Merge pull request #9130 from thinkyhead/bf2_tmc_followup

[2.0.x] More TMC followup

.travis.yml

@@ -28,7 +28,8 @@ before_install:
   - export PATH=${TRAVIS_BUILD_DIR}/buildroot/bin/:${PATH}
 
 install:
-  - pip install -U platformio
+  #- pip install -U platformio
+  - pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
 
 before_script:
   # Update PlatformIO packages

Marlin/src/HAL/HAL_DUE/usb/sd_mmc_spi_mem.cpp

@@ -65,7 +65,7 @@ Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector) {
   #ifdef DEBUG_MMC
     char buffer[80];
     sprintf(buffer, "SDRD: %d @ 0x%08x\n", nb_sector, addr);
-    MYSERIAL.print(buffer);
+    MYSERIAL0.print(buffer);
   #endif
 
   // Start reading
@@ -99,7 +99,7 @@ Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector) {
   #ifdef DEBUG_MMC
     char buffer[80];
     sprintf(buffer, "SDWR: %d @ 0x%08x\n", nb_sector, addr);
-    MYSERIAL.print(buffer);
+    MYSERIAL0.print(buffer);
   #endif
 
   if (!card.getSd2Card().writeStart(addr, nb_sector))

Marlin/src/core/serial.h

@@ -67,13 +67,13 @@ enum DebugFlags {
   #ifdef USBCON
     #include <HardwareSerial.h>
     #if ENABLED(BLUETOOTH)
-      #define MYSERIAL bluetoothSerial
+      #define MYSERIAL0 bluetoothSerial
     #else
-      #define MYSERIAL Serial
+      #define MYSERIAL0 Serial
     #endif // BLUETOOTH
   #else
     #include "../HAL/HAL_AVR/MarlinSerial.h"
-    #define MYSERIAL customizedSerial
+    #define MYSERIAL0 customizedSerial
   #endif
 #elif defined(ARDUINO_ARCH_SAM)
   // To pull the Serial port definitions and overrides

Marlin/src/feature/tmc_macros.h

@@ -1,39 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-#ifndef TMC_MACROS_H
-#define TMC_MACROS_H
-
-  // Trinamic Stepper Drivers
-  #define HAS_TRINAMIC (ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208) || ENABLED(IS_TRAMS))
-  #define  X_IS_TRINAMIC (ENABLED( X_IS_TMC2130) || ENABLED( X_IS_TMC2208) || ENABLED(IS_TRAMS))
-  #define X2_IS_TRINAMIC (ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208))
-  #define  Y_IS_TRINAMIC (ENABLED( Y_IS_TMC2130) || ENABLED( Y_IS_TMC2208) || ENABLED(IS_TRAMS))
-  #define Y2_IS_TRINAMIC (ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208))
-  #define  Z_IS_TRINAMIC (ENABLED( Z_IS_TMC2130) || ENABLED( Z_IS_TMC2208) || ENABLED(IS_TRAMS))
-  #define Z2_IS_TRINAMIC (ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208))
-  #define E0_IS_TRINAMIC (ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) || ENABLED(IS_TRAMS))
-  #define E1_IS_TRINAMIC (ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208))
-  #define E2_IS_TRINAMIC (ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208))
-  #define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208))
-  #define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
-
-#endif

Marlin/src/feature/tmc_util.cpp

@@ -32,6 +32,10 @@
 #include "../libs/duration_t.h"
 #include "../gcode/gcode.h"
 
+#if ENABLED(TMC_DEBUG)
+  #include "../module/planner.h"
+#endif
+
 bool report_tmc_status = false;
 char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
 
@@ -51,7 +55,7 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
   };
   #if ENABLED(HAVE_TMC2130)
     static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
-    static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response&0xF; }
+    static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response & 0xF; }
     static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
       constexpr uint32_t OTPW_bm = 0x4000000UL;
       constexpr uint8_t OTPW_bp = 26;
@@ -61,9 +65,9 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
       constexpr uint8_t DRIVER_ERROR_bp = 1;
       TMC_driver_data data;
       data.drv_status = st.DRV_STATUS();
-      data.is_otpw = (data.drv_status & OTPW_bm)>>OTPW_bp;
-      data.is_ot = (data.drv_status & OT_bm)>>OT_bp;
-      data.is_error = (st.status_response & DRIVER_ERROR_bm)>>DRIVER_ERROR_bp;
+      data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
+      data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
+      data.is_error = (st.status_response & DRIVER_ERROR_bm) >> DRIVER_ERROR_bp;
       return data;
     }
   #endif
@@ -84,35 +88,35 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
       constexpr uint8_t OT_bp = 1;
       TMC_driver_data data;
       data.drv_status = st.DRV_STATUS();
-      data.is_otpw = (data.drv_status & OTPW_bm)>>OTPW_bp;
-      data.is_ot = (data.drv_status & OT_bm)>>OT_bp;
+      data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
+      data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
       data.is_error = st.drv_err();
       return data;
     }
   #endif
 
   template<typename TMC>
-  uint8_t monitor_tmc_driver(TMC &st, const char axisID, uint8_t otpw_cnt) {
+  void monitor_tmc_driver(TMC &st, const char axisID, uint8_t &otpw_cnt) {
     TMC_driver_data data = get_driver_data(st);
 
     #if ENABLED(STOP_ON_ERROR)
       if (data.is_error) {
         SERIAL_EOL();
         SERIAL_ECHO(axisID);
-        SERIAL_ECHO(" driver error detected:");
-        if (data.is_ot) SERIAL_ECHO("\novertemperature");
-        if (st.s2ga()) SERIAL_ECHO("\nshort to ground (coil A)");
-        if (st.s2gb()) SERIAL_ECHO("\nshort to ground (coil B)");
+        SERIAL_ECHOPGM(" driver error detected:");
+        if (data.is_ot) SERIAL_ECHOPGM("\novertemperature");
+        if (st.s2ga()) SERIAL_ECHOPGM("\nshort to ground (coil A)");
+        if (st.s2gb()) SERIAL_ECHOPGM("\nshort to ground (coil B)");
         SERIAL_EOL();
         #if ENABLED(TMC_DEBUG)
-          _M122();
+          tmc_report_all();
         #endif
         kill(PSTR("Driver error"));
       }
     #endif
 
     // Report if a warning was triggered
-    if (data.is_otpw && otpw_cnt==0) {
+    if (data.is_otpw && otpw_cnt == 0) {
       char timestamp[10];
       duration_t elapsed = print_job_timer.duration();
       const bool has_days = (elapsed.value > 60*60*24L);
@@ -123,7 +127,7 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
       SERIAL_ECHO(axisID);
       SERIAL_ECHOPGM(" driver overtemperature warning! (");
       SERIAL_ECHO(st.getCurrent());
-      SERIAL_ECHOLN("mA)");
+      SERIAL_ECHOLNPGM("mA)");
     }
     #if CURRENT_STEP_DOWN > 0
       // Decrease current if is_otpw is true and driver is enabled and there's been more then 4 warnings
@@ -140,23 +144,21 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
       otpw_cnt++;
       st.flag_otpw = true;
     }
-    else if (otpw_cnt>0) otpw_cnt--;
+    else if (otpw_cnt > 0) otpw_cnt--;
 
     if (report_tmc_status) {
       const uint32_t pwm_scale = get_pwm_scale(st);
       SERIAL_ECHO(axisID);
       SERIAL_ECHOPAIR(":", pwm_scale);
-      SERIAL_ECHO(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);
-      SERIAL_ECHO("| ");
-      if (data.is_error) SERIAL_ECHO('E');
-      else if (data.is_ot) SERIAL_ECHO('O');
-      else if (data.is_otpw) SERIAL_ECHO('W');
-      else if (otpw_cnt>0) SERIAL_PRINT(otpw_cnt, DEC);
-      else if (st.flag_otpw) SERIAL_ECHO('F');
-      SERIAL_ECHO("\t");
+      SERIAL_ECHOPGM(" |0b"); MYSERIAL0.print(get_status_response(st), BIN);
+      SERIAL_ECHOPGM("| ");
+      if (data.is_error) SERIAL_CHAR('E');
+      else if (data.is_ot) SERIAL_CHAR('O');
+      else if (data.is_otpw) SERIAL_CHAR('W');
+      else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);
+      else if (st.flag_otpw) SERIAL_CHAR('F');
+      SERIAL_CHAR('\t');
     }
-
-    return otpw_cnt;
   }
 
   #define HAS_HW_COMMS(ST) ENABLED(ST##_IS_TMC2130)|| (ENABLED(ST##_IS_TMC2208) && defined(ST##_HARDWARE_SERIAL))
@@ -167,47 +169,47 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
       next_cOT = millis() + 500;
       #if HAS_HW_COMMS(X) || ENABLED(IS_TRAMS)
         static uint8_t x_otpw_cnt = 0;
-        x_otpw_cnt = monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
+        monitor_tmc_driver(stepperX, axis_codes[X_AXIS], x_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(Y) || ENABLED(IS_TRAMS)
         static uint8_t y_otpw_cnt = 0;
-        y_otpw_cnt = monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
+        monitor_tmc_driver(stepperY, axis_codes[Y_AXIS], y_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(Z) || ENABLED(IS_TRAMS)
         static uint8_t z_otpw_cnt = 0;
-        z_otpw_cnt = monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
+        monitor_tmc_driver(stepperZ, axis_codes[Z_AXIS], z_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(X2)
         static uint8_t x2_otpw_cnt = 0;
-        x2_otpw_cnt = monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
+        monitor_tmc_driver(stepperX2, axis_codes[X_AXIS], x2_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(Y2)
         static uint8_t y2_otpw_cnt = 0;
-        y2_otpw_cnt = monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
+        monitor_tmc_driver(stepperY2, axis_codes[Y_AXIS], y2_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(Z2)
         static uint8_t z2_otpw_cnt = 0;
-        z2_otpw_cnt = monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
+        monitor_tmc_driver(stepperZ2, axis_codes[Z_AXIS], z2_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(E0) || ENABLED(IS_TRAMS)
         static uint8_t e0_otpw_cnt = 0;
-        e0_otpw_cnt = monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
+        monitor_tmc_driver(stepperE0, axis_codes[E_AXIS], e0_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(E1)
         static uint8_t e1_otpw_cnt = 0;
-        e1_otpw_cnt = monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
+        monitor_tmc_driver(stepperE1, axis_codes[E_AXIS], e1_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(E2)
         static uint8_t e2_otpw_cnt = 0;
-        e2_otpw_cnt = monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
+        monitor_tmc_driver(stepperE2, axis_codes[E_AXIS], e2_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(E3)
         static uint8_t e3_otpw_cnt = 0;
-        e3_otpw_cnt = monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
+        monitor_tmc_driver(stepperE3, axis_codes[E_AXIS], e3_otpw_cnt);
       #endif
       #if HAS_HW_COMMS(E4)
         static uint8_t e4_otpw_cnt = 0;
-        e4_otpw_cnt = monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
+        monitor_tmc_driver(stepperE4, axis_codes[E_AXIS], e4_otpw_cnt);
       #endif
 
       if (report_tmc_status) SERIAL_EOL();
@@ -216,4 +218,349 @@ char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1",
 
 #endif // MONITOR_DRIVER_STATUS
 
+void _tmc_say_current(const char name[], const uint16_t curr) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOLNPAIR(" axis driver current: ", curr);
+}
+void _tmc_say_otpw(const char name[], const bool otpw) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
+  serialprintPGM(otpw ? PSTR("true") : PSTR("false"));
+  SERIAL_EOL();
+}
+void _tmc_say_otpw_cleared(const char name[]) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOLNPGM(" prewarn flag cleared");
+}
+void _tmc_say_pwmthrs(const char name[], const uint32_t thrs) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOLNPAIR(" stealthChop max speed set to ", thrs);
+}
+void _tmc_say_sgt(const char name[], const uint32_t sgt) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOPGM(" driver homing sensitivity set to ");
+  MYSERIAL0.println(sgt, DEC);
+}
+
+#if ENABLED(TMC_DEBUG)
+
+  enum TMC_debug_enum {
+    TMC_CODES,
+    TMC_ENABLED,
+    TMC_CURRENT,
+    TMC_RMS_CURRENT,
+    TMC_MAX_CURRENT,
+    TMC_IRUN,
+    TMC_IHOLD,
+    TMC_CS_ACTUAL,
+    TMC_PWM_SCALE,
+    TMC_VSENSE,
+    TMC_STEALTHCHOP,
+    TMC_MICROSTEPS,
+    TMC_TSTEP,
+    TMC_TPWMTHRS,
+    TMC_TPWMTHRS_MMS,
+    TMC_OTPW,
+    TMC_OTPW_TRIGGERED,
+    TMC_TOFF,
+    TMC_TBL,
+    TMC_HEND,
+    TMC_HSTRT,
+    TMC_SGT
+  };
+  enum TMC_drv_status_enum {
+    TMC_DRV_CODES,
+    TMC_STST,
+    TMC_OLB,
+    TMC_OLA,
+    TMC_S2GB,
+    TMC_S2GA,
+    TMC_DRV_OTPW,
+    TMC_OT,
+    TMC_STALLGUARD,
+    TMC_DRV_CS_ACTUAL,
+    TMC_FSACTIVE,
+    TMC_SG_RESULT,
+    TMC_DRV_STATUS_HEX,
+    TMC_T157,
+    TMC_T150,
+    TMC_T143,
+    TMC_T120,
+    TMC_STEALTH,
+    TMC_S2VSB,
+    TMC_S2VSA
+  };
+  static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
+    SERIAL_ECHO(name);
+    SERIAL_ECHOPGM(" = 0x");
+    for (int B = 24; B >= 8; B -= 8){
+      SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);
+      SERIAL_PRINT((drv_status >> B) & 0xF, HEX);
+      SERIAL_CHAR(':');
+    }
+    SERIAL_PRINT((drv_status >> 4) & 0xF, HEX);
+    SERIAL_PRINT(drv_status & 0xF, HEX);
+    SERIAL_EOL();
+  }
+
+  #if ENABLED(HAVE_TMC2130)
+    static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
+      switch(i) {
+        case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
+        case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
+        case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
+        case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
+        default: break;
+      }
+    }
+    static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
+      switch(i) {
+        case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
+        case TMC_SG_RESULT:  SERIAL_PRINT(st.sg_result(), DEC);   break;
+        case TMC_FSACTIVE:   if (st.fsactive())   SERIAL_CHAR('X'); break;
+        default: break;
+      }
+    }
+  #endif
+  #if ENABLED(HAVE_TMC2208)
+    static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
+      switch(i) {
+        case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); MYSERIAL0.print(data); break; }
+        case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
+        case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
+        case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;
+        case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('X'); break;
+        default: break;
+      }
+    }
+    static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
+      switch(i) {
+        case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;
+        case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
+        case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break;
+        case TMC_T120: if (st.t120()) SERIAL_CHAR('X'); break;
+        default: break;
+      }
+    }
+  #endif
+
+  template <typename TMC>
+  static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
+    SERIAL_ECHO('\t');
+    switch(i) {
+      case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
+      case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
+      case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
+      case TMC_RMS_CURRENT: MYSERIAL0.print(st.rms_current()); break;
+      case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
+      case TMC_IRUN:
+        SERIAL_PRINT(st.irun(), DEC);
+        SERIAL_ECHOPGM("/31");
+        break;
+      case TMC_IHOLD:
+        SERIAL_PRINT(st.ihold(), DEC);
+        SERIAL_ECHOPGM("/31");
+        break;
+      case TMC_CS_ACTUAL:
+        SERIAL_PRINT(st.cs_actual(), DEC);
+        SERIAL_ECHOPGM("/31");
+        break;
+
+      case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
+
+      case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
+      case TMC_TPWMTHRS: {
+          uint32_t tpwmthrs_val = st.TPWMTHRS();
+          SERIAL_ECHO(tpwmthrs_val);
+        }
+        break;
+      case TMC_TPWMTHRS_MMS: {
+          uint32_t tpwmthrs_val = st.TPWMTHRS();
+          tpwmthrs_val ? SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm)) : SERIAL_CHAR('-');
+        }
+        break;
+      case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
+      case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
+      case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
+      case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
+      case TMC_HEND: SERIAL_PRINT(st.hysterisis_end(), DEC); break;
+      case TMC_HSTRT: SERIAL_PRINT(st.hysterisis_start(), DEC); break;
+      default: tmc_status(st, i); break;
+    }
+  }
+
+  template <typename TMC>
+  static void tmc_parse_drv_status(TMC &st, TMC_AxisEnum axis, const TMC_drv_status_enum i) {
+    SERIAL_CHAR('\t');
+    switch(i) {
+      case TMC_DRV_CODES:     SERIAL_ECHO(extended_axis_codes[axis]);  break;
+      case TMC_STST:          if (st.stst())         SERIAL_CHAR('X'); break;
+      case TMC_OLB:           if (st.olb())          SERIAL_CHAR('X'); break;
+      case TMC_OLA:           if (st.ola())          SERIAL_CHAR('X'); break;
+      case TMC_S2GB:          if (st.s2gb())         SERIAL_CHAR('X'); break;
+      case TMC_S2GA:          if (st.s2ga())         SERIAL_CHAR('X'); break;
+      case TMC_DRV_OTPW:      if (st.otpw())         SERIAL_CHAR('X'); break;
+      case TMC_OT:            if (st.ot())           SERIAL_CHAR('X'); break;
+      case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC);       break;
+      case TMC_DRV_STATUS_HEX:drv_status_print_hex(extended_axis_codes[axis], st.DRV_STATUS()); break;
+      default: tmc_parse_drv_status(st, i); break;
+    }
+  }
+
+  static void tmc_debug_loop(const TMC_debug_enum i) {
+    #if X_IS_TRINAMIC
+      tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
+    #endif
+    #if X2_IS_TRINAMIC
+      tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
+    #endif
+
+    #if Y_IS_TRINAMIC
+      tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
+    #endif
+    #if Y2_IS_TRINAMIC
+      tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
+    #endif
+
+    #if Z_IS_TRINAMIC
+      tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
+    #endif
+    #if Z2_IS_TRINAMIC
+      tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
+    #endif
+
+    #if E0_IS_TRINAMIC
+      tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
+    #endif
+    #if E1_IS_TRINAMIC
+      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]);
+    #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

Marlin/src/feature/tmc_util.h

@@ -35,11 +35,19 @@ enum TMC_AxisEnum {
   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);
+}
+
+void _tmc_say_current(const char name[], const uint16_t curr);
+void _tmc_say_otpw(const char name[], const bool otpw);
+void _tmc_say_otpw_cleared(const char name[]);
+void _tmc_say_pwmthrs(const char name[], const uint32_t thrs);
+void _tmc_say_sgt(const char name[], const uint32_t sgt);
+
 template<typename TMC>
 void tmc_get_current(TMC &st, const char name[]) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" axis driver current: ");
-  SERIAL_ECHOLN(st.getCurrent());
+  _tmc_say_current(name, st.getCurrent());
 }
 template<typename TMC>
 void tmc_set_current(TMC &st, const char name[], const int mA) {
@@ -48,33 +56,25 @@ void tmc_set_current(TMC &st, const char name[], const int mA) {
 }
 template<typename TMC>
 void tmc_report_otpw(TMC &st, const char name[]) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
-  serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
-  SERIAL_EOL();
+  _tmc_say_otpw(name, st.getOTPW());
 }
 template<typename TMC>
 void tmc_clear_otpw(TMC &st, const char name[]) {
   st.clear_otpw();
-  SERIAL_ECHO(name);
-  SERIAL_ECHOLNPGM(" prewarn flag cleared");
+  _tmc_say_otpw_cleared(name);
 }
 template<typename TMC>
 void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" stealthChop max speed set to ");
-  SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
+  _tmc_say_pwmthrs(name, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
 }
 template<typename TMC>
 void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
-  st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
+  st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
   tmc_get_pwmthrs(st, name, spmm);
 }
 template<typename TMC>
 void tmc_get_sgt(TMC &st, const char name[]) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" driver homing sensitivity set to ");
-  MYSERIAL.println(st.sgt(), DEC);
+  _tmc_say_sgt(name, st.sgt());
 }
 template<typename TMC>
 void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
@@ -82,9 +82,13 @@ void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
   tmc_get_sgt(st, name);
 }
 
-void _M122();
 void monitor_tmc_driver();
 
+#if ENABLED(TMC_DEBUG)
+  void tmc_set_report_status(const bool status);
+  void tmc_report_all();
+#endif
+
 /**
  * TMC2130 specific sensorless homing using stallGuard2.
  * stallGuard2 only works when in spreadCycle mode.
@@ -93,21 +97,7 @@ void monitor_tmc_driver();
  * Defined here because of limitations with templates and headers.
  */
 #if ENABLED(SENSORLESS_HOMING)
-  template<typename TMC>
-  void tmc_sensorless_homing(TMC &st, bool enable=true) {
-    #if ENABLED(STEALTHCHOP)
-      if (enable) {
-        st.coolstep_min_speed(1024UL * 1024UL - 1UL);
-        st.stealthChop(0);
-      }
-      else {
-        st.coolstep_min_speed(0);
-        st.stealthChop(1);
-      }
-    #endif
-
-    st.diag1_stall(enable ? 1 : 0);
-  }
+  void tmc_sensorless_homing(TMC2130Stepper &st, bool enable=true);
 #endif
 
 #endif // _TMC_UTIL_H_

Marlin/src/gcode/feature/trinamic/M122.cpp

@@ -26,314 +26,15 @@
 
 #include "../../gcode.h"
 #include "../../../feature/tmc_util.h"
-#include "../../../module/stepper_indirection.h"
-#include "../../../module/planner.h"
 
-enum TMC_debug_enum {
-  TMC_CODES,
-  TMC_ENABLED,
-  TMC_CURRENT,
-  TMC_RMS_CURRENT,
-  TMC_MAX_CURRENT,
-  TMC_IRUN,
-  TMC_IHOLD,
-  TMC_CS_ACTUAL,
-  TMC_PWM_SCALE,
-  TMC_VSENSE,
-  TMC_STEALTHCHOP,
-  TMC_MICROSTEPS,
-  TMC_TSTEP,
-  TMC_TPWMTHRS,
-  TMC_TPWMTHRS_MMS,
-  TMC_OTPW,
-  TMC_OTPW_TRIGGERED,
-  TMC_TOFF,
-  TMC_TBL,
-  TMC_HEND,
-  TMC_HSTRT,
-  TMC_SGT
-};
-enum TMC_drv_status_enum {
-  TMC_DRV_CODES,
-  TMC_STST,
-  TMC_OLB,
-  TMC_OLA,
-  TMC_S2GB,
-  TMC_S2GA,
-  TMC_DRV_OTPW,
-  TMC_OT,
-  TMC_STALLGUARD,
-  TMC_DRV_CS_ACTUAL,
-  TMC_FSACTIVE,
-  TMC_SG_RESULT,
-  TMC_DRV_STATUS_HEX,
-  TMC_T157,
-  TMC_T150,
-  TMC_T143,
-  TMC_T120,
-  TMC_STEALTH,
-  TMC_S2VSB,
-  TMC_S2VSA
-};
-static void drv_status_print_hex(const char name[], const uint32_t drv_status) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" = 0x");
-  for(int B=24; B>=8; B-=8){
-    SERIAL_PRINT((drv_status>>(B+4))&0xF, HEX);
-    SERIAL_PRINT((drv_status>>B)&0xF, HEX);
-    SERIAL_CHAR(':');
-  }
-  SERIAL_PRINT((drv_status>>4)&0xF, HEX);
-  SERIAL_PRINT((drv_status)&0xF, HEX);
-  SERIAL_EOL();
-}
-
-#if ENABLED(HAVE_TMC2130)
-  static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
-    switch(i) {
-      case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;
-      case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;
-      case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
-      case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;
-      default: break;
-    }
-  }
-  static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
-    switch(i) {
-      case TMC_STALLGUARD: if (st.stallguard()) SERIAL_ECHOPGM("X"); break;
-      case TMC_SG_RESULT:  SERIAL_PRINT(st.sg_result(), DEC);      break;
-      case TMC_FSACTIVE:   if (st.fsactive())   SERIAL_ECHOPGM("X"); break;
-      default: break;
-    }
-  }
-#endif
-#if ENABLED(HAVE_TMC2208)
-  static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
-    switch(i) {
-      case TMC_TSTEP: {
-          uint32_t data = 0;
-          st.TSTEP(&data);
-          SERIAL_PROTOCOL(data);
-          break;
-        }
-      case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;
-      case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;
-      case TMC_S2VSA: if (st.s2vsa()) SERIAL_ECHOPGM("X"); break;
-      case TMC_S2VSB: if (st.s2vsb()) SERIAL_ECHOPGM("X"); break;
-      default: break;
-    }
-  }
-  static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
-    switch(i) {
-      case TMC_T157: if (st.t157()) SERIAL_ECHOPGM("X"); break;
-      case TMC_T150: if (st.t150()) SERIAL_ECHOPGM("X"); break;
-      case TMC_T143: if (st.t143()) SERIAL_ECHOPGM("X"); break;
-      case TMC_T120: if (st.t120()) SERIAL_ECHOPGM("X"); break;
-      default: break;
-    }
-  }
-#endif
-template <typename TMC>
-static void tmc_status(TMC &st, TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {
-  SERIAL_ECHO('\t');
-  switch(i) {
-    case TMC_CODES: SERIAL_ECHO(extended_axis_codes[axis]); break;
-    case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
-    case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;
-    case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;
-    case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current()*1.41, 0); break;
-    case TMC_IRUN:
-      SERIAL_PRINT(st.irun(), DEC);
-      SERIAL_ECHOPGM("/31");
-      break;
-    case TMC_IHOLD:
-      SERIAL_PRINT(st.ihold(), DEC);
-      SERIAL_ECHOPGM("/31");
-      break;
-    case TMC_CS_ACTUAL:
-      SERIAL_PRINT(st.cs_actual(), DEC);
-      SERIAL_ECHOPGM("/31");
-      break;
-
-    case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;
-
-    case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
-    case TMC_TPWMTHRS: {
-        uint32_t tpwmthrs_val = st.TPWMTHRS();
-        SERIAL_ECHO(tpwmthrs_val);
-      }
-      break;
-    case TMC_TPWMTHRS_MMS: {
-        uint32_t tpwmthrs_val = st.TPWMTHRS();
-        tpwmthrs_val ? SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm)) : SERIAL_ECHO('-');
-      }
-      break;
-    case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
-    case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
-    case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
-    case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
-    case TMC_HEND: SERIAL_PRINT(st.hysterisis_end(), DEC); break;
-    case TMC_HSTRT: SERIAL_PRINT(st.hysterisis_start(), DEC); break;
-    default: tmc_status(st, i); break;
-  }
-}
-template <typename TMC>
-static void tmc_parse_drv_status(TMC &st, TMC_AxisEnum axis, const TMC_drv_status_enum i) {
-  SERIAL_ECHOPGM("\t");
-  switch(i) {
-    case TMC_DRV_CODES:     SERIAL_ECHO(extended_axis_codes[axis]);  break;
-    case TMC_STST:          if (st.stst())         SERIAL_ECHOPGM("X"); break;
-    case TMC_OLB:           if (st.olb())          SERIAL_ECHOPGM("X"); break;
-    case TMC_OLA:           if (st.ola())          SERIAL_ECHOPGM("X"); break;
-    case TMC_S2GB:          if (st.s2gb())         SERIAL_ECHOPGM("X"); break;
-    case TMC_S2GA:          if (st.s2ga())         SERIAL_ECHOPGM("X"); break;
-    case TMC_DRV_OTPW:      if (st.otpw())         SERIAL_ECHOPGM("X"); break;
-    case TMC_OT:            if (st.ot())           SERIAL_ECHOPGM("X"); break;
-    case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC);        break;
-    case TMC_DRV_STATUS_HEX:drv_status_print_hex(extended_axis_codes[axis], st.DRV_STATUS()); break;
-    default: tmc_parse_drv_status(st, i); break;
-  }
-}
-
-static void tmc_debug_loop(const TMC_debug_enum i) {
-  #if X_IS_TRINAMIC
-    tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);
-  #endif
-  #if X2_IS_TRINAMIC
-    tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);
-  #endif
-
-  #if Y_IS_TRINAMIC
-    tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);
-  #endif
-  #if Y2_IS_TRINAMIC
-    tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);
-  #endif
-
-  #if Z_IS_TRINAMIC
-    tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);
-  #endif
-  #if Z2_IS_TRINAMIC
-    tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
-  #endif
-
-  #if E0_IS_TRINAMIC
-    tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
-  #endif
-  #if E1_IS_TRINAMIC
-    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]);
-  #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();
-}
-
-void _M122() {
-  if (parser.seen('S')) {
-    if (parser.value_bool()) {
-      SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
-      report_tmc_status = true;
-    } else
-      report_tmc_status = false;
-  } else {
-    SERIAL_ECHOPGM("\t");                 tmc_debug_loop(TMC_CODES);
-    SERIAL_ECHOPGM("Enabled\t");          tmc_debug_loop(TMC_ENABLED);
-    SERIAL_ECHOPGM("Set current");        tmc_debug_loop(TMC_CURRENT);
-    SERIAL_ECHOPGM("RMS current");        tmc_debug_loop(TMC_RMS_CURRENT);
-    SERIAL_ECHOPGM("MAX current");        tmc_debug_loop(TMC_MAX_CURRENT);
-    SERIAL_ECHOPGM("Run current");        tmc_debug_loop(TMC_IRUN);
-    SERIAL_ECHOPGM("Hold current");       tmc_debug_loop(TMC_IHOLD);
-    SERIAL_ECHOPGM("CS actual\t");        tmc_debug_loop(TMC_CS_ACTUAL);
-    SERIAL_ECHOPGM("PWM scale");          tmc_debug_loop(TMC_PWM_SCALE);
-    SERIAL_ECHOPGM("vsense\t");           tmc_debug_loop(TMC_VSENSE);
-    SERIAL_ECHOPGM("stealthChop");        tmc_debug_loop(TMC_STEALTHCHOP);
-    SERIAL_ECHOPGM("msteps\t");           tmc_debug_loop(TMC_MICROSTEPS);
-    SERIAL_ECHOPGM("tstep\t");            tmc_debug_loop(TMC_TSTEP);
-    SERIAL_ECHOPGM("pwm\nthreshold\t");   tmc_debug_loop(TMC_TPWMTHRS);
-    SERIAL_ECHOPGM("[mm/s]\t");           tmc_debug_loop(TMC_TPWMTHRS_MMS);
-    SERIAL_ECHOPGM("OT prewarn");         tmc_debug_loop(TMC_OTPW);
-    SERIAL_ECHOPGM("OT prewarn has\nbeen triggered"); tmc_debug_loop(TMC_OTPW_TRIGGERED);
-    SERIAL_ECHOPGM("off time\t");         tmc_debug_loop(TMC_TOFF);
-    SERIAL_ECHOPGM("blank time");         tmc_debug_loop(TMC_TBL);
-    SERIAL_ECHOPGM("hysterisis\n-end\t"); tmc_debug_loop(TMC_HEND);
-    SERIAL_ECHOPGM("-start\t");           tmc_debug_loop(TMC_HSTRT);
-    SERIAL_ECHOPGM("Stallguard thrs");    tmc_debug_loop(TMC_SGT);
-
-    SERIAL_ECHOPGM("DRVSTATUS");          drv_status_loop(TMC_DRV_CODES);
-    #if ENABLED(HAVE_TMC2130)
-      SERIAL_ECHOPGM("stallguard\t");     drv_status_loop(TMC_STALLGUARD);
-      SERIAL_ECHOPGM("sg_result\t");      drv_status_loop(TMC_SG_RESULT);
-      SERIAL_ECHOPGM("fsactive\t");       drv_status_loop(TMC_FSACTIVE);
-    #endif
-    SERIAL_ECHOPGM("stst\t");             drv_status_loop(TMC_STST);
-    SERIAL_ECHOPGM("olb\t");              drv_status_loop(TMC_OLB);
-    SERIAL_ECHOPGM("ola\t");              drv_status_loop(TMC_OLA);
-    SERIAL_ECHOPGM("s2gb\t");             drv_status_loop(TMC_S2GB);
-    SERIAL_ECHOPGM("s2ga\t");             drv_status_loop(TMC_S2GA);
-    SERIAL_ECHOPGM("otpw\t");             drv_status_loop(TMC_DRV_OTPW);
-    SERIAL_ECHOPGM("ot\t");               drv_status_loop(TMC_OT);
-    #if ENABLED(HAVE_TMC2208)
-      SERIAL_ECHOPGM("157C\t");           drv_status_loop(TMC_T157);
-      SERIAL_ECHOPGM("150C\t");           drv_status_loop(TMC_T150);
-      SERIAL_ECHOPGM("143C\t");           drv_status_loop(TMC_T143);
-      SERIAL_ECHOPGM("120C\t");           drv_status_loop(TMC_T120);
-      SERIAL_ECHOPGM("s2vsa\t");          drv_status_loop(TMC_S2VSA);
-      SERIAL_ECHOPGM("s2vsb\t");          drv_status_loop(TMC_S2VSB);
-    #endif
-    SERIAL_ECHOLNPGM("Driver registers:");drv_status_loop(TMC_DRV_STATUS_HEX);
-  }
+/**
+ * M122: Debug TMC drivers
+ */
+void GcodeSuite::M122() {
+  if (parser.seen('S')) 
+    tmc_set_report_status(parser.value_bool());
+  else
+    tmc_report_all();
 }
 
-// We need to call M122 from monitor_tmc_driver() as well but GcodeSuite::M122 is private.
-void GcodeSuite::M122() { _M122(); }
-
 #endif // TMC_DEBUG

Marlin/src/gcode/feature/trinamic/M906.cpp

@@ -27,7 +27,6 @@
 #include "../../gcode.h"
 #include "../../../feature/tmc_util.h"
 #include "../../../module/stepper_indirection.h"
-#include "../../../module/planner.h"
 
 /**
  * M906: Set motor current in milliamps using axis codes X, Y, Z, E
@@ -35,54 +34,45 @@
  */
 void GcodeSuite::M906() {
   uint16_t values[XYZE];
-  LOOP_XYZE(i)
-    values[i] = parser.intval(axis_codes[i]);
+  LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
+
+  #define TMC_SET_GET_CURRENT(P,Q) do { \
+    if (values[P##_AXIS]) tmc_set_current(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS]); \
+    else tmc_get_current(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
 
   #if X_IS_TRINAMIC
-    if (values[X_AXIS]) tmc_set_current(stepperX, extended_axis_codes[TMC_X], values[X_AXIS]);
-    else tmc_get_current(stepperX, extended_axis_codes[TMC_X]);
+    TMC_SET_GET_CURRENT(X,X);
   #endif
   #if X2_IS_TRINAMIC
-    if (values[X_AXIS]) tmc_set_current(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS]);
-    else tmc_get_current(stepperX2, extended_axis_codes[TMC_X2]);
+    TMC_SET_GET_CURRENT(X,X2);
   #endif
   #if Y_IS_TRINAMIC
-    if (values[Y_AXIS]) tmc_set_current(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS]);
-    else tmc_get_current(stepperY, extended_axis_codes[TMC_Y]);
+    TMC_SET_GET_CURRENT(Y,Y);
   #endif
   #if Y2_IS_TRINAMIC
-    if (values[Y_AXIS]) tmc_set_current(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS]);
-    else tmc_get_current(stepperY2, extended_axis_codes[TMC_Y2]);
+    TMC_SET_GET_CURRENT(Y,Y2);
   #endif
   #if Z_IS_TRINAMIC
-    if (values[Z_AXIS]) tmc_set_current(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS]);
-    else tmc_get_current(stepperZ, extended_axis_codes[TMC_Z]);
+    TMC_SET_GET_CURRENT(Z,Z);
   #endif
   #if Z2_IS_TRINAMIC
-    if (values[Z_AXIS]) tmc_set_current(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS]);
-    else tmc_get_current(stepperZ2, extended_axis_codes[TMC_Z2]);
+    TMC_SET_GET_CURRENT(Z,Z2);
   #endif
   #if E0_IS_TRINAMIC
-    if (values[E_AXIS]) tmc_set_current(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS]);
-    else tmc_get_current(stepperE0, extended_axis_codes[TMC_E0]);
+    TMC_SET_GET_CURRENT(E,E0);
   #endif
   #if E1_IS_TRINAMIC
-    if (values[E_AXIS]) tmc_set_current(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS]);
-    else tmc_get_current(stepperE1, extended_axis_codes[TMC_E1]);
+    TMC_SET_GET_CURRENT(E,E1);
   #endif
   #if E2_IS_TRINAMIC
-    if (values[E_AXIS]) tmc_set_current(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS]);
-    else tmc_get_current(stepperE2, extended_axis_codes[TMC_E2]);
+    TMC_SET_GET_CURRENT(E,E2);
   #endif
   #if E3_IS_TRINAMIC
-    if (values[E_AXIS]) tmc_set_current(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS]);
-    else tmc_get_current(stepperE3, extended_axis_codes[TMC_E3]);
+    TMC_SET_GET_CURRENT(E,E3);
   #endif
   #if E4_IS_TRINAMIC
-    if (values[E_AXIS]) tmc_set_current(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS]);
-    else tmc_get_current(stepperE4, extended_axis_codes[TMC_E4]);
+    TMC_SET_GET_CURRENT(E,E4);
   #endif
-
 }
 
 #endif // HAS_TRINAMIC

Marlin/src/gcode/feature/trinamic/M911-M915.cpp

@@ -81,55 +81,44 @@ void GcodeSuite::M912() {
 #if ENABLED(HYBRID_THRESHOLD)
   void GcodeSuite::M913() {
     uint16_t values[XYZE];
-    LOOP_XYZE(i)
-      values[i] = parser.intval(axis_codes[i]);
+    LOOP_XYZE(i) values[i] = parser.intval(axis_codes[i]);
+
+    #define TMC_SET_GET_PWMTHRS(P,Q) do { \
+      if (values[P##_AXIS]) tmc_set_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], values[P##_AXIS], planner.axis_steps_per_mm[P##_AXIS]); \
+      else tmc_get_pwmthrs(stepper##Q, extended_axis_codes[TMC_##Q], planner.axis_steps_per_mm[P##_AXIS]); } while(0)
 
     #if X_IS_TRINAMIC
-      if (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
-      else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]);
+      TMC_SET_GET_PWMTHRS(X,X);
     #endif
     #if X2_IS_TRINAMIC
-      if (values[X_AXIS]) tmc_set_pwmthrs(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
-      else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]);
+      TMC_SET_GET_PWMTHRS(X,X2);
     #endif
-
     #if Y_IS_TRINAMIC
-      if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
-      else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]);
+      TMC_SET_GET_PWMTHRS(Y,Y);
     #endif
     #if Y2_IS_TRINAMIC
-      if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
-      else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]);
+      TMC_SET_GET_PWMTHRS(Y,Y2);
     #endif
-
     #if Z_IS_TRINAMIC
-      if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
-      else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]);
+      TMC_SET_GET_PWMTHRS(Z,Z);
     #endif
     #if Z2_IS_TRINAMIC
-      if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
-      else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]);
+      TMC_SET_GET_PWMTHRS(Z,Z2);
     #endif
-
     #if E0_IS_TRINAMIC
-      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
-      else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]);
+      TMC_SET_GET_PWMTHRS(E,E0);
     #endif
     #if E1_IS_TRINAMIC
-      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
-      else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]);
+      TMC_SET_GET_PWMTHRS(E,E1);
     #endif
     #if E2_IS_TRINAMIC
-      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
-      else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]);
+      TMC_SET_GET_PWMTHRS(E,E2);
     #endif
     #if E3_IS_TRINAMIC
-      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
-      else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]);
+      TMC_SET_GET_PWMTHRS(E,E3);
     #endif
     #if E4_IS_TRINAMIC
-      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
-      else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]);
+      TMC_SET_GET_PWMTHRS(E,E4);
     #endif
   }
 #endif // HYBRID_THRESHOLD
@@ -139,21 +128,21 @@ 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, extended_axis_codes[TMC_##Q], parser.value_int()); \
+      else tmc_get_sgt(stepper##Q, extended_axis_codes[TMC_##Q]); } while(0)
+
     #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
-      if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int());
-      else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
+      TMC_SET_GET_SGT(X,X);
     #endif
     #if ENABLED(X2_IS_TMC2130)
-      if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX2, extended_axis_codes[TMC_X2], parser.value_int());
-      else tmc_get_sgt(stepperX2, extended_axis_codes[TMC_X2]);
+      TMC_SET_GET_SGT(X,X2);
     #endif
     #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
-      if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY, extended_axis_codes[TMC_Y], parser.value_int());
-      else tmc_get_sgt(stepperY, extended_axis_codes[TMC_Y]);
+      TMC_SET_GET_SGT(Y,Y);
     #endif
     #if ENABLED(Y2_IS_TMC2130)
-      if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY2, extended_axis_codes[TMC_Y2], parser.value_int());
-      else tmc_get_sgt(stepperY2, extended_axis_codes[TMC_Y2]);
+      TMC_SET_GET_SGT(Y,Y2);
     #endif
   }
 #endif // SENSORLESS_HOMING

Marlin/src/inc/Conditionals_post.h

@@ -679,6 +679,20 @@
 #define HAS_E4_MICROSTEPS (PIN_EXISTS(E4_MS1))
 #define HAS_SOLENOID_4    (PIN_EXISTS(SOL4))
 
+// Trinamic Stepper Drivers
+#define HAS_TRINAMIC (ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208) || ENABLED(IS_TRAMS))
+#define  X_IS_TRINAMIC (ENABLED( X_IS_TMC2130) || ENABLED( X_IS_TMC2208) || ENABLED(IS_TRAMS))
+#define X2_IS_TRINAMIC (ENABLED(X2_IS_TMC2130) || ENABLED(X2_IS_TMC2208))
+#define  Y_IS_TRINAMIC (ENABLED( Y_IS_TMC2130) || ENABLED( Y_IS_TMC2208) || ENABLED(IS_TRAMS))
+#define Y2_IS_TRINAMIC (ENABLED(Y2_IS_TMC2130) || ENABLED(Y2_IS_TMC2208))
+#define  Z_IS_TRINAMIC (ENABLED( Z_IS_TMC2130) || ENABLED( Z_IS_TMC2208) || ENABLED(IS_TRAMS))
+#define Z2_IS_TRINAMIC (ENABLED(Z2_IS_TMC2130) || ENABLED(Z2_IS_TMC2208))
+#define E0_IS_TRINAMIC (ENABLED(E0_IS_TMC2130) || ENABLED(E0_IS_TMC2208) || ENABLED(IS_TRAMS))
+#define E1_IS_TRINAMIC (ENABLED(E1_IS_TMC2130) || ENABLED(E1_IS_TMC2208))
+#define E2_IS_TRINAMIC (ENABLED(E2_IS_TMC2130) || ENABLED(E2_IS_TMC2208))
+#define E3_IS_TRINAMIC (ENABLED(E3_IS_TMC2130) || ENABLED(E3_IS_TMC2208))
+#define E4_IS_TRINAMIC (ENABLED(E4_IS_TMC2130) || ENABLED(E4_IS_TMC2208))
+
 // Endstops and bed probe
 #define HAS_X_MIN (PIN_EXISTS(X_MIN) && !IS_X2_ENDSTOP(X,MIN) && !IS_Y2_ENDSTOP(X,MIN) && !IS_Z2_OR_PROBE(X,MIN))
 #define HAS_X_MAX (PIN_EXISTS(X_MAX) && !IS_X2_ENDSTOP(X,MAX) && !IS_Y2_ENDSTOP(X,MAX) && !IS_Z2_OR_PROBE(X,MAX))

Marlin/src/inc/MarlinConfigPre.h

@@ -28,7 +28,6 @@
 #include "Version.h"
 #include "../../Configuration.h"
 #include "Conditionals_LCD.h"
-#include "../feature/tmc_macros.h"
 #include "../../Configuration_adv.h"
 #include "Conditionals_adv.h"
 

Marlin/src/inc/SanityCheck.h

@@ -1491,8 +1491,6 @@ static_assert(1 >= 0
   #error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
 #endif
 
-#include "../feature/tmc_macros.h"
-
 #if ENABLED(TMC_Z_CALIBRATION) && !Z_IS_TRINAMIC && !Z2_IS_TRINAMIC
   #error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
 #endif