566 lines
19 KiB
C++
566 lines
19 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../inc/MarlinConfig.h"
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#if HAS_TRINAMIC
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#include "tmc_util.h"
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#include "../Marlin.h"
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#include "../module/stepper_indirection.h"
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#include "../module/printcounter.h"
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#include "../libs/duration_t.h"
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#include "../gcode/gcode.h"
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#if ENABLED(TMC_DEBUG)
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#include "../module/planner.h"
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#endif
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bool report_tmc_status = false;
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char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
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/*
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* Check for over temperature or short to ground error flags.
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* Report and log warning of overtemperature condition.
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* Reduce driver current in a persistent otpw condition.
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* Keep track of otpw counter so we don't reduce current on a single instance,
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* and so we don't repeatedly report warning before the condition is cleared.
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*/
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#if ENABLED(MONITOR_DRIVER_STATUS)
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struct TMC_driver_data {
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uint32_t drv_status;
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bool is_otpw;
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bool is_ot;
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bool is_error;
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};
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#if ENABLED(HAVE_TMC2130)
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static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
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static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response & 0xF; }
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static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
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constexpr uint32_t OTPW_bm = 0x4000000UL;
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constexpr uint8_t OTPW_bp = 26;
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constexpr uint32_t OT_bm = 0x2000000UL;
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constexpr uint8_t OT_bp = 25;
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constexpr uint8_t DRIVER_ERROR_bm = 0x2UL;
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constexpr uint8_t DRIVER_ERROR_bp = 1;
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TMC_driver_data data;
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data.drv_status = st.DRV_STATUS();
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data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
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data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
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data.is_error = (st.status_response & DRIVER_ERROR_bm) >> DRIVER_ERROR_bp;
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return data;
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}
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#endif
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#if ENABLED(HAVE_TMC2208)
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static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
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static uint8_t get_status_response(TMC2208Stepper &st) {
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uint32_t drv_status = st.DRV_STATUS();
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uint8_t gstat = st.GSTAT();
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uint8_t response = 0;
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response |= (drv_status >> (31-3)) & 0b1000;
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response |= gstat & 0b11;
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return response;
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}
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static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
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constexpr uint32_t OTPW_bm = 0b1ul;
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constexpr uint8_t OTPW_bp = 0;
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constexpr uint32_t OT_bm = 0b10ul;
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constexpr uint8_t OT_bp = 1;
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TMC_driver_data data;
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data.drv_status = st.DRV_STATUS();
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data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
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data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
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data.is_error = st.drv_err();
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return data;
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}
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#endif
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template<typename TMC>
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void monitor_tmc_driver(TMC &st, const char axisID, uint8_t &otpw_cnt) {
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TMC_driver_data data = get_driver_data(st);
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#if ENABLED(STOP_ON_ERROR)
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if (data.is_error) {
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SERIAL_EOL();
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SERIAL_ECHO(axisID);
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SERIAL_ECHOPGM(" driver error detected:");
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if (data.is_ot) SERIAL_ECHOPGM("\novertemperature");
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if (st.s2ga()) SERIAL_ECHOPGM("\nshort to ground (coil A)");
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if (st.s2gb()) SERIAL_ECHOPGM("\nshort to ground (coil B)");
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SERIAL_EOL();
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#if ENABLED(TMC_DEBUG)
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tmc_report_all();
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#endif
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kill(PSTR("Driver error"));
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}
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#endif
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// Report if a warning was triggered
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if (data.is_otpw && otpw_cnt == 0) {
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char timestamp[10];
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duration_t elapsed = print_job_timer.duration();
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const bool has_days = (elapsed.value > 60*60*24L);
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(void)elapsed.toDigital(timestamp, has_days);
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SERIAL_EOL();
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SERIAL_ECHO(timestamp);
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SERIAL_ECHOPGM(": ");
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SERIAL_ECHO(axisID);
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SERIAL_ECHOPGM(" driver overtemperature warning! (");
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SERIAL_ECHO(st.getCurrent());
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SERIAL_ECHOLNPGM("mA)");
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}
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#if CURRENT_STEP_DOWN > 0
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// Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
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if (data.is_otpw && !st.isEnabled() && otpw_cnt > 4) {
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st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);
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#if ENABLED(REPORT_CURRENT_CHANGE)
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SERIAL_ECHO(axisID);
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SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());
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#endif
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}
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#endif
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if (data.is_otpw) {
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otpw_cnt++;
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st.flag_otpw = true;
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}
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else if (otpw_cnt > 0) otpw_cnt--;
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if (report_tmc_status) {
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const uint32_t pwm_scale = get_pwm_scale(st);
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SERIAL_ECHO(axisID);
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SERIAL_ECHOPAIR(":", pwm_scale);
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SERIAL_ECHOPGM(" |0b"); MYSERIAL0.print(get_status_response(st), BIN);
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SERIAL_ECHOPGM("| ");
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if (data.is_error) SERIAL_CHAR('E');
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else if (data.is_ot) SERIAL_CHAR('O');
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else if (data.is_otpw) SERIAL_CHAR('W');
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else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
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else if (st.flag_otpw) SERIAL_CHAR('F');
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SERIAL_CHAR('\t');
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}
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}
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#define HAS_HW_COMMS(ST) ENABLED(ST##_IS_TMC2130)|| (ENABLED(ST##_IS_TMC2208) && defined(ST##_HARDWARE_SERIAL))
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void monitor_tmc_driver() {
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static millis_t next_cOT = 0;
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if (ELAPSED(millis(), next_cOT)) {
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next_cOT = millis() + 500;
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#if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS)
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static uint8_t x_otpw_cnt = 0;
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monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS)
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static uint8_t y_otpw_cnt = 0;
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monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS)
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static uint8_t z_otpw_cnt = 0;
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monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(X2)
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static uint8_t x2_otpw_cnt = 0;
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monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Y2)
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static uint8_t y2_otpw_cnt = 0;
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monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(Z2)
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static uint8_t z2_otpw_cnt = 0;
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monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS)
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static uint8_t e0_otpw_cnt = 0;
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monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E1)
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static uint8_t e1_otpw_cnt = 0;
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monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E2)
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static uint8_t e2_otpw_cnt = 0;
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monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E3)
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static uint8_t e3_otpw_cnt = 0;
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monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
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#endif
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#if HAS_HW_COMMS(E4)
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static uint8_t e4_otpw_cnt = 0;
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monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
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#endif
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if (report_tmc_status) SERIAL_EOL();
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}
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}
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#endif // MONITOR_DRIVER_STATUS
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void _tmc_say_current(const char name[], const uint16_t curr) {
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPAIR(" axis driver current: ", curr);
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}
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void _tmc_say_otpw(const char name[], const bool otpw) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
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serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
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SERIAL_EOL();
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}
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void _tmc_say_otpw_cleared(const char name[]) {
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPGM(" prewarn flag cleared");
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}
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void _tmc_say_pwmthrs(const char name[], const uint32_t thrs) {
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SERIAL_ECHO(name);
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SERIAL_ECHOLNPAIR(" stealthChop max speed set to ", thrs);
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}
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void _tmc_say_sgt(const char name[], const uint32_t sgt) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" driver homing sensitivity set to ");
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MYSERIAL0.println(sgt, DEC);
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}
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#if ENABLED(TMC_DEBUG)
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enum TMC_debug_enum {
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TMC_CODES,
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TMC_ENABLED,
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TMC_CURRENT,
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TMC_RMS_CURRENT,
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TMC_MAX_CURRENT,
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TMC_IRUN,
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TMC_IHOLD,
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TMC_CS_ACTUAL,
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TMC_PWM_SCALE,
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TMC_VSENSE,
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TMC_STEALTHCHOP,
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TMC_MICROSTEPS,
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TMC_TSTEP,
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TMC_TPWMTHRS,
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TMC_TPWMTHRS_MMS,
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TMC_OTPW,
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TMC_OTPW_TRIGGERED,
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TMC_TOFF,
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TMC_TBL,
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TMC_HEND,
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TMC_HSTRT,
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TMC_SGT
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};
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enum TMC_drv_status_enum {
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TMC_DRV_CODES,
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TMC_STST,
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TMC_OLB,
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TMC_OLA,
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TMC_S2GB,
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TMC_S2GA,
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TMC_DRV_OTPW,
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TMC_OT,
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TMC_STALLGUARD,
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TMC_DRV_CS_ACTUAL,
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TMC_FSACTIVE,
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TMC_SG_RESULT,
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TMC_DRV_STATUS_HEX,
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TMC_T157,
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TMC_T150,
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TMC_T143,
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TMC_T120,
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TMC_STEALTH,
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TMC_S2VSB,
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TMC_S2VSA
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};
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static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
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SERIAL_ECHO(name);
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SERIAL_ECHOPGM(" = 0x");
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for (int B = 24; B >= 8; B -= 8){
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SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
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SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
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SERIAL_CHAR(':');
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}
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SERIAL_PRINT((drv_status >> 4) & 0xF, HEX);
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SERIAL_PRINT(drv_status & 0xF, HEX);
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SERIAL_EOL();
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}
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#if ENABLED(HAVE_TMC2130)
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static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
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switch(i) {
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case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
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case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
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case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
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default: break;
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}
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}
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static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
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switch(i) {
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case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
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case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
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case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('X'); break;
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default: break;
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}
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}
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#endif
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#if ENABLED(HAVE_TMC2208)
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static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
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switch(i) {
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case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); MYSERIAL0.print(data); break; }
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case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
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case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
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case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
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case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('X'); break;
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default: break;
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}
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}
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static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
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switch(i) {
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case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
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case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
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case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break;
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case TMC_T120: if (st.t120()) SERIAL_CHAR('X'); break;
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default: break;
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}
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}
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#endif
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template <typename TMC>
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static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
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SERIAL_ECHO('\t');
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switch(i) {
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case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
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case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
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case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
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case TMC_RMS_CURRENT: MYSERIAL0.print(st.rms_current()); break;
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case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
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case TMC_IRUN:
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SERIAL_PRINT(st.irun(), DEC);
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SERIAL_ECHOPGM("/31");
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break;
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case TMC_IHOLD:
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SERIAL_PRINT(st.ihold(), DEC);
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SERIAL_ECHOPGM("/31");
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break;
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case TMC_CS_ACTUAL:
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SERIAL_PRINT(st.cs_actual(), DEC);
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SERIAL_ECHOPGM("/31");
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break;
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case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
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case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
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case TMC_TPWMTHRS: {
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uint32_t tpwmthrs_val = st.TPWMTHRS();
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SERIAL_ECHO(tpwmthrs_val);
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}
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break;
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case TMC_TPWMTHRS_MMS: {
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uint32_t tpwmthrs_val = st.TPWMTHRS();
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tpwmthrs_val ? SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm)) : SERIAL_CHAR('-');
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}
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break;
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case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
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case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
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case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
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case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
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case TMC_HEND: SERIAL_PRINT(st.hysterisis_end(), DEC); break;
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case TMC_HSTRT: SERIAL_PRINT(st.hysterisis_start(), DEC); break;
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default: tmc_status(st, i); break;
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}
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}
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template <typename TMC>
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static void tmc_parse_drv_status(TMC &st, TMC_AxisEnum axis, const TMC_drv_status_enum i) {
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SERIAL_CHAR('\t');
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switch(i) {
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case TMC_DRV_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
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case TMC_STST: if (st.stst()) SERIAL_CHAR('X'); break;
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case TMC_OLB: if (st.olb()) SERIAL_CHAR('X'); break;
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case TMC_OLA: if (st.ola()) SERIAL_CHAR('X'); break;
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case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('X'); break;
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case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('X'); break;
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case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break;
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case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break;
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case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
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case TMC_DRV_STATUS_HEX:drv_status_print_hex(extended_axis_codes[axis], st.DRV_STATUS()); break;
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default: tmc_parse_drv_status(st, i); break;
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}
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}
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static void tmc_debug_loop(const TMC_debug_enum i) {
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#if X_IS_TRINAMIC
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tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if X2_IS_TRINAMIC
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tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
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#endif
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|
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#if Y_IS_TRINAMIC
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tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if Y2_IS_TRINAMIC
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tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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|
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#if Z_IS_TRINAMIC
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tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if Z2_IS_TRINAMIC
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tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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|
|
|
#if E0_IS_TRINAMIC
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tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
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|
#endif
|
|
#if E1_IS_TRINAMIC
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|
tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS+1]);
|
|
#endif
|
|
#if E2_IS_TRINAMIC
|
|
tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS+2]);
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|
#endif
|
|
#if E3_IS_TRINAMIC
|
|
tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS+3]);
|
|
#endif
|
|
#if E4_IS_TRINAMIC
|
|
tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS+4]);
|
|
#endif
|
|
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
static void drv_status_loop(const TMC_drv_status_enum i) {
|
|
#if X_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperX, TMC_X, i);
|
|
#endif
|
|
#if X2_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperX2, TMC_X2, i);
|
|
#endif
|
|
|
|
#if Y_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperY, TMC_Y, i);
|
|
#endif
|
|
#if Y2_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperY2, TMC_Y2, i);
|
|
#endif
|
|
|
|
#if Z_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperZ, TMC_Z, i);
|
|
#endif
|
|
#if Z2_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
|
|
#endif
|
|
|
|
#if E0_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperE0, TMC_E0, i);
|
|
#endif
|
|
#if E1_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperE1, TMC_E1, i);
|
|
#endif
|
|
#if E2_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperE2, TMC_E2, i);
|
|
#endif
|
|
#if E3_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperE3, TMC_E3, i);
|
|
#endif
|
|
#if E4_IS_TRINAMIC
|
|
tmc_parse_drv_status(stepperE4, TMC_E4, i);
|
|
#endif
|
|
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
/**
|
|
* M122 report functions
|
|
*/
|
|
void tmc_set_report_status(const bool status) {
|
|
if ((report_tmc_status = status))
|
|
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
|
|
}
|
|
|
|
void tmc_report_all() {
|
|
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM); }while(0)
|
|
#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM); }while(0)
|
|
TMC_REPORT("\t", TMC_CODES);
|
|
TMC_REPORT("Enabled\t", TMC_ENABLED);
|
|
TMC_REPORT("Set current", TMC_CURRENT);
|
|
TMC_REPORT("RMS current", TMC_RMS_CURRENT);
|
|
TMC_REPORT("MAX current", TMC_MAX_CURRENT);
|
|
TMC_REPORT("Run current", TMC_IRUN);
|
|
TMC_REPORT("Hold current", TMC_IHOLD);
|
|
TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);
|
|
TMC_REPORT("PWM scale", TMC_PWM_SCALE);
|
|
TMC_REPORT("vsense\t", TMC_VSENSE);
|
|
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
|
|
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
|
|
TMC_REPORT("tstep\t", TMC_TSTEP);
|
|
TMC_REPORT("pwm\nthreshold\t", TMC_TPWMTHRS);
|
|
TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);
|
|
TMC_REPORT("OT prewarn", TMC_OTPW);
|
|
TMC_REPORT("OT prewarn has\n"
|
|
"been triggered", TMC_OTPW_TRIGGERED);
|
|
TMC_REPORT("off time\t", TMC_TOFF);
|
|
TMC_REPORT("blank time", TMC_TBL);
|
|
TMC_REPORT("hysterisis\n-end\t", TMC_HEND);
|
|
TMC_REPORT("-start\t", TMC_HSTRT);
|
|
TMC_REPORT("Stallguard thrs", TMC_SGT);
|
|
|
|
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
|
|
#if ENABLED(HAVE_TMC2130)
|
|
DRV_REPORT("stallguard\t", TMC_STALLGUARD);
|
|
DRV_REPORT("sg_result\t", TMC_SG_RESULT);
|
|
DRV_REPORT("fsactive\t", TMC_FSACTIVE);
|
|
#endif
|
|
DRV_REPORT("stst\t", TMC_STST);
|
|
DRV_REPORT("olb\t", TMC_OLB);
|
|
DRV_REPORT("ola\t", TMC_OLA);
|
|
DRV_REPORT("s2gb\t", TMC_S2GB);
|
|
DRV_REPORT("s2ga\t", TMC_S2GA);
|
|
DRV_REPORT("otpw\t", TMC_DRV_OTPW);
|
|
DRV_REPORT("ot\t", TMC_OT);
|
|
#if ENABLED(HAVE_TMC2208)
|
|
DRV_REPORT("157C\t", TMC_T157);
|
|
DRV_REPORT("150C\t", TMC_T150);
|
|
DRV_REPORT("143C\t", TMC_T143);
|
|
DRV_REPORT("120C\t", TMC_T120);
|
|
DRV_REPORT("s2vsa\t", TMC_S2VSA);
|
|
DRV_REPORT("s2vsb\t", TMC_S2VSB);
|
|
#endif
|
|
DRV_REPORT("Driver registers:", TMC_DRV_STATUS_HEX);
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
#endif // TMC_DEBUG
|
|
|
|
#if ENABLED(SENSORLESS_HOMING)
|
|
|
|
void tmc_sensorless_homing(TMC2130Stepper &st, bool enable/*=true*/) {
|
|
#if ENABLED(STEALTHCHOP)
|
|
st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);
|
|
st.stealthChop(!enable);
|
|
#endif
|
|
st.diag1_stall(enable ? 1 : 0);
|
|
}
|
|
|
|
#endif // SENSORLESS_HOMING
|
|
|
|
#endif // HAS_TRINAMIC
|