marlin/Marlin/src/feature/tmc2130.cpp

/**
 * 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/>.
 *
 */

#include "../inc/MarlinConfig.h"

#if ENABLED(HAVE_TMC2130)

#include "tmc2130.h"
#include "../Marlin.h"

#include "../module/stepper_indirection.h"
#include "../module/printcounter.h"
#include "../libs/duration_t.h"

#ifdef AUTOMATIC_CURRENT_CONTROL
  bool auto_current_control = 0;
#endif

void automatic_current_control(TMC2130Stepper &st, String axisID) {
  // Check otpw even if we don't use automatic control. Allows for flag inspection.
  const bool is_otpw = st.checkOT();

  // Report if a warning was triggered
  static bool previous_otpw = false;
  if (is_otpw && !previous_otpw) {
    char timestamp[10];
    duration_t elapsed = print_job_timer.duration();
    const bool has_days = (elapsed.value > 60*60*24L);
    (void)elapsed.toDigital(timestamp, has_days);
    SERIAL_ECHO(timestamp);
    SERIAL_ECHOPGM(": ");
    SERIAL_ECHO(axisID);
    SERIAL_ECHOLNPGM(" driver overtemperature warning!");
  }
  previous_otpw = is_otpw;

  #if ENABLED(AUTOMATIC_CURRENT_CONTROL) && CURRENT_STEP > 0
    // Return if user has not enabled current control start with M906 S1.
    if (!auto_current_control) return;

    /**
     * Decrease current if is_otpw is true.
     * Bail out if driver is disabled.
     * Increase current if OTPW has not been triggered yet.
     */
    uint16_t current = st.getCurrent();
    if (is_otpw) {
      st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
      #if ENABLED(REPORT_CURRENT_CHANGE)
        SERIAL_ECHO(axisID);
        SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
      #endif
    }

    else if (!st.isEnabled())
      return;

    else if (!is_otpw && !st.getOTPW()) {
      current += CURRENT_STEP;
      if (current <= AUTO_ADJUST_MAX) {
        st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
        #if ENABLED(REPORT_CURRENT_CHANGE)
          SERIAL_ECHO(axisID);
          SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
        #endif
      }
    }
    SERIAL_EOL();
  #endif
}

void tmc2130_checkOverTemp(void) {
  static millis_t next_cOT = 0;
  if (ELAPSED(millis(), next_cOT)) {
    next_cOT = millis() + 5000;
    #if ENABLED(X_IS_TMC2130)
      automatic_current_control(stepperX, "X");
    #endif
    #if ENABLED(Y_IS_TMC2130)
      automatic_current_control(stepperY, "Y");
    #endif
    #if ENABLED(Z_IS_TMC2130)
      automatic_current_control(stepperZ, "Z");
    #endif
    #if ENABLED(X2_IS_TMC2130)
      automatic_current_control(stepperX2, "X2");
    #endif
    #if ENABLED(Y2_IS_TMC2130)
      automatic_current_control(stepperY2, "Y2");
    #endif
    #if ENABLED(Z2_IS_TMC2130)
      automatic_current_control(stepperZ2, "Z2");
    #endif
    #if ENABLED(E0_IS_TMC2130)
      automatic_current_control(stepperE0, "E0");
    #endif
    #if ENABLED(E1_IS_TMC2130)
      automatic_current_control(stepperE1, "E1");
    #endif
    #if ENABLED(E2_IS_TMC2130)
      automatic_current_control(stepperE2, "E2");
    #endif
    #if ENABLED(E3_IS_TMC2130)
      automatic_current_control(stepperE3, "E3");
    #endif
    #if ENABLED(E4_IS_TMC2130)
      automatic_current_control(stepperE4, "E4");
    #endif
  }
}

/**
 * TMC2130 specific sensorless homing using stallGuard2.
 * stallGuard2 only works when in spreadCycle mode.
 * spreadCycle and stealthChop are mutually exclusive.
 */
#if ENABLED(SENSORLESS_HOMING)
  void tmc2130_sensorless_homing(TMC2130Stepper &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);
  }
#endif // SENSORLESS_HOMING

#endif // HAVE_TMC2130