TMC_DEBUG optimization and improvements (#13135)
This commit is contained in:
parent
1424b368cf
commit
ba39186364
7 changed files with 240 additions and 122 deletions
|
@ -36,7 +36,7 @@
|
||||||
#include "../module/planner.h"
|
#include "../module/planner.h"
|
||||||
#include "../libs/hex_print_routines.h"
|
#include "../libs/hex_print_routines.h"
|
||||||
#if ENABLED(MONITOR_DRIVER_STATUS)
|
#if ENABLED(MONITOR_DRIVER_STATUS)
|
||||||
static bool report_tmc_status; // = false;
|
static uint16_t report_tmc_status_interval; // = 0
|
||||||
#endif
|
#endif
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
@ -55,87 +55,159 @@
|
||||||
|
|
||||||
struct TMC_driver_data {
|
struct TMC_driver_data {
|
||||||
uint32_t drv_status;
|
uint32_t drv_status;
|
||||||
bool is_otpw,
|
bool is_otpw:1,
|
||||||
is_ot,
|
is_ot:1,
|
||||||
is_s2ga,
|
is_s2g:1,
|
||||||
is_s2gb,
|
is_error:1
|
||||||
is_error;
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
, is_stall:1
|
||||||
|
, is_stealth:1
|
||||||
|
, is_standstill:1
|
||||||
|
#if HAS_STALLGUARD
|
||||||
|
, sg_result_reasonable:1
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
;
|
||||||
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
#if HAS_TMCX1X0 || HAS_DRIVER(TMC2208)
|
||||||
|
uint8_t cs_actual;
|
||||||
|
#endif
|
||||||
|
#if HAS_STALLGUARD
|
||||||
|
uint16_t sg_result;
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
};
|
};
|
||||||
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
|
|
||||||
|
#if HAS_TMCX1X0
|
||||||
|
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
|
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
|
||||||
static uint8_t get_status_response(TMC2130Stepper &st, uint32_t) { return st.status_response & 0xF; }
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
|
static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
|
||||||
constexpr uint32_t OTPW_bm = 0x4000000UL;
|
constexpr uint16_t SG_RESULT_bm = 0x3FF; // 0:9
|
||||||
constexpr uint8_t OTPW_bp = 26;
|
constexpr uint8_t STEALTH_bp = 14, CS_ACTUAL_sb = 16;
|
||||||
constexpr uint32_t OT_bm = 0x2000000UL;
|
constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20
|
||||||
constexpr uint8_t OT_bp = 25;
|
constexpr uint8_t STALL_GUARD_bp = 24, OT_bp = 25, OTPW_bp = 26;
|
||||||
constexpr uint8_t S2GA_bp = 27;
|
constexpr uint32_t S2G_bm = 0x18000000;
|
||||||
constexpr uint8_t S2GB_bp = 28;
|
constexpr uint8_t STST_bp = 31;
|
||||||
TMC_driver_data data;
|
TMC_driver_data data;
|
||||||
data.drv_status = st.DRV_STATUS();
|
data.drv_status = st.DRV_STATUS();
|
||||||
data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
|
#ifdef __AVR__
|
||||||
data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
|
// 8-bit optimization saves up to 70 bytes of PROGMEM per axis
|
||||||
data.is_s2ga = (data.drv_status >> S2GA_bp) & 0b1;
|
uint8_t spart;
|
||||||
data.is_s2gb = (data.drv_status >> S2GB_bp) & 0b1;
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
data.sg_result = data.drv_status & SG_RESULT_bm;
|
||||||
|
spart = data.drv_status >> 8;
|
||||||
|
data.is_stealth = !!(spart & _BV(STEALTH_bp - 8));
|
||||||
|
spart = data.drv_status >> 16;
|
||||||
|
data.cs_actual = spart & (CS_ACTUAL_bm >> 16);
|
||||||
|
#endif
|
||||||
|
spart = data.drv_status >> 24;
|
||||||
|
data.is_ot = !!(spart & _BV(OT_bp - 24));
|
||||||
|
data.is_otpw = !!(spart & _BV(OTPW_bp - 24));
|
||||||
|
data.is_s2g = !!(spart & (S2G_bm >> 24));
|
||||||
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
data.is_stall = !!(spart & _BV(STALL_GUARD_bp - 24));
|
||||||
|
data.is_standstill = !!(spart & _BV(STST_bp - 24));
|
||||||
|
data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#else // !__AVR__
|
||||||
|
|
||||||
|
data.is_ot = !!(data.drv_status & _BV(OT_bp));
|
||||||
|
data.is_otpw = !!(data.drv_status & _BV(OTPW_bp));
|
||||||
|
data.is_s2g = !!(data.drv_status & S2G_bm);
|
||||||
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
data.sg_result = data.drv_status & SG_RESULT_bm;
|
||||||
|
data.is_stealth = !!(data.drv_status & _BV(STEALTH_bp));
|
||||||
|
data.cs_actual = (data.drv_status & CS_ACTUAL_bm) >> CS_ACTUAL_sb;
|
||||||
|
data.is_stall = !!(data.drv_status & _BV(STALL_GUARD_bp));
|
||||||
|
data.is_standstill = !!(data.drv_status & _BV(STST_bp));
|
||||||
|
data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif // !__AVR__
|
||||||
|
|
||||||
return data;
|
return data;
|
||||||
}
|
}
|
||||||
#endif
|
|
||||||
|
#endif // HAS_TMCX1X0
|
||||||
|
|
||||||
#if HAS_DRIVER(TMC2208)
|
#if HAS_DRIVER(TMC2208)
|
||||||
|
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
|
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) {
|
|
||||||
uint8_t gstat = st.GSTAT();
|
|
||||||
uint8_t response = 0;
|
|
||||||
response |= (drv_status >> (31 - 3)) & 0b1000;
|
|
||||||
response |= gstat & 0b11;
|
|
||||||
return response;
|
|
||||||
}
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
|
static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
|
||||||
constexpr uint32_t OTPW_bm = 0b1ul;
|
constexpr uint8_t OTPW_bp = 0, OT_bp = 1;
|
||||||
constexpr uint8_t OTPW_bp = 0;
|
constexpr uint8_t S2G_bm = 0b11110; // 2..5
|
||||||
constexpr uint32_t OT_bm = 0b10ul;
|
constexpr uint8_t CS_ACTUAL_sb = 16;
|
||||||
constexpr uint8_t OT_bp = 1;
|
constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20
|
||||||
constexpr uint8_t S2GA_bp = 2;
|
constexpr uint8_t STEALTH_bp = 30, STST_bp = 31;
|
||||||
constexpr uint8_t S2GB_bp = 3;
|
|
||||||
TMC_driver_data data;
|
TMC_driver_data data;
|
||||||
data.drv_status = st.DRV_STATUS();
|
data.drv_status = st.DRV_STATUS();
|
||||||
data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
|
data.is_otpw = !!(data.drv_status & _BV(OTPW_bp));
|
||||||
data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
|
data.is_ot = !!(data.drv_status & _BV(OT_bp));
|
||||||
data.is_s2ga = (data.drv_status >> S2GA_bp) & 0b1;
|
data.is_s2g = !!(data.drv_status & S2G_bm);
|
||||||
data.is_s2gb = (data.drv_status >> S2GB_bp) & 0b1;
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
#ifdef __AVR__
|
||||||
|
// 8-bit optimization saves up to 12 bytes of PROGMEM per axis
|
||||||
|
uint8_t spart = data.drv_status >> 16;
|
||||||
|
data.cs_actual = spart & (CS_ACTUAL_bm >> 16);
|
||||||
|
spart = data.drv_status >> 24;
|
||||||
|
data.is_stealth = !!(spart & _BV(STEALTH_bp - 24));
|
||||||
|
data.is_standstill = !!(spart & _BV(STST_bp - 24));
|
||||||
|
#else
|
||||||
|
data.cs_actual = (data.drv_status & CS_ACTUAL_bm) >> CS_ACTUAL_sb;
|
||||||
|
data.is_stealth = !!(data.drv_status & _BV(STEALTH_bp));
|
||||||
|
data.is_standstill = !!(data.drv_status & _BV(STST_bp));
|
||||||
|
#endif
|
||||||
|
#if HAS_STALLGUARD
|
||||||
|
data.sg_result_reasonable = false;
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
return data;
|
return data;
|
||||||
}
|
}
|
||||||
#endif
|
|
||||||
|
#endif // TMC2208
|
||||||
|
|
||||||
#if HAS_DRIVER(TMC2660)
|
#if HAS_DRIVER(TMC2660)
|
||||||
|
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
static uint32_t get_pwm_scale(TMC2660Stepper) { return 0; }
|
static uint32_t get_pwm_scale(TMC2660Stepper) { return 0; }
|
||||||
static uint8_t get_status_response(TMC2660Stepper, uint32_t drv_status) {
|
|
||||||
return drv_status & 0xFF;
|
|
||||||
}
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
static TMC_driver_data get_driver_data(TMC2660Stepper &st) {
|
static TMC_driver_data get_driver_data(TMC2660Stepper &st) {
|
||||||
constexpr uint32_t OTPW_bm = 0x4UL;
|
constexpr uint8_t STALL_GUARD_bp = 0;
|
||||||
constexpr uint8_t OTPW_bp = 2;
|
constexpr uint8_t OT_bp = 1, OTPW_bp = 2;
|
||||||
constexpr uint32_t OT_bm = 0x2UL;
|
constexpr uint8_t S2G_bm = 0b11000;
|
||||||
constexpr uint8_t OT_bp = 1;
|
constexpr uint8_t STST_bp = 7, SG_RESULT_sp = 10;
|
||||||
|
constexpr uint32_t SG_RESULT_bm = 0xFFC00; // 10:19
|
||||||
TMC_driver_data data;
|
TMC_driver_data data;
|
||||||
data.drv_status = st.DRVSTATUS();
|
data.drv_status = st.DRVSTATUS();
|
||||||
data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
|
uint8_t spart = data.drv_status & 0xFF;
|
||||||
data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
|
data.is_otpw = !!(spart & _BV(OTPW_bp));
|
||||||
|
data.is_ot = !!(spart & _BV(OT_bp));
|
||||||
|
data.is_s2g = !!(data.drv_status & S2G_bm);
|
||||||
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
data.is_stall = !!(spart & _BV(STALL_GUARD_bp));
|
||||||
|
data.is_standstill = !!(spart & _BV(STST_bp));
|
||||||
|
data.sg_result = (data.drv_status & SG_RESULT_bm) >> SG_RESULT_sp;
|
||||||
|
data.sg_result_reasonable = true;
|
||||||
|
#endif
|
||||||
return data;
|
return data;
|
||||||
}
|
}
|
||||||
#endif
|
|
||||||
|
#endif // TMC2660
|
||||||
|
|
||||||
#if ENABLED(STOP_ON_ERROR)
|
#if ENABLED(STOP_ON_ERROR)
|
||||||
void report_driver_error(const TMC_driver_data &data) {
|
void report_driver_error(const TMC_driver_data &data) {
|
||||||
SERIAL_ECHOPGM(" driver error detected: 0x");
|
SERIAL_ECHOPGM(" driver error detected: 0x");
|
||||||
SERIAL_PRINTLN(data.drv_status, HEX);
|
SERIAL_PRINTLN(data.drv_status, HEX);
|
||||||
if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
|
if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
|
||||||
if (data.is_s2ga) SERIAL_ECHOLNPGM("short to ground (coil A)");
|
if (data.is_s2g) SERIAL_ECHOLNPGM("coil short circuit");
|
||||||
if (data.is_s2gb) SERIAL_ECHOLNPGM("short to ground (coil B)");
|
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
tmc_report_all(true, true, true, true);
|
tmc_report_all(true, true, true, true);
|
||||||
#endif
|
#endif
|
||||||
|
@ -162,22 +234,40 @@
|
||||||
void report_polled_driver_data(TMC &st, const TMC_driver_data &data) {
|
void report_polled_driver_data(TMC &st, const TMC_driver_data &data) {
|
||||||
const uint32_t pwm_scale = get_pwm_scale(st);
|
const uint32_t pwm_scale = get_pwm_scale(st);
|
||||||
st.printLabel();
|
st.printLabel();
|
||||||
SERIAL_ECHOPAIR(":", pwm_scale);
|
SERIAL_CHAR(':'); SERIAL_PRINT(pwm_scale, DEC);
|
||||||
SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st, data.drv_status), BIN);
|
#if ENABLED(TMC_DEBUG)
|
||||||
SERIAL_ECHOPGM("| ");
|
#if HAS_TMCX1X0 || HAS_DRIVER(TMC2208)
|
||||||
if (st.error_count) SERIAL_CHAR('E');
|
SERIAL_CHAR('/'); SERIAL_PRINT(data.cs_actual, DEC);
|
||||||
else if (data.is_ot) SERIAL_CHAR('O');
|
#endif
|
||||||
else if (data.is_otpw) SERIAL_CHAR('W');
|
#if HAS_STALLGUARD
|
||||||
else if (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
|
SERIAL_CHAR('/');
|
||||||
else if (st.flag_otpw) SERIAL_CHAR('F');
|
if (data.sg_result_reasonable)
|
||||||
|
SERIAL_ECHO(data.sg_result);
|
||||||
|
else
|
||||||
|
SERIAL_CHAR('-');
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
SERIAL_CHAR('|');
|
||||||
|
if (st.error_count) SERIAL_CHAR('E'); // Error
|
||||||
|
if (data.is_ot) SERIAL_CHAR('O'); // Over-temperature
|
||||||
|
if (data.is_otpw) SERIAL_CHAR('W'); // over-temperature pre-Warning
|
||||||
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
if (data.is_stall) SERIAL_CHAR('G'); // stallGuard
|
||||||
|
if (data.is_stealth) SERIAL_CHAR('T'); // stealthChop
|
||||||
|
if (data.is_standstill) SERIAL_CHAR('I'); // standstIll
|
||||||
|
#endif
|
||||||
|
if (st.flag_otpw) SERIAL_CHAR('F'); // otpw Flag
|
||||||
|
SERIAL_CHAR('|');
|
||||||
|
if (st.otpw_count > 0) SERIAL_PRINT(st.otpw_count, DEC);
|
||||||
SERIAL_CHAR('\t');
|
SERIAL_CHAR('\t');
|
||||||
}
|
}
|
||||||
|
|
||||||
template<typename TMC>
|
template<typename TMC>
|
||||||
void monitor_tmc_driver(TMC &st) {
|
void monitor_tmc_driver(TMC &st, const bool need_update_error_counters, const bool need_debug_reporting) {
|
||||||
TMC_driver_data data = get_driver_data(st);
|
TMC_driver_data data = get_driver_data(st);
|
||||||
if ((data.drv_status == 0xFFFFFFFF) || (data.drv_status == 0x0)) return;
|
if (data.drv_status == 0xFFFFFFFF || data.drv_status == 0x0) return;
|
||||||
|
|
||||||
|
if (need_update_error_counters) {
|
||||||
if (data.is_ot /* | data.s2ga | data.s2gb*/) st.error_count++;
|
if (data.is_ot /* | data.s2ga | data.s2gb*/) st.error_count++;
|
||||||
else if (st.error_count > 0) st.error_count--;
|
else if (st.error_count > 0) st.error_count--;
|
||||||
|
|
||||||
|
@ -190,9 +280,9 @@
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// Report if a warning was triggered
|
// Report if a warning was triggered
|
||||||
if (data.is_otpw && st.otpw_count == 0) {
|
if (data.is_otpw && st.otpw_count == 0)
|
||||||
report_driver_otpw(st);
|
report_driver_otpw(st);
|
||||||
}
|
|
||||||
#if CURRENT_STEP_DOWN > 0
|
#if CURRENT_STEP_DOWN > 0
|
||||||
// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
|
// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
|
||||||
if (data.is_otpw && st.otpw_count > 4) {
|
if (data.is_otpw && st.otpw_count > 4) {
|
||||||
|
@ -212,11 +302,11 @@
|
||||||
st.flag_otpw = true;
|
st.flag_otpw = true;
|
||||||
}
|
}
|
||||||
else if (st.otpw_count > 0) st.otpw_count = 0;
|
else if (st.otpw_count > 0) st.otpw_count = 0;
|
||||||
|
}
|
||||||
|
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
if (report_tmc_status) {
|
if (need_debug_reporting)
|
||||||
report_polled_driver_data(st, data);
|
report_polled_driver_data(st, data);
|
||||||
}
|
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -225,50 +315,60 @@
|
||||||
void monitor_tmc_driver() {
|
void monitor_tmc_driver() {
|
||||||
static millis_t next_poll = 0;
|
static millis_t next_poll = 0;
|
||||||
const millis_t ms = millis();
|
const millis_t ms = millis();
|
||||||
if (ELAPSED(ms, next_poll)) {
|
bool need_update_error_counters = ELAPSED(ms, next_poll);
|
||||||
next_poll = ms + 500;
|
bool need_debug_reporting = false;
|
||||||
|
if (need_update_error_counters)
|
||||||
|
next_poll = ms + MONITOR_DRIVER_STATUS_INTERVAL_MS;
|
||||||
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
static millis_t next_debug_reporting = 0;
|
||||||
|
if (report_tmc_status_interval && ELAPSED(ms, next_debug_reporting)) {
|
||||||
|
need_debug_reporting = true;
|
||||||
|
next_debug_reporting = ms + report_tmc_status_interval;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
if (need_update_error_counters || need_debug_reporting) {
|
||||||
#if HAS_HW_COMMS(X)
|
#if HAS_HW_COMMS(X)
|
||||||
monitor_tmc_driver(stepperX);
|
monitor_tmc_driver(stepperX, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(Y)
|
#if HAS_HW_COMMS(Y)
|
||||||
monitor_tmc_driver(stepperY);
|
monitor_tmc_driver(stepperY, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(Z)
|
#if HAS_HW_COMMS(Z)
|
||||||
monitor_tmc_driver(stepperZ);
|
monitor_tmc_driver(stepperZ, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(X2)
|
#if HAS_HW_COMMS(X2)
|
||||||
monitor_tmc_driver(stepperX2);
|
monitor_tmc_driver(stepperX2, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(Y2)
|
#if HAS_HW_COMMS(Y2)
|
||||||
monitor_tmc_driver(stepperY2);
|
monitor_tmc_driver(stepperY2, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(Z2)
|
#if HAS_HW_COMMS(Z2)
|
||||||
monitor_tmc_driver(stepperZ2);
|
monitor_tmc_driver(stepperZ2, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(Z3)
|
#if HAS_HW_COMMS(Z3)
|
||||||
monitor_tmc_driver(stepperZ3);
|
monitor_tmc_driver(stepperZ3, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(E0)
|
#if HAS_HW_COMMS(E0)
|
||||||
monitor_tmc_driver(stepperE0);
|
monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(E1)
|
#if HAS_HW_COMMS(E1)
|
||||||
monitor_tmc_driver(stepperE1);
|
monitor_tmc_driver(stepperE1, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(E2)
|
#if HAS_HW_COMMS(E2)
|
||||||
monitor_tmc_driver(stepperE2);
|
monitor_tmc_driver(stepperE2, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(E3)
|
#if HAS_HW_COMMS(E3)
|
||||||
monitor_tmc_driver(stepperE3);
|
monitor_tmc_driver(stepperE3, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(E4)
|
#if HAS_HW_COMMS(E4)
|
||||||
monitor_tmc_driver(stepperE4);
|
monitor_tmc_driver(stepperE4, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
#if HAS_HW_COMMS(E5)
|
#if HAS_HW_COMMS(E5)
|
||||||
monitor_tmc_driver(stepperE5);
|
monitor_tmc_driver(stepperE5, need_update_error_counters, need_debug_reporting);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
if (report_tmc_status) SERIAL_EOL();
|
if (need_debug_reporting) SERIAL_EOL();
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -278,12 +378,20 @@
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* M122 S[1,0] Enable periodic status reports
|
* M122 [S<0|1>] [Pnnn] Enable periodic status reports
|
||||||
*/
|
*/
|
||||||
#if ENABLED(MONITOR_DRIVER_STATUS)
|
#if ENABLED(MONITOR_DRIVER_STATUS)
|
||||||
void tmc_set_report_status(const bool status) {
|
void tmc_set_report_interval(const uint16_t update_interval) {
|
||||||
if ((report_tmc_status = status))
|
if ((report_tmc_status_interval = update_interval))
|
||||||
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
|
SERIAL_ECHOLNPGM("axis:pwm_scale"
|
||||||
|
#if HAS_STEALTHCHOP
|
||||||
|
"/current_scale"
|
||||||
|
#endif
|
||||||
|
#if HAS_STALLGUARD
|
||||||
|
"/mech_load"
|
||||||
|
#endif
|
||||||
|
"|flags|warncount"
|
||||||
|
);
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
@ -360,7 +468,7 @@
|
||||||
template<class TMC>
|
template<class TMC>
|
||||||
static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
|
static void print_vsense(TMC &st) { serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); }
|
||||||
|
|
||||||
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
|
#if HAS_TMCX1X0
|
||||||
static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
|
static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
|
||||||
switch (i) {
|
switch (i) {
|
||||||
case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
|
case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
|
||||||
|
@ -702,7 +810,7 @@
|
||||||
TMC_REPORT("Stallguard thrs", TMC_SGT);
|
TMC_REPORT("Stallguard thrs", TMC_SGT);
|
||||||
|
|
||||||
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
|
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
|
||||||
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
|
#if HAS_TMCX1X0
|
||||||
DRV_REPORT("stallguard\t", TMC_STALLGUARD);
|
DRV_REPORT("stallguard\t", TMC_STALLGUARD);
|
||||||
DRV_REPORT("sg_result\t", TMC_SG_RESULT);
|
DRV_REPORT("sg_result\t", TMC_SG_RESULT);
|
||||||
DRV_REPORT("fsactive\t", TMC_FSACTIVE);
|
DRV_REPORT("fsactive\t", TMC_FSACTIVE);
|
||||||
|
@ -728,7 +836,7 @@
|
||||||
|
|
||||||
#define PRINT_TMC_REGISTER(REG_CASE) case TMC_GET_##REG_CASE: print_hex_long(st.REG_CASE(), ':'); break
|
#define PRINT_TMC_REGISTER(REG_CASE) case TMC_GET_##REG_CASE: print_hex_long(st.REG_CASE(), ':'); break
|
||||||
|
|
||||||
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
|
#if HAS_TMCX1X0
|
||||||
static void tmc_get_ic_registers(TMC2130Stepper &st, const TMC_get_registers_enum i) {
|
static void tmc_get_ic_registers(TMC2130Stepper &st, const TMC_get_registers_enum i) {
|
||||||
switch (i) {
|
switch (i) {
|
||||||
PRINT_TMC_REGISTER(TCOOLTHRS);
|
PRINT_TMC_REGISTER(TCOOLTHRS);
|
||||||
|
|
|
@ -53,6 +53,10 @@
|
||||||
#define CHOPPER_PRUSAMK3_24V { 4, 1, 4 }
|
#define CHOPPER_PRUSAMK3_24V { 4, 1, 4 }
|
||||||
#define CHOPPER_MARLIN_119 { 5, 2, 3 }
|
#define CHOPPER_MARLIN_119 { 5, 2, 3 }
|
||||||
|
|
||||||
|
#if ENABLED(MONITOR_DRIVER_STATUS) && !defined(MONITOR_DRIVER_STATUS_INTERVAL_MS)
|
||||||
|
#define MONITOR_DRIVER_STATUS_INTERVAL_MS 500u
|
||||||
|
#endif
|
||||||
|
|
||||||
constexpr uint16_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
|
constexpr uint16_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
|
||||||
return 12650000UL * msteps / (256 * thrs * spmm);
|
return 12650000UL * msteps / (256 * thrs * spmm);
|
||||||
}
|
}
|
||||||
|
@ -258,7 +262,7 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
|
||||||
|
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
#if ENABLED(MONITOR_DRIVER_STATUS)
|
#if ENABLED(MONITOR_DRIVER_STATUS)
|
||||||
void tmc_set_report_status(const bool status);
|
void tmc_set_report_interval(const uint16_t update_interval);
|
||||||
#endif
|
#endif
|
||||||
void tmc_report_all(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
|
void tmc_report_all(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
|
||||||
void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
|
void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
|
||||||
|
|
|
@ -65,7 +65,7 @@ void GcodeSuite::M122() {
|
||||||
#define L6470_SAY_STATUS(Q) L6470_status_decode(stepper##Q.getStatus(), Q)
|
#define L6470_SAY_STATUS(Q) L6470_status_decode(stepper##Q.getStatus(), Q)
|
||||||
|
|
||||||
//if (parser.seen('S'))
|
//if (parser.seen('S'))
|
||||||
// tmc_set_report_status(parser.value_bool());
|
// tmc_set_report_interval(parser.value_bool());
|
||||||
//else
|
//else
|
||||||
|
|
||||||
#if AXIS_DRIVER_TYPE_X(L6470)
|
#if AXIS_DRIVER_TYPE_X(L6470)
|
||||||
|
|
|
@ -39,8 +39,9 @@ void GcodeSuite::M122() {
|
||||||
|
|
||||||
#if ENABLED(TMC_DEBUG)
|
#if ENABLED(TMC_DEBUG)
|
||||||
#if ENABLED(MONITOR_DRIVER_STATUS)
|
#if ENABLED(MONITOR_DRIVER_STATUS)
|
||||||
if (parser.seen('S'))
|
const bool sflag = parser.seen('S'), s0 = sflag && !parser.value_bool();
|
||||||
tmc_set_report_status(parser.value_bool());
|
if (sflag) tmc_set_report_interval(s0 ? 0 : MONITOR_DRIVER_STATUS_INTERVAL_MS);
|
||||||
|
if (!s0 && parser.seenval('P')) tmc_set_report_interval(MIN(parser.value_ushort(), MONITOR_DRIVER_STATUS_INTERVAL_MS));
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
if (parser.seen('V'))
|
if (parser.seen('V'))
|
||||||
|
|
|
@ -662,7 +662,7 @@ void GcodeSuite::process_parsed_command(
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if HAS_TRINAMIC
|
#if HAS_TRINAMIC
|
||||||
case 122: M122(); break;
|
case 122: M122(); break; // M122: Report driver configuration and status
|
||||||
case 906: M906(); break; // M906: Set motor current in milliamps using axis codes X, Y, Z, E
|
case 906: M906(); break; // M906: Set motor current in milliamps using axis codes X, Y, Z, E
|
||||||
#if HAS_STEALTHCHOP
|
#if HAS_STEALTHCHOP
|
||||||
case 569: M569(); break; // M569: Enable stealthChop on an axis.
|
case 569: M569(); break; // M569: Enable stealthChop on an axis.
|
||||||
|
|
|
@ -853,9 +853,10 @@
|
||||||
|
|
||||||
// Trinamic Stepper Drivers
|
// Trinamic Stepper Drivers
|
||||||
#if HAS_TRINAMIC
|
#if HAS_TRINAMIC
|
||||||
#define TMC_HAS_SPI (HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160))
|
#define HAS_TMCX1X0 (HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160))
|
||||||
#define HAS_STALLGUARD (HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC2660) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160))
|
#define TMC_HAS_SPI (HAS_TMCX1X0 || HAS_DRIVER(TMC2660))
|
||||||
#define HAS_STEALTHCHOP (HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160))
|
#define HAS_STALLGUARD (HAS_TMCX1X0 || HAS_DRIVER(TMC2660))
|
||||||
|
#define HAS_STEALTHCHOP (HAS_TMCX1X0 || HAS_DRIVER(TMC2208))
|
||||||
#define AXIS_HAS_SPI(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2660))
|
#define AXIS_HAS_SPI(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2660))
|
||||||
#define AXIS_HAS_STALLGUARD(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160))
|
#define AXIS_HAS_STALLGUARD(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160))
|
||||||
#define AXIS_HAS_STEALTHCHOP(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2208) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160))
|
#define AXIS_HAS_STEALTHCHOP(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2208) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160))
|
||||||
|
|
|
@ -662,6 +662,10 @@
|
||||||
st.microsteps(microsteps);
|
st.microsteps(microsteps);
|
||||||
st.intpol(INTERPOLATE);
|
st.intpol(INTERPOLATE);
|
||||||
st.diss2g(true); // Disable short to ground protection. Too many false readings?
|
st.diss2g(true); // Disable short to ground protection. Too many false readings?
|
||||||
|
|
||||||
|
#if ENABLED(TMC_DEBUG)
|
||||||
|
st.rdsel(0b01);
|
||||||
|
#endif
|
||||||
}
|
}
|
||||||
#endif // TMC2660
|
#endif // TMC2660
|
||||||
|
|
||||||
|
|
Reference in a new issue