Skip to content

[1.1.x] More complete Trinamic driver options #10101

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
thinkyhead merged 4 commits into from
Mar 21, 2018
Merged

[1.1.x] More complete Trinamic driver options #10101

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
a035020
Consolidate smart stepper driver initialization
thinkyhead Mar 18, 2018
84bbd01
Improve Trinamic support in the EEPROM
thinkyhead Mar 15, 2018
4995e0e
Quiet M906/M913/M914 with axes. Patch for DISTINCT_E_FACTORS.
thinkyhead Mar 14, 2018
312bebf
Add 'I' parameter to M906/M913/M914; 'T' to M906/M913
thinkyhead Mar 19, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
267 changes: 208 additions & 59 deletions Marlin/Marlin_main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8278,19 +8278,14 @@ inline void gcode_M140() {
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif

#if ENABLED(HAVE_TMC2130)
delay(100);
tmc2130_init(); // Settings only stick when the driver has power
#if DISABLED(AUTO_POWER_CONTROL)
delay(100); // Wait for power to settle
restore_stepper_drivers();
#endif

#if ENABLED(ULTIPANEL)
LCD_MESSAGEPGM(WELCOME_MSG);
#endif

#if ENABLED(HAVE_TMC2208)
delay(100);
tmc2208_init();
#endif
}

#endif // HAS_POWER_SWITCH
Expand Down Expand Up @@ -10530,46 +10525,104 @@ inline void gcode_M502() {
* Report driver currents when no axis specified
*/
inline void gcode_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;
const uint8_t index = parser.byteval('I');
LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) {

@teemuatlut teemuatlut Mar 15, 2018

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Will this work alright? What's the boolean result of assigning a value to a variable as it is not a comparison in itself?

@thinkyhead thinkyhead Mar 15, 2018 •
edited
Loading

Copy link
Copy Markdown
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Non-zero evaluates as true in all C-like languages.

report = false;
switch (i) {
case X_AXIS:
#if X_IS_TRINAMIC
if (index == 0) TMC_SET_CURRENT(X);
#endif
#if X2_IS_TRINAMIC
if (index == 1) TMC_SET_CURRENT(X2);
#endif
break;
case Y_AXIS:
#if Y_IS_TRINAMIC
if (index == 0) TMC_SET_CURRENT(Y);
#endif
#if Y2_IS_TRINAMIC
if (index == 1) TMC_SET_CURRENT(Y2);
#endif
break;
case Z_AXIS:
#if Z_IS_TRINAMIC
if (index == 0) TMC_SET_CURRENT(Z);
#endif
#if Z2_IS_TRINAMIC
if (index == 1) TMC_SET_CURRENT(Z2);
#endif
break;
case E_AXIS: {
if (get_target_extruder_from_command(906)) 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;
}
}

if (report) LOOP_XYZE(i) switch (i) {

@teemuatlut teemuatlut Mar 15, 2018

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I believe this will change the behavior of M906 so that the values are no longer reported when setting a new value.
This also applies to the following TMC gcodes.

@thinkyhead thinkyhead Mar 15, 2018 •
edited
Loading

Copy link
Copy Markdown
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Correct. That is the intent. We don't want the EEPROM loading to spew more information than the M503 report already produces. So the tmc setters no longer repeat the set value. It's also a standard of Marlin to stay quiet when setting values, but to report values when a command is given without arguments.

case X_AXIS:
#if X_IS_TRINAMIC
TMC_SET_GET_CURRENT(X,X);
TMC_SAY_CURRENT(X);
#endif
#if X2_IS_TRINAMIC
TMC_SET_GET_CURRENT(X,X2);
TMC_SAY_CURRENT(X2);
#endif
break;
case Y_AXIS:
#if Y_IS_TRINAMIC
TMC_SET_GET_CURRENT(Y,Y);
TMC_SAY_CURRENT(Y);
#endif
#if Y2_IS_TRINAMIC
TMC_SET_GET_CURRENT(Y,Y2);
TMC_SAY_CURRENT(Y2);
#endif
break;
case Z_AXIS:
#if Z_IS_TRINAMIC
TMC_SET_GET_CURRENT(Z,Z);
TMC_SAY_CURRENT(Z);
#endif
#if Z2_IS_TRINAMIC
TMC_SET_GET_CURRENT(Z,Z2);
TMC_SAY_CURRENT(Z2);
#endif
break;
case E_AXIS:
#if E0_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E0);
TMC_SAY_CURRENT(E0);
#endif
#if E1_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E1);
TMC_SAY_CURRENT(E1);
#endif
#if E2_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E2);
TMC_SAY_CURRENT(E2);
#endif
#if E3_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E3);
TMC_SAY_CURRENT(E3);
#endif
#if E4_IS_TRINAMIC
TMC_SET_GET_CURRENT(E,E4);
TMC_SAY_CURRENT(E4);
#endif
break;
}
}

/**
Expand Down Expand Up @@ -10622,46 +10675,106 @@ inline void gcode_M502() {
*/
#if ENABLED(HYBRID_THRESHOLD)
inline void gcode_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;
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
if (index == 0) TMC_SET_PWMTHRS(X,X);
#endif
#if X2_IS_TRINAMIC
if (index == 1) TMC_SET_PWMTHRS(X,X2);
#endif
break;
case Y_AXIS:
#if Y_IS_TRINAMIC
if (index == 0) TMC_SET_PWMTHRS(Y,Y);
#endif
#if Y2_IS_TRINAMIC
if (index == 1) TMC_SET_PWMTHRS(Y,Y2);
#endif
break;
case Z_AXIS:
#if Z_IS_TRINAMIC
if (index == 0) TMC_SET_PWMTHRS(Z,Z);
#endif
#if Z2_IS_TRINAMIC
if (index == 1) TMC_SET_PWMTHRS(Z,Z2);
#endif
break;
case E_AXIS: {
if (get_target_extruder_from_command(913)) 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;
}
}

if (report) LOOP_XYZE(i) switch (i) {
case X_AXIS:
#if X_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(X,X);
TMC_SAY_PWMTHRS(X,X);
#endif
#if X2_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(X,X2);
TMC_SAY_PWMTHRS(X,X2);
#endif
break;
case Y_AXIS:
#if Y_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(Y,Y);
TMC_SAY_PWMTHRS(Y,Y);
#endif
#if Y2_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(Y,Y2);
TMC_SAY_PWMTHRS(Y,Y2);
#endif
break;
case Z_AXIS:
#if Z_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(Z,Z);
TMC_SAY_PWMTHRS(Z,Z);
#endif
#if Z2_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(Z,Z2);
TMC_SAY_PWMTHRS(Z,Z2);
#endif
break;
case E_AXIS:
#if E0_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E0);
TMC_SAY_PWMTHRS_E(0);
#endif
#if E1_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E1);
#if E_STEPPERS > 1 && E1_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(1);
#endif
#if E2_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E2);
#if E_STEPPERS > 2 && E2_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(2);
#endif
#if E3_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E3);
#if E_STEPPERS > 3 && E3_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(3);
#endif
#if E4_IS_TRINAMIC
TMC_SET_GET_PWMTHRS(E,E4);
#if E_STEPPERS > 4 && E4_IS_TRINAMIC
TMC_SAY_PWMTHRS_E(4);
#endif
break;
}
}
#endif // HYBRID_THRESHOLD

Expand All @@ -10670,34 +10783,68 @@ inline void gcode_M502() {
*/
#if ENABLED(SENSORLESS_HOMING)
inline void gcode_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
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_GET_SGT(X,X);
if (index == 0) TMC_SET_SGT(X);
#endif
#if ENABLED(X2_IS_TMC2130)
TMC_SET_GET_SGT(X,X2);
if (index == 1) TMC_SET_SGT(X2);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
break;
case Y_AXIS:
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
TMC_SET_GET_SGT(Y,Y);
if (index == 0) TMC_SET_SGT(Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
TMC_SET_GET_SGT(Y,Y2);
#endif
if (index == 1) TMC_SET_SGT(Y2);
#endif
#ifdef Z_HOMING_SENSITIVITY
break;
case Z_AXIS:
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
TMC_SET_GET_SGT(Z,Z);
if (index == 0) TMC_SET_SGT(Z);
#endif
#if ENABLED(Z2_IS_TMC2130)
TMC_SET_GET_SGT(Z,Z2);
if (index == 1) 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

Expand Down Expand Up @@ -13667,6 +13814,7 @@ void setup() {
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START();

// Prepare communication for TMC drivers
#if ENABLED(HAVE_TMC2130)
tmc_init_cs_pins();
#endif
Expand Down Expand Up @@ -13723,7 +13871,8 @@ void setup() {
print_job_timer.init(); // Initial setup of print job timer

stepper.init(); // Initialize stepper, this enables interrupts!
servo_init();

servo_init(); // Initialize all servos, stow servo probe

#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
Expand Down
Loading