E0_IS_TMC2208) extern TMC2208Stepper stepperE0; #endif #define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN) @@ -313,7 +316,7 @@ #define E0_STEP_READ READ(E0_STEP_PIN) // E1 Stepper -#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E1_IS_L6470) +#if ENABLED(E1_IS_L6470) extern L6470 stepperE1; #define E1_ENABLE_INIT NOOP #define E1_ENABLE_WRITE(STATE) do{ if (STATE) stepperE1.Step_Clock(stepperE1.getStatus() & STATUS_HIZ); else stepperE1.softFree(); }while(0) @@ -328,9 +331,9 @@ #define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE) #define E1_ENABLE_READ stepperE1.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(E1_IS_TMC2130) + #if ENABLED(E1_IS_TMC2130) extern TMC2130Stepper stepperE1; - #elif ENABLED(HAVE_TMC2208) && ENABLED(E1_IS_TMC2208) + #elif ENABLED(E1_IS_TMC2208) extern TMC2208Stepper stepperE1; #endif #define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN) @@ -346,7 +349,7 @@ #define E1_STEP_READ READ(E1_STEP_PIN) // E2 Stepper -#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E2_IS_L6470) +#if ENABLED(E2_IS_L6470) extern L6470 stepperE2; #define E2_ENABLE_INIT NOOP #define E2_ENABLE_WRITE(STATE) do{ if (STATE) stepperE2.Step_Clock(stepperE2.getStatus() & STATUS_HIZ); else stepperE2.softFree(); }while(0) @@ -361,9 +364,9 @@ #define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE) #define E2_ENABLE_READ stepperE2.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(E2_IS_TMC2130) + #if ENABLED(E2_IS_TMC2130) extern TMC2130Stepper stepperE2; - #elif ENABLED(HAVE_TMC2208) && ENABLED(E2_IS_TMC2208) + #elif ENABLED(E2_IS_TMC2208) extern TMC2208Stepper stepperE2; #endif #define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN) @@ -379,7 +382,7 @@ #define E2_STEP_READ READ(E2_STEP_PIN) // E3 Stepper -#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E3_IS_L6470) +#if ENABLED(E3_IS_L6470) extern L6470 stepperE3; #define E3_ENABLE_INIT NOOP #define E3_ENABLE_WRITE(STATE) do{ if (STATE) stepperE3.Step_Clock(stepperE3.getStatus() & STATUS_HIZ); else stepperE3.softFree(); }while(0) @@ -394,9 +397,9 @@ #define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE) #define E3_ENABLE_READ stepperE3.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(E3_IS_TMC2130) + #if ENABLED(E3_IS_TMC2130) extern TMC2130Stepper stepperE3; - #elif ENABLED(HAVE_TMC2208) && ENABLED(E3_IS_TMC2208) + #elif ENABLED(E3_IS_TMC2208) extern TMC2208Stepper stepperE3; #endif #define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN) @@ -412,7 +415,7 @@ #define E3_STEP_READ READ(E3_STEP_PIN) // E4 Stepper -#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E4_IS_L6470) +#if ENABLED(E4_IS_L6470) extern L6470 stepperE4; #define E4_ENABLE_INIT NOOP #define E4_ENABLE_WRITE(STATE) do{ if (STATE) stepperE4.Step_Clock(stepperE4.getStatus() & STATUS_HIZ); else stepperE4.softFree(); }while(0) @@ -427,9 +430,9 @@ #define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE) #define E4_ENABLE_READ stepperE4.isEnabled() #else - #if ENABLED(HAVE_TMC2130) && ENABLED(E4_IS_TMC2130) + #if ENABLED(E4_IS_TMC2130) extern TMC2130Stepper stepperE4; - #elif ENABLED(HAVE_TMC2208) && ENABLED(E4_IS_TMC2208) + #elif ENABLED(E4_IS_TMC2208) extern TMC2208Stepper stepperE4; #endif #define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN) From c95450016b1f42c09ae54a3b293b41de9ff15102 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 14 Mar 2018 22:03:53 -0500 Subject: [PATCH 2/4] Improve Trinamic support in the EEPROM --- Marlin/src/feature/tmc_util.h | 2 +- Marlin/src/module/configuration_store.cpp | 444 +++++++++++++--------- 2 files changed, 274 insertions(+), 172 deletions(-) diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h index 8ea7a862b9..544eaa07a4 100644 --- a/Marlin/src/feature/tmc_util.h +++ b/Marlin/src/feature/tmc_util.h @@ -35,7 +35,7 @@ extern bool report_tmc_status; -enum TMC_AxisEnum : char { TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 }; +enum TMC_AxisEnum : char { TMC_X, TMC_Y, TMC_Z, TMC_X2, TMC_Y2, TMC_Z2, 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); diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 96435a45e1..eb1d9db1d8 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -37,7 +37,7 @@ */ // Change EEPROM version if the structure changes -#define EEPROM_VERSION "V52" +#define EEPROM_VERSION "V53" #define EEPROM_OFFSET 100 // Check the integrity of data offsets. @@ -74,8 +74,10 @@ #include "../module/probe.h" #endif -#if ENABLED(HAVE_TMC2130) +#if HAS_TRINAMIC #include "stepper_indirection.h" + #include "../feature/tmc_util.h" + #define TMC_GET_PWMTHRS(P,Q) _tmc_thrs(stepper##Q.microsteps(), stepper##Q.TPWMTHRS(), planner.axis_steps_per_mm[P##_AXIS]) #endif #if ENABLED(FWRETRACT) @@ -230,7 +232,9 @@ typedef struct SettingsDataStruct { // // HAS_TRINAMIC // - uint16_t tmc_stepper_current[11]; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4 + #define TMC_AXES (MAX_EXTRUDERS + 6) + uint16_t tmc_stepper_current[TMC_AXES]; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4 + uint32_t tmc_hybrid_threshold[TMC_AXES]; // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4 int16_t tmc_sgt[XYZ]; // M914 X Y Z // @@ -658,7 +662,7 @@ void MarlinSettings::postprocess() { _FIELD_TEST(tmc_stepper_current); - uint16_t currents[11] = { + uint16_t tmc_stepper_current[TMC_AXES] = { #if HAS_TRINAMIC #if X_IS_TRINAMIC stepperX.getCurrent(), @@ -719,24 +723,95 @@ void MarlinSettings::postprocess() { 0 #endif }; - EEPROM_WRITE(currents); + EEPROM_WRITE(tmc_stepper_current); + + // + // Save TMC2130 or TMC2208 Hybrid Threshold, and placeholder values + // + + _FIELD_TEST(tmc_hybrid_threshold); + + uint32_t tmc_hybrid_threshold[TMC_AXES] = { + #if HAS_TRINAMIC + #if X_IS_TRINAMIC + TMC_GET_PWMTHRS(X, X), + #else + X_HYBRID_THRESHOLD, + #endif + #if Y_IS_TRINAMIC + TMC_GET_PWMTHRS(Y, Y), + #else + Y_HYBRID_THRESHOLD, + #endif + #if Z_IS_TRINAMIC + TMC_GET_PWMTHRS(Z, Z), + #else + Z_HYBRID_THRESHOLD, + #endif + #if X2_IS_TRINAMIC + TMC_GET_PWMTHRS(X, X2), + #else + X2_HYBRID_THRESHOLD, + #endif + #if Y2_IS_TRINAMIC + TMC_GET_PWMTHRS(Y, Y2), + #else + Y2_HYBRID_THRESHOLD, + #endif + #if Z2_IS_TRINAMIC + TMC_GET_PWMTHRS(Z, Z2), + #else + Z2_HYBRID_THRESHOLD, + #endif + #if E0_IS_TRINAMIC + TMC_GET_PWMTHRS(E, E0), + #else + E0_HYBRID_THRESHOLD, + #endif + #if E1_IS_TRINAMIC + TMC_GET_PWMTHRS(E, E1), + #else + E1_HYBRID_THRESHOLD, + #endif + #if E2_IS_TRINAMIC + TMC_GET_PWMTHRS(E, E2), + #else + E2_HYBRID_THRESHOLD, + #endif + #if E3_IS_TRINAMIC + TMC_GET_PWMTHRS(E, E3), + #else + E3_HYBRID_THRESHOLD, + #endif + #if E4_IS_TRINAMIC + TMC_GET_PWMTHRS(E, E4) + #else + E4_HYBRID_THRESHOLD + #endif + #else + 100, 100, 3, // X, Y, Z + 100, 100, 3, // X2, Y2, Z2 + 30, 30, 30, 30, 30 // E0, E1, E2, E3, E4 + #endif + }; + EEPROM_WRITE(tmc_hybrid_threshold); // // TMC2130 Sensorless homing threshold // - int16_t thrs[XYZ] = { + int16_t tmc_sgt[XYZ] = { #if ENABLED(SENSORLESS_HOMING) - #if ENABLED(X_IS_TMC2130) && defined(X_HOMING_SENSITIVITY) + #if defined(X_HOMING_SENSITIVITY) && (ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)) stepperX.sgt(), #else 0, #endif - #if ENABLED(Y_IS_TMC2130) && defined(Y_HOMING_SENSITIVITY) + #if defined(Y_HOMING_SENSITIVITY) && (ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)) stepperY.sgt(), #else 0 #endif - #if ENABLED(Z_IS_TMC2130) && defined(Z_HOMING_SENSITIVITY) + #if defined(Z_HOMING_SENSITIVITY) && (ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)) stepperZ.sgt() #else 0 @@ -745,7 +820,7 @@ void MarlinSettings::postprocess() { 0 #endif }; - EEPROM_WRITE(thrs); + EEPROM_WRITE(tmc_sgt); // // Linear Advance @@ -794,7 +869,7 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(planner.yz_skew_factor); #else dummy = 0.0f; - for (uint8_t q = XYZ; q--;) EEPROM_WRITE(dummy); + for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy); #endif // @@ -1197,54 +1272,101 @@ void MarlinSettings::postprocess() { #endif + if (!validating) reset_stepper_drivers(); + // - // TMC2130 Stepper Current + // TMC2130 Stepper Settings // _FIELD_TEST(tmc_stepper_current); #if HAS_TRINAMIC - #define SET_CURR(N,Q) stepper##Q.setCurrent(currents[N] ? currents[N] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER) - uint16_t currents[11]; + + #define SET_CURR(Q) stepper##Q.setCurrent(currents[TMC_##Q] ? currents[TMC_##Q] : Q##_CURRENT, R_SENSE, HOLD_MULTIPLIER) + uint16_t currents[TMC_AXES]; EEPROM_READ(currents); if (!validating) { #if X_IS_TRINAMIC - SET_CURR(0, X); + SET_CURR(X); #endif #if Y_IS_TRINAMIC - SET_CURR(1, Y); + SET_CURR(Y); #endif #if Z_IS_TRINAMIC - SET_CURR(2, Z); + SET_CURR(Z); #endif #if X2_IS_TRINAMIC - SET_CURR(3, X2); + SET_CURR(X2); #endif #if Y2_IS_TRINAMIC - SET_CURR(4, Y2); + SET_CURR(Y2); #endif #if Z2_IS_TRINAMIC - SET_CURR(5, Z2); + SET_CURR(Z2); #endif #if E0_IS_TRINAMIC - SET_CURR(6, E0); + SET_CURR(E0); #endif #if E1_IS_TRINAMIC - SET_CURR(7, E1); + SET_CURR(E1); #endif #if E2_IS_TRINAMIC - SET_CURR(8, E2); + SET_CURR(E2); #endif #if E3_IS_TRINAMIC - SET_CURR(9, E3); + SET_CURR(E3); #endif #if E4_IS_TRINAMIC - SET_CURR(10, E4); + SET_CURR(E4); #endif } #else uint16_t val; - for (uint8_t q=11; q--;) EEPROM_READ(val); + for (uint8_t q=TMC_AXES; q--;) EEPROM_READ(val); + #endif + + #if HAS_TRINAMIC + #define TMC_SET_PWMTHRS(P,Q) tmc_set_pwmthrs(stepper##Q, TMC_##Q, tmc_hybrid_threshold[TMC_##Q], planner.axis_steps_per_mm[P##_AXIS]) + uint16_t tmc_hybrid_threshold[TMC_AXES]; + EEPROM_READ(tmc_hybrid_threshold); + if (!validating) { + #if X_IS_TRINAMIC + TMC_SET_PWMTHRS(X, X); + #endif + #if Y_IS_TRINAMIC + TMC_SET_PWMTHRS(Y, Y); + #endif + #if Z_IS_TRINAMIC + TMC_SET_PWMTHRS(Z, Z); + #endif + #if X2_IS_TRINAMIC + TMC_SET_PWMTHRS(X, X2); + #endif + #if Y2_IS_TRINAMIC + TMC_SET_PWMTHRS(Y, Y2); + #endif + #if Z2_IS_TRINAMIC + TMC_SET_PWMTHRS(Z, Z2); + #endif + #if E0_IS_TRINAMIC + TMC_SET_PWMTHRS(E, E0); + #endif + #if E1_IS_TRINAMIC + TMC_SET_PWMTHRS(E, E1); + #endif + #if E2_IS_TRINAMIC + TMC_SET_PWMTHRS(E, E2); + #endif + #if E3_IS_TRINAMIC + TMC_SET_PWMTHRS(E, E3); + #endif + #if E4_IS_TRINAMIC + TMC_SET_PWMTHRS(E, E4); + #endif + } + #else + uint16_t thrs_val; + for (uint8_t q=TMC_AXES; q--;) EEPROM_READ(thrs_val); #endif /* @@ -1253,32 +1375,32 @@ void MarlinSettings::postprocess() { * Y and Y2 use the same value * Z and Z2 use the same value */ - int16_t thrs[XYZ]; - EEPROM_READ(thrs); + int16_t tmc_sgt[XYZ]; + EEPROM_READ(tmc_sgt); #if ENABLED(SENSORLESS_HOMING) if (!validating) { #ifdef X_HOMING_SENSITIVITY - #if ENABLED(X_IS_TMC2130) - stepperX.sgt(thrs[0]); + #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) + stepperX.sgt(tmc_sgt[0]); #endif #if ENABLED(X2_IS_TMC2130) - stepperX2.sgt(thrs[0]); + stepperX2.sgt(tmc_sgt[0]); #endif #endif #ifdef Y_HOMING_SENSITIVITY - #if ENABLED(Y_IS_TMC2130) - stepperY.sgt(thrs[1]); + #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) + stepperY.sgt(tmc_sgt[1]); #endif #if ENABLED(Y2_IS_TMC2130) - stepperY2.sgt(thrs[1]); + stepperY2.sgt(tmc_sgt[1]); #endif #endif #ifdef Z_HOMING_SENSITIVITY - #if ENABLED(Z_IS_TMC2130) - stepperZ.sgt(thrs[2]); + #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) + stepperZ.sgt(tmc_sgt[2]); #endif #if ENABLED(Z2_IS_TMC2130) - stepperZ2.sgt(thrs[2]); + stepperZ2.sgt(tmc_sgt[2]); #endif #endif } @@ -1338,7 +1460,7 @@ void MarlinSettings::postprocess() { EEPROM_READ(dummy); #endif #else - for (uint8_t q = XYZ; q--;) EEPROM_READ(dummy); + for (uint8_t q = 3; q--;) EEPROM_READ(dummy); #endif // @@ -1731,66 +1853,7 @@ void MarlinSettings::reset(PORTARG_SOLO) { #endif ); - #if X_IS_TRINAMIC - stepperX.setCurrent(X_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if Y_IS_TRINAMIC - stepperY.setCurrent(Y_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if Z_IS_TRINAMIC - stepperZ.setCurrent(Z_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if X2_IS_TRINAMIC - stepperX2.setCurrent(X2_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if Y2_IS_TRINAMIC - stepperY2.setCurrent(Y2_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if Z2_IS_TRINAMIC - stepperZ2.setCurrent(Z2_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if E0_IS_TRINAMIC - stepperE0.setCurrent(E0_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if E1_IS_TRINAMIC - stepperE1.setCurrent(E1_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if E2_IS_TRINAMIC - stepperE2.setCurrent(E2_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if E3_IS_TRINAMIC - stepperE3.setCurrent(E3_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - #if E4_IS_TRINAMIC - stepperE4.setCurrent(E4_CURRENT, R_SENSE, HOLD_MULTIPLIER); - #endif - - #if ENABLED(SENSORLESS_HOMING) - #ifdef X_HOMING_SENSITIVITY - #if ENABLED(X_IS_TMC2130) - stepperX.sgt(X_HOMING_SENSITIVITY); - #endif - #if ENABLED(X2_IS_TMC2130) - stepperX2.sgt(X_HOMING_SENSITIVITY); - #endif - #endif - #ifdef Y_HOMING_SENSITIVITY - #if ENABLED(Y_IS_TMC2130) - stepperY.sgt(Y_HOMING_SENSITIVITY); - #endif - #if ENABLED(Y2_IS_TMC2130) - stepperY2.sgt(Y_HOMING_SENSITIVITY); - #endif - #endif - #ifdef Z_HOMING_SENSITIVITY - #if ENABLED(Z_IS_TMC2130) - stepperZ.sgt(Z_HOMING_SENSITIVITY); - #endif - #if ENABLED(Z2_IS_TMC2130) - stepperZ2.sgt(Z_HOMING_SENSITIVITY); - #endif - #endif - #endif + reset_stepper_drivers(); #if ENABLED(LIN_ADVANCE) planner.extruder_advance_K = LIN_ADVANCE_K; @@ -1829,6 +1892,10 @@ void MarlinSettings::reset(PORTARG_SOLO) { #define CONFIG_ECHO_START do{ if (!forReplay) SERIAL_ECHO_START_P(port); }while(0) + #if ENABLED(ADVANCED_PAUSE_FEATURE) + void say_M603() { SERIAL_ECHOPGM_P(port, " M603 "); } + #endif + /** * M503 - Report current settings in RAM * @@ -1849,7 +1916,7 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOPGM_P(port, " G2"); SERIAL_CHAR_P(port, parser.linear_unit_factor == 1.0 ? '1' : '0'); SERIAL_ECHOPGM_P(port, " ; Units in "); - serialprintPGM(parser.linear_unit_factor == 1.0 ? PSTR("mm\n") : PSTR("inches\n")); + serialprintPGM_P(port, parser.linear_unit_factor == 1.0 ? PSTR("mm\n") : PSTR("inches\n")); #else #define LINEAR_UNIT(N) (N) #define VOLUMETRIC_UNIT(N) (N) @@ -2076,7 +2143,7 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOPAIR_P(port, " G29 S3 X", (int)px + 1); SERIAL_ECHOPAIR_P(port, " Y", (int)py + 1); SERIAL_ECHOPGM_P(port, " Z"); - SERIAL_PROTOCOL_F_P(port, LINEAR_UNIT(mbl.z_values[px][py]), 5); + SERIAL_ECHO_F_P(port, LINEAR_UNIT(mbl.z_values[px][py]), 5); SERIAL_EOL_P(port); } } @@ -2103,7 +2170,7 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOPAIR_P(port, " G29 W I", (int)px + 1); SERIAL_ECHOPAIR_P(port, " J", (int)py + 1); SERIAL_ECHOPGM_P(port, " Z"); - SERIAL_PROTOCOL_F_P(port, LINEAR_UNIT(z_values[px][py]), 5); + SERIAL_ECHO_F_P(port, LINEAR_UNIT(z_values[px][py]), 5); SERIAL_EOL_P(port); } } @@ -2289,95 +2356,124 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOPGM_P(port, " K"); SERIAL_ECHO_F_P(port, LINEAR_UNIT(planner.yz_skew_factor), 6); SERIAL_EOL_P(port); - #else + #else SERIAL_ECHOPGM_P(port, " M852 S"); SERIAL_ECHO_F_P(port, LINEAR_UNIT(planner.xy_skew_factor), 6); SERIAL_EOL_P(port); #endif #endif - /** - * TMC2130 stepper driver current - */ #if HAS_TRINAMIC + + /** + * TMC2130 / TMC2208 / TRAMS stepper driver current + */ if (!forReplay) { CONFIG_ECHO_START; SERIAL_ECHOLNPGM_P(port, "Stepper driver current:"); } CONFIG_ECHO_START; SERIAL_ECHOPGM_P(port, " M906"); - #if ENABLED(X_IS_TMC2130) || ENABLED(X_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " X ", stepperX.getCurrent()); + #if X_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " X", stepperX.getCurrent()); + #elif X2_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " X", stepperX2.getCurrent()); #endif - #if ENABLED(Y_IS_TMC2130) || ENABLED(Y_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " Y ", stepperY.getCurrent()); + #if Y_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " Y", stepperY.getCurrent()); + #elif Y2_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " Y", stepperY2.getCurrent()); #endif - #if ENABLED(Z_IS_TMC2130) || ENABLED(Z_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " Z ", stepperZ.getCurrent()); + #if Z_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " Z", stepperZ.getCurrent()); + #elif Z2_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.getCurrent()); #endif - #if ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " X2 ", stepperX2.getCurrent()); + #if E0_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", stepperE0.getCurrent()); + #elif E1_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", stepperE1.getCurrent()); + #elif E2_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", stepperE2.getCurrent()); + #elif E3_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", stepperE3.getCurrent()); + #elif E4_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", stepperE4.getCurrent()); #endif - #if ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " Y2 ", stepperY2.getCurrent()); - #endif - #if ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " Z2 ", stepperZ2.getCurrent()); - #endif - #if ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " E0 ", stepperE0.getCurrent()); - #endif - #if ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " E1 ", stepperE1.getCurrent()); - #endif - #if ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " E2 ", stepperE2.getCurrent()); - #endif - #if ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " E3 ", stepperE3.getCurrent()); - #endif - #if ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208) - SERIAL_ECHOPAIR_P(port, " E4 ", stepperE4.getCurrent()); - #endif - SERIAL_EOL_P(port); - #endif + SERIAL_EOL(); - /** - * TMC2130 Sensorless homing thresholds - */ - #if ENABLED(SENSORLESS_HOMING) + /** + * TMC2130 / TMC2208 / TRAMS Hybrid Threshold + */ if (!forReplay) { CONFIG_ECHO_START; - SERIAL_ECHOLNPGM_P(port, "Sensorless homing threshold:"); + SERIAL_ECHOLNPGM_P(port, "Hybrid Threshold:"); } CONFIG_ECHO_START; - SERIAL_ECHOPGM_P(port, " M914"); - #ifdef X_HOMING_SENSITIVITY - #if ENABLED(X_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt()); - #endif - #if ENABLED(X2_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " X2 ", stepperX2.sgt()); - #endif + SERIAL_ECHOPGM_P(port, " M913"); + #if X_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X)); + #elif X2_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X2)); #endif - #ifdef Y_HOMING_SENSITIVITY - #if ENABLED(Y_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt()); - #endif - #if ENABLED(Y2_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " Y2 ", stepperY2.sgt()); - #endif + #if Y_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y)); + #elif Y2_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y2)); #endif - #ifdef Z_HOMING_SENSITIVITY - #if ENABLED(Z_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " Z ", stepperZ.sgt()); - #endif - #if ENABLED(Z2_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " Z2 ", stepperZ2.sgt()); - #endif + #if Z_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z)); + #elif Z2_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z2)); #endif - SERIAL_EOL_P(port); - #endif + #if E0_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E0)); + #elif E1_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E1)); + #elif E2_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E2)); + #elif E3_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E3)); + #elif E4_IS_TRINAMIC + SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E4)); + #endif + SERIAL_EOL(); + + /** + * TMC2130 Sensorless homing thresholds + */ + #if ENABLED(SENSORLESS_HOMING) + if (!forReplay) { + CONFIG_ECHO_START; + SERIAL_ECHOLNPGM_P(port, "Sensorless homing threshold:"); + } + CONFIG_ECHO_START; + SERIAL_ECHOPGM_P(port, " M914"); + #ifdef X_HOMING_SENSITIVITY + #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) + SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt()); + #elif ENABLED(X2_IS_TMC2130) + SERIAL_ECHOPAIR_P(port, " X", stepperX2.sgt()); + #endif + #endif + #ifdef Y_HOMING_SENSITIVITY + #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) + SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt()); + #elif ENABLED(Y2_IS_TMC2130) + SERIAL_ECHOPAIR_P(port, " Y", stepperY2.sgt()); + #endif + #endif + #ifdef Z_HOMING_SENSITIVITY + #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) + SERIAL_ECHOPAIR_P(port, " Z", stepperZ.sgt()); + #elif ENABLED(Z2_IS_TMC2130) + SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.sgt()); + #endif + #endif + SERIAL_EOL(); + #endif + + #endif // HAS_TRINAMIC /** * Linear Advance @@ -2413,25 +2509,31 @@ void MarlinSettings::reset(PORTARG_SOLO) { } CONFIG_ECHO_START; #if EXTRUDERS == 1 - SERIAL_ECHOPAIR_P(port, " M603 L", LINEAR_UNIT(filament_change_load_length[0])); + say_M603(); + SERIAL_ECHOPAIR_P(port, "L", LINEAR_UNIT(filament_change_load_length[0])); SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[0])); #else - SERIAL_ECHOPAIR_P(port, " M603 T0 L", LINEAR_UNIT(filament_change_load_length[0])); + say_M603(); + SERIAL_ECHOPAIR_P(port, "T0 L", LINEAR_UNIT(filament_change_load_length[0])); SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[0])); CONFIG_ECHO_START; - SERIAL_ECHOPAIR_P(port, " M603 T1 L", LINEAR_UNIT(filament_change_load_length[1])); + say_M603(); + SERIAL_ECHOPAIR_P(port, "T1 L", LINEAR_UNIT(filament_change_load_length[1])); SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[1])); #if EXTRUDERS > 2 CONFIG_ECHO_START; - SERIAL_ECHOPAIR_P(port, " M603 T2 L", LINEAR_UNIT(filament_change_load_length[2])); + say_M603(); + SERIAL_ECHOPAIR_P(port, "T2 L", LINEAR_UNIT(filament_change_load_length[2])); SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[2])); #if EXTRUDERS > 3 CONFIG_ECHO_START; - SERIAL_ECHOPAIR_P(port, " M603 T3 L", LINEAR_UNIT(filament_change_load_length[3])); + say_M603(); + SERIAL_ECHOPAIR_P(port, "T3 L", LINEAR_UNIT(filament_change_load_length[3])); SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[3])); #if EXTRUDERS > 4 CONFIG_ECHO_START; - SERIAL_ECHOPAIR_P(port, " M603 T4 L", LINEAR_UNIT(filament_change_load_length[4])); + say_M603(); + SERIAL_ECHOPAIR_P(port, "T4 L", LINEAR_UNIT(filament_change_load_length[4])); SERIAL_ECHOLNPAIR_P(port, " U", LINEAR_UNIT(filament_change_unload_length[4])); #endif // EXTRUDERS > 4 #endif // EXTRUDERS > 3 From cfc13ed7f3fd20d2d07d64602e39e732a1cb982a Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 14 Mar 2018 05:43:18 -0500 Subject: [PATCH 3/4] Quiet M906/M913/M914 with axes. Patch for DISTINCT_E_FACTORS. --- Marlin/src/feature/tmc_util.cpp | 1 + Marlin/src/feature/tmc_util.h | 3 - Marlin/src/gcode/feature/trinamic/M906.cpp | 130 ++++++++--- .../src/gcode/feature/trinamic/M911-M915.cpp | 219 ++++++++++++------ 4 files changed, 247 insertions(+), 106 deletions(-) diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp index 8364fa8690..d2a4ca55d0 100644 --- a/Marlin/src/feature/tmc_util.cpp +++ b/Marlin/src/feature/tmc_util.cpp @@ -331,6 +331,7 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) { } } #endif + #if ENABLED(HAVE_TMC2208) static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) { switch (i) { diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h index 544eaa07a4..5ddbad2329 100644 --- a/Marlin/src/feature/tmc_util.h +++ b/Marlin/src/feature/tmc_util.h @@ -55,7 +55,6 @@ void tmc_get_current(TMC &st, const TMC_AxisEnum axis) { template void tmc_set_current(TMC &st, const TMC_AxisEnum axis, const int mA) { st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER); - tmc_get_current(st, axis); } template void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) { @@ -73,7 +72,6 @@ void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) { template void tmc_set_pwmthrs(TMC &st, const TMC_AxisEnum axis, const int32_t thrs, const uint32_t spmm) { st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm)); - tmc_get_pwmthrs(st, axis, spmm); } template void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) { @@ -82,7 +80,6 @@ void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) { template void tmc_set_sgt(TMC &st, const TMC_AxisEnum axis, const int8_t sgt_val) { st.sgt(sgt_val); - tmc_get_sgt(st, axis); } void monitor_tmc_driver(); diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp index 2de386813d..7e33187c36 100644 --- a/Marlin/src/gcode/feature/trinamic/M906.cpp +++ b/Marlin/src/gcode/feature/trinamic/M906.cpp @@ -33,46 +33,100 @@ * Report driver currents when no axis specified */ void GcodeSuite::M906() { - uint16_t values[XYZE]; - LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]); + #define TMC_SAY_CURRENT(Q) tmc_get_current(stepper##Q, TMC_##Q) + #define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, TMC_##Q, value) - #define TMC_SET_GET_CURRENT(P,Q) do { \ - if (values[P##_AXIS]) tmc_set_current(stepper##Q, TMC_##Q, values[P##_AXIS]); \ - else tmc_get_current(stepper##Q, TMC_##Q); } while(0) + bool report = true; + LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) { + report = false; + switch (i) { + case X_AXIS: + #if X_IS_TRINAMIC + TMC_SET_CURRENT(X); + #endif + #if X2_IS_TRINAMIC + TMC_SET_CURRENT(X2); + #endif + break; + case Y_AXIS: + #if Y_IS_TRINAMIC + TMC_SET_CURRENT(Y); + #endif + #if Y2_IS_TRINAMIC + TMC_SET_CURRENT(Y2); + #endif + break; + case Z_AXIS: + #if Z_IS_TRINAMIC + TMC_SET_CURRENT(Z); + #endif + #if Z2_IS_TRINAMIC + TMC_SET_CURRENT(Z2); + #endif + break; + case E_AXIS: + #if E0_IS_TRINAMIC + TMC_SET_CURRENT(E0); + #endif + #if E1_IS_TRINAMIC + TMC_SET_CURRENT(E1); + #endif + #if E2_IS_TRINAMIC + TMC_SET_CURRENT(E2); + #endif + #if E3_IS_TRINAMIC + TMC_SET_CURRENT(E3); + #endif + #if E4_IS_TRINAMIC + TMC_SET_CURRENT(E4); + #endif + break; + } + } - #if X_IS_TRINAMIC - TMC_SET_GET_CURRENT(X,X); - #endif - #if X2_IS_TRINAMIC - TMC_SET_GET_CURRENT(X,X2); - #endif - #if Y_IS_TRINAMIC - TMC_SET_GET_CURRENT(Y,Y); - #endif - #if Y2_IS_TRINAMIC - TMC_SET_GET_CURRENT(Y,Y2); - #endif - #if Z_IS_TRINAMIC - TMC_SET_GET_CURRENT(Z,Z); - #endif - #if Z2_IS_TRINAMIC - TMC_SET_GET_CURRENT(Z,Z2); - #endif - #if E0_IS_TRINAMIC - TMC_SET_GET_CURRENT(E,E0); - #endif - #if E1_IS_TRINAMIC - TMC_SET_GET_CURRENT(E,E1); - #endif - #if E2_IS_TRINAMIC - TMC_SET_GET_CURRENT(E,E2); - #endif - #if E3_IS_TRINAMIC - TMC_SET_GET_CURRENT(E,E3); - #endif - #if E4_IS_TRINAMIC - TMC_SET_GET_CURRENT(E,E4); - #endif + if (report) LOOP_XYZE(i) switch (i) { + case X_AXIS: + #if X_IS_TRINAMIC + TMC_SAY_CURRENT(X); + #endif + #if X2_IS_TRINAMIC + TMC_SAY_CURRENT(X2); + #endif + break; + case Y_AXIS: + #if Y_IS_TRINAMIC + TMC_SAY_CURRENT(Y); + #endif + #if Y2_IS_TRINAMIC + TMC_SAY_CURRENT(Y2); + #endif + break; + case Z_AXIS: + #if Z_IS_TRINAMIC + TMC_SAY_CURRENT(Z); + #endif + #if Z2_IS_TRINAMIC + TMC_SAY_CURRENT(Z2); + #endif + break; + case E_AXIS: + #if E0_IS_TRINAMIC + TMC_SAY_CURRENT(E0); + #endif + #if E1_IS_TRINAMIC + TMC_SAY_CURRENT(E1); + #endif + #if E2_IS_TRINAMIC + TMC_SAY_CURRENT(E2); + #endif + #if E3_IS_TRINAMIC + TMC_SAY_CURRENT(E3); + #endif + #if E4_IS_TRINAMIC + TMC_SAY_CURRENT(E4); + #endif + break; + } } #endif // HAS_TRINAMIC diff --git a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp index 1efc3c220e..9a48f5caef 100644 --- a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp +++ b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp @@ -80,46 +80,102 @@ void GcodeSuite::M912() { */ #if ENABLED(HYBRID_THRESHOLD) void GcodeSuite::M913() { - uint16_t values[XYZE]; - LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]); + #define TMC_SAY_PWMTHRS(P,Q) tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[P##_AXIS]) + #define TMC_SET_PWMTHRS(P,Q) tmc_set_pwmthrs(stepper##Q, TMC_##Q, value, planner.axis_steps_per_mm[P##_AXIS]) + #define TMC_SAY_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_get_pwmthrs(stepperE##E, TMC_E##E, planner.axis_steps_per_mm[E_AXIS_N]); }while(0) + #define TMC_SET_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, TMC_E##E, value, planner.axis_steps_per_mm[E_AXIS_N]); }while(0) - #define TMC_SET_GET_PWMTHRS(P,Q) do { \ - if (values[P##_AXIS]) tmc_set_pwmthrs(stepper##Q, TMC_##Q, values[P##_AXIS], planner.axis_steps_per_mm[P##_AXIS]); \ - else tmc_get_pwmthrs(stepper##Q, TMC_##Q, planner.axis_steps_per_mm[P##_AXIS]); } while(0) + bool report = true; + LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) { + report = false; + switch (i) { + case X_AXIS: + #if X_IS_TRINAMIC + TMC_SET_PWMTHRS(X,X); + #endif + #if X2_IS_TRINAMIC + TMC_SET_PWMTHRS(X,X2); + #endif + break; + case Y_AXIS: + #if Y_IS_TRINAMIC + TMC_SET_PWMTHRS(Y,Y); + #endif + #if Y2_IS_TRINAMIC + TMC_SET_PWMTHRS(Y,Y2); + #endif + break; + case Z_AXIS: + #if Z_IS_TRINAMIC + TMC_SET_PWMTHRS(Z,Z); + #endif + #if Z2_IS_TRINAMIC + TMC_SET_PWMTHRS(Z,Z2); + #endif + break; + case E_AXIS: + #if E0_IS_TRINAMIC + TMC_SET_PWMTHRS_E(0); + #endif + #if E1_IS_TRINAMIC + TMC_SET_PWMTHRS_E(1); + #endif + #if E2_IS_TRINAMIC + TMC_SET_PWMTHRS_E(2); + #endif + #if E3_IS_TRINAMIC + TMC_SET_PWMTHRS_E(3); + #endif + #if E4_IS_TRINAMIC + TMC_SET_PWMTHRS_E(4); + #endif + break; + } + } - #if X_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(X,X); - #endif - #if X2_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(X,X2); - #endif - #if Y_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(Y,Y); - #endif - #if Y2_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(Y,Y2); - #endif - #if Z_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(Z,Z); - #endif - #if Z2_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(Z,Z2); - #endif - #if E0_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(E,E0); - #endif - #if E1_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(E,E1); - #endif - #if E2_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(E,E2); - #endif - #if E3_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(E,E3); - #endif - #if E4_IS_TRINAMIC - TMC_SET_GET_PWMTHRS(E,E4); - #endif + if (report) LOOP_XYZE(i) switch (i) { + case X_AXIS: + #if X_IS_TRINAMIC + TMC_SAY_PWMTHRS(X,X); + #endif + #if X2_IS_TRINAMIC + TMC_SAY_PWMTHRS(X,X2); + #endif + break; + case Y_AXIS: + #if Y_IS_TRINAMIC + TMC_SAY_PWMTHRS(Y,Y); + #endif + #if Y2_IS_TRINAMIC + TMC_SAY_PWMTHRS(Y,Y2); + #endif + break; + case Z_AXIS: + #if Z_IS_TRINAMIC + TMC_SAY_PWMTHRS(Z,Z); + #endif + #if Z2_IS_TRINAMIC + TMC_SAY_PWMTHRS(Z,Z2); + #endif + break; + case E_AXIS: + #if E0_IS_TRINAMIC + TMC_SAY_PWMTHRS_E(0); + #endif + #if E1_IS_TRINAMIC + TMC_SAY_PWMTHRS_E(1); + #endif + #if E2_IS_TRINAMIC + TMC_SAY_PWMTHRS_E(2); + #endif + #if E3_IS_TRINAMIC + TMC_SAY_PWMTHRS_E(3); + #endif + #if E4_IS_TRINAMIC + TMC_SAY_PWMTHRS_E(4); + #endif + break; + } } #endif // HYBRID_THRESHOLD @@ -128,34 +184,67 @@ 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, TMC_##Q, parser.value_int()); \ - else tmc_get_sgt(stepper##Q, TMC_##Q); } while(0) + #define TMC_SAY_SGT(Q) tmc_get_sgt(stepper##Q, TMC_##Q) + #define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, TMC_##Q, value) - #ifdef X_HOMING_SENSITIVITY - #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) - TMC_SET_GET_SGT(X,X); - #endif - #if ENABLED(X2_IS_TMC2130) - TMC_SET_GET_SGT(X,X2); - #endif - #endif - #ifdef Y_HOMING_SENSITIVITY - #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) - TMC_SET_GET_SGT(Y,Y); - #endif - #if ENABLED(Y2_IS_TMC2130) - TMC_SET_GET_SGT(Y,Y2); - #endif - #endif - #ifdef Z_HOMING_SENSITIVITY - #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) - TMC_SET_GET_SGT(Z,Z); - #endif - #if ENABLED(Z2_IS_TMC2130) - TMC_SET_GET_SGT(Z,Z2); - #endif - #endif + bool report = true; + LOOP_XYZ(i) if (parser.seen(axis_codes[i])) { + const int8_t value = (int8_t)constrain(parser.value_int(), -63, 64); + report = false; + switch (i) { + case X_AXIS: + #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) + TMC_SET_SGT(X); + #endif + #if ENABLED(X2_IS_TMC2130) + TMC_SET_SGT(X2); + #endif + break; + case Y_AXIS: + #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) + TMC_SET_SGT(Y); + #endif + #if ENABLED(Y2_IS_TMC2130) + TMC_SET_SGT(Y2); + #endif + break; + case Z_AXIS: + #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) + TMC_SET_SGT(Z); + #endif + #if ENABLED(Z2_IS_TMC2130) + TMC_SET_SGT(Z2); + #endif + break; + } + } + + if (report) LOOP_XYZ(i) switch (i) { + case X_AXIS: + #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) + TMC_SAY_SGT(X); + #endif + #if ENABLED(X2_IS_TMC2130) + TMC_SAY_SGT(X2); + #endif + break; + case Y_AXIS: + #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) + TMC_SAY_SGT(Y); + #endif + #if ENABLED(Y2_IS_TMC2130) + TMC_SAY_SGT(Y2); + #endif + break; + case Z_AXIS: + #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) + TMC_SAY_SGT(Z); + #endif + #if ENABLED(Z2_IS_TMC2130) + TMC_SAY_SGT(Z2); + #endif + break; + } } #endif // SENSORLESS_HOMING From a46bac3100124cd3d1782ee98d731baa838733bd Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 14 Mar 2018 07:25:27 -0500 Subject: [PATCH 4/4] Add 'I' parameter to M906/M913/M914; 'T' to M906/M913 --- Marlin/src/gcode/feature/trinamic/M906.cpp | 50 +++--- .../src/gcode/feature/trinamic/M911-M915.cpp | 71 ++++---- Marlin/src/module/configuration_store.cpp | 152 ++++++++++++------ 3 files changed, 166 insertions(+), 107 deletions(-) diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp index 7e33187c36..8ba6453339 100644 --- a/Marlin/src/gcode/feature/trinamic/M906.cpp +++ b/Marlin/src/gcode/feature/trinamic/M906.cpp @@ -37,50 +37,54 @@ void GcodeSuite::M906() { #define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, TMC_##Q, value) bool report = true; + const uint8_t index = parser.byteval('I'); LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) { report = false; switch (i) { case X_AXIS: #if X_IS_TRINAMIC - TMC_SET_CURRENT(X); + if (index == 0) TMC_SET_CURRENT(X); #endif #if X2_IS_TRINAMIC - TMC_SET_CURRENT(X2); + if (index == 1) TMC_SET_CURRENT(X2); #endif break; case Y_AXIS: #if Y_IS_TRINAMIC - TMC_SET_CURRENT(Y); + if (index == 0) TMC_SET_CURRENT(Y); #endif #if Y2_IS_TRINAMIC - TMC_SET_CURRENT(Y2); + if (index == 1) TMC_SET_CURRENT(Y2); #endif break; case Z_AXIS: #if Z_IS_TRINAMIC - TMC_SET_CURRENT(Z); + if (index == 0) TMC_SET_CURRENT(Z); #endif #if Z2_IS_TRINAMIC - TMC_SET_CURRENT(Z2); - #endif - break; - case E_AXIS: - #if E0_IS_TRINAMIC - TMC_SET_CURRENT(E0); - #endif - #if E1_IS_TRINAMIC - TMC_SET_CURRENT(E1); - #endif - #if E2_IS_TRINAMIC - TMC_SET_CURRENT(E2); - #endif - #if E3_IS_TRINAMIC - TMC_SET_CURRENT(E3); - #endif - #if E4_IS_TRINAMIC - TMC_SET_CURRENT(E4); + if (index == 1) TMC_SET_CURRENT(Z2); #endif break; + case E_AXIS: { + if (get_target_extruder_from_command()) return; + switch (target_extruder) { + #if E0_IS_TRINAMIC + case 0: TMC_SET_CURRENT(E0); break; + #endif + #if E1_IS_TRINAMIC + case 1: TMC_SET_CURRENT(E1); break; + #endif + #if E2_IS_TRINAMIC + case 2: TMC_SET_CURRENT(E2); break; + #endif + #if E3_IS_TRINAMIC + case 3: TMC_SET_CURRENT(E3); break; + #endif + #if E4_IS_TRINAMIC + case 4: TMC_SET_CURRENT(E4); break; + #endif + } + } break; } } diff --git a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp index 9a48f5caef..fa02aaadff 100644 --- a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp +++ b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp @@ -86,50 +86,54 @@ void GcodeSuite::M912() { #define TMC_SET_PWMTHRS_E(E) do{ const uint8_t extruder = E; tmc_set_pwmthrs(stepperE##E, TMC_E##E, value, planner.axis_steps_per_mm[E_AXIS_N]); }while(0) bool report = true; + const uint8_t index = parser.byteval('I'); LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) { report = false; switch (i) { case X_AXIS: #if X_IS_TRINAMIC - TMC_SET_PWMTHRS(X,X); + if (index == 0) TMC_SET_PWMTHRS(X,X); #endif #if X2_IS_TRINAMIC - TMC_SET_PWMTHRS(X,X2); + if (index == 1) TMC_SET_PWMTHRS(X,X2); #endif break; case Y_AXIS: #if Y_IS_TRINAMIC - TMC_SET_PWMTHRS(Y,Y); + if (index == 0) TMC_SET_PWMTHRS(Y,Y); #endif #if Y2_IS_TRINAMIC - TMC_SET_PWMTHRS(Y,Y2); + if (index == 1) TMC_SET_PWMTHRS(Y,Y2); #endif break; case Z_AXIS: #if Z_IS_TRINAMIC - TMC_SET_PWMTHRS(Z,Z); + if (index == 0) TMC_SET_PWMTHRS(Z,Z); #endif #if Z2_IS_TRINAMIC - TMC_SET_PWMTHRS(Z,Z2); - #endif - break; - case E_AXIS: - #if E0_IS_TRINAMIC - TMC_SET_PWMTHRS_E(0); - #endif - #if E1_IS_TRINAMIC - TMC_SET_PWMTHRS_E(1); - #endif - #if E2_IS_TRINAMIC - TMC_SET_PWMTHRS_E(2); - #endif - #if E3_IS_TRINAMIC - TMC_SET_PWMTHRS_E(3); - #endif - #if E4_IS_TRINAMIC - TMC_SET_PWMTHRS_E(4); + if (index == 1) TMC_SET_PWMTHRS(Z,Z2); #endif break; + case E_AXIS: { + if (get_target_extruder_from_command()) return; + switch (target_extruder) { + #if E0_IS_TRINAMIC + case 0: TMC_SET_PWMTHRS_E(0); break; + #endif + #if E_STEPPERS > 1 && E1_IS_TRINAMIC + case 1: TMC_SET_PWMTHRS_E(1); break; + #endif + #if E_STEPPERS > 2 && E2_IS_TRINAMIC + case 2: TMC_SET_PWMTHRS_E(2); break; + #endif + #if E_STEPPERS > 3 && E3_IS_TRINAMIC + case 3: TMC_SET_PWMTHRS_E(3); break; + #endif + #if E_STEPPERS > 4 && E4_IS_TRINAMIC + case 4: TMC_SET_PWMTHRS_E(4); break; + #endif + } + } break; } } @@ -162,16 +166,16 @@ void GcodeSuite::M912() { #if E0_IS_TRINAMIC TMC_SAY_PWMTHRS_E(0); #endif - #if E1_IS_TRINAMIC + #if E_STEPPERS > 1 && E1_IS_TRINAMIC TMC_SAY_PWMTHRS_E(1); #endif - #if E2_IS_TRINAMIC + #if E_STEPPERS > 2 && E2_IS_TRINAMIC TMC_SAY_PWMTHRS_E(2); #endif - #if E3_IS_TRINAMIC + #if E_STEPPERS > 3 && E3_IS_TRINAMIC TMC_SAY_PWMTHRS_E(3); #endif - #if E4_IS_TRINAMIC + #if E_STEPPERS > 4 && E4_IS_TRINAMIC TMC_SAY_PWMTHRS_E(4); #endif break; @@ -188,32 +192,33 @@ void GcodeSuite::M912() { #define TMC_SET_SGT(Q) tmc_set_sgt(stepper##Q, TMC_##Q, value) bool report = true; + const uint8_t index = parser.byteval('I'); LOOP_XYZ(i) if (parser.seen(axis_codes[i])) { const int8_t value = (int8_t)constrain(parser.value_int(), -63, 64); report = false; switch (i) { case X_AXIS: #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) - TMC_SET_SGT(X); + if (index == 0) TMC_SET_SGT(X); #endif #if ENABLED(X2_IS_TMC2130) - TMC_SET_SGT(X2); + if (index == 1) TMC_SET_SGT(X2); #endif break; case Y_AXIS: #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) - TMC_SET_SGT(Y); + if (index == 0) TMC_SET_SGT(Y); #endif #if ENABLED(Y2_IS_TMC2130) - TMC_SET_SGT(Y2); + if (index == 1) TMC_SET_SGT(Y2); #endif break; case Z_AXIS: #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) - TMC_SET_SGT(Z); + if (index == 0) TMC_SET_SGT(Z); #endif #if ENABLED(Z2_IS_TMC2130) - TMC_SET_SGT(Z2); + if (index == 1) TMC_SET_SGT(Z2); #endif break; } diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index eb1d9db1d8..f45307106e 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -1892,6 +1892,14 @@ void MarlinSettings::reset(PORTARG_SOLO) { #define CONFIG_ECHO_START do{ if (!forReplay) SERIAL_ECHO_START_P(port); }while(0) + #if HAS_TRINAMIC + void say_M906() { SERIAL_ECHOPGM_P(port, " M906 "); } + void say_M913() { SERIAL_ECHOPGM_P(port, " M913 "); } + #if ENABLED(SENSORLESS_HOMING) + void say_M914() { SERIAL_ECHOPGM_P(port, " M914 "); } + #endif + #endif + #if ENABLED(ADVANCED_PAUSE_FEATURE) void say_M603() { SERIAL_ECHOPGM_P(port, " M603 "); } #endif @@ -2373,34 +2381,51 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOLNPGM_P(port, "Stepper driver current:"); } CONFIG_ECHO_START; - SERIAL_ECHOPGM_P(port, " M906"); #if X_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " X", stepperX.getCurrent()); - #elif X2_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " X", stepperX2.getCurrent()); + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "X", stepperX.getCurrent()); + #endif + #if X2_IS_TRINAMIC + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "I1 X", stepperX2.getCurrent()); #endif #if Y_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " Y", stepperY.getCurrent()); - #elif Y2_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " Y", stepperY2.getCurrent()); + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "Y", stepperY.getCurrent()); + #endif + #if Y2_IS_TRINAMIC + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "I1 Y", stepperY2.getCurrent()); #endif #if Z_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " Z", stepperZ.getCurrent()); - #elif Z2_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.getCurrent()); + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "Z", stepperZ.getCurrent()); + #endif + #if Z2_IS_TRINAMIC + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "I1 Z", stepperZ2.getCurrent()); #endif #if E0_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", stepperE0.getCurrent()); - #elif E1_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", stepperE1.getCurrent()); - #elif E2_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", stepperE2.getCurrent()); - #elif E3_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", stepperE3.getCurrent()); - #elif E4_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", stepperE4.getCurrent()); + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "T0 E", stepperE0.getCurrent()); #endif - SERIAL_EOL(); + #if E_STEPPERS > 1 && E1_IS_TRINAMIC + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "T1 E", stepperE1.getCurrent()); + #endif + #if E_STEPPERS > 2 && E2_IS_TRINAMIC + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "T2 E", stepperE2.getCurrent()); + #endif + #if E_STEPPERS > 3 && E3_IS_TRINAMIC + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "T3 E", stepperE3.getCurrent()); + #endif + #if E_STEPPERS > 4 && E4_IS_TRINAMIC + say_M906(); + SERIAL_ECHOLNPAIR_P(port, "T4 E", stepperE4.getCurrent()); + #endif + SERIAL_EOL_P(port); /** * TMC2130 / TMC2208 / TRAMS Hybrid Threshold @@ -2410,34 +2435,51 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOLNPGM_P(port, "Hybrid Threshold:"); } CONFIG_ECHO_START; - SERIAL_ECHOPGM_P(port, " M913"); #if X_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X)); - #elif X2_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " X", TMC_GET_PWMTHRS(X, X2)); + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "X", TMC_GET_PWMTHRS(X, X)); + #endif + #if X2_IS_TRINAMIC + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "I1 X", TMC_GET_PWMTHRS(X, X2)); #endif #if Y_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y)); - #elif Y2_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " Y", TMC_GET_PWMTHRS(Y, Y2)); + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "Y", TMC_GET_PWMTHRS(Y, Y)); + #endif + #if Y2_IS_TRINAMIC + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "I1 Y", TMC_GET_PWMTHRS(Y, Y2)); #endif #if Z_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z)); - #elif Z2_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z2)); + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "Z", TMC_GET_PWMTHRS(Z, Z)); + #endif + #if Z2_IS_TRINAMIC + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "I1 Z", TMC_GET_PWMTHRS(Z, Z2)); #endif #if E0_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E0)); - #elif E1_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E1)); - #elif E2_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E2)); - #elif E3_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E3)); - #elif E4_IS_TRINAMIC - SERIAL_ECHOPAIR_P(port, " E", TMC_GET_PWMTHRS(E, E4)); + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "T0 E", TMC_GET_PWMTHRS(E, E0)); #endif - SERIAL_EOL(); + #if E_STEPPERS > 1 && E1_IS_TRINAMIC + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "T1 E", TMC_GET_PWMTHRS(E, E1)); + #endif + #if E_STEPPERS > 2 && E2_IS_TRINAMIC + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "T2 E", TMC_GET_PWMTHRS(E, E2)); + #endif + #if E_STEPPERS > 3 && E3_IS_TRINAMIC + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "T3 E", TMC_GET_PWMTHRS(E, E3)); + #endif + #if E_STEPPERS > 4 && E4_IS_TRINAMIC + say_M913(); + SERIAL_ECHOLNPAIR_P(port, "T4 E", TMC_GET_PWMTHRS(E, E4)); + #endif + SERIAL_EOL_P(port); /** * TMC2130 Sensorless homing thresholds @@ -2448,29 +2490,37 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOLNPGM_P(port, "Sensorless homing threshold:"); } CONFIG_ECHO_START; - SERIAL_ECHOPGM_P(port, " M914"); #ifdef X_HOMING_SENSITIVITY #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) - SERIAL_ECHOPAIR_P(port, " X", stepperX.sgt()); - #elif ENABLED(X2_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " X", stepperX2.sgt()); + say_M914(); + SERIAL_ECHOLNPAIR_P(port, "X", stepperX.sgt()); + #endif + #if ENABLED(X2_IS_TMC2130) + say_M914(); + SERIAL_ECHOLNPAIR_P(port, "I1 X", stepperX2.sgt()); #endif #endif #ifdef Y_HOMING_SENSITIVITY #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS) - SERIAL_ECHOPAIR_P(port, " Y", stepperY.sgt()); - #elif ENABLED(Y2_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " Y", stepperY2.sgt()); + say_M914(); + SERIAL_ECHOLNPAIR_P(port, "Y", stepperY.sgt()); + #endif + #if ENABLED(Y2_IS_TMC2130) + say_M914(); + SERIAL_ECHOLNPAIR_P(port, "I1 Y", stepperY2.sgt()); #endif #endif #ifdef Z_HOMING_SENSITIVITY #if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS) - SERIAL_ECHOPAIR_P(port, " Z", stepperZ.sgt()); - #elif ENABLED(Z2_IS_TMC2130) - SERIAL_ECHOPAIR_P(port, " Z", stepperZ2.sgt()); + say_M914(); + SERIAL_ECHOLNPAIR_P(port, "Z", stepperZ.sgt()); + #endif + #if ENABLED(Z2_IS_TMC2130) + say_M914(); + SERIAL_ECHOLNPAIR_P(port, "I1 Z", stepperZ2.sgt()); #endif #endif - SERIAL_EOL(); + SERIAL_EOL_P(port); #endif #endif // HAS_TRINAMIC