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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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/>.
- *
- */
-
- //
- // NOTE: All tests assume each axis uses matching driver chips.
- //
-
- #include "../../../inc/MarlinConfig.h"
-
- #if HAS_L64XX
-
- #include "../../gcode.h"
- #include "../../../module/stepper/indirection.h"
- #include "../../../module/planner.h"
- #include "../../../libs/L64XX/L64XX_Marlin.h"
-
- #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
- #include "../../../core/debug_out.h"
-
- /**
- *
- * M916: increase KVAL_HOLD until get thermal warning
- * NOTE - on L6474 it is TVAL that is used
- *
- * J - select which driver(s) to monitor on multi-driver axis
- * 0 - (default) monitor all drivers on the axis or E0
- * 1 - monitor only X, Y, Z, E1
- * 2 - monitor only X2, Y2, Z2, E2
- * 3 - monitor only Z3, E3
- *
- * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement
- * xxx (1-255) is distance moved on either side of current position
- *
- * F - feedrate
- * optional - will use default max feedrate from configuration.h if not specified
- *
- * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
- * optional - will report current value from driver if not specified
- *
- * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
- * optional - will report current value from driver if not specified
- *
- * D - time (in seconds) to run each setting of KVAL_HOLD/TVAL
- * optional - defaults to zero (runs each setting once)
- *
- */
-
- /**
- * This routine is also useful for determining the approximate KVAL_HOLD
- * where the stepper stops losing steps. The sound will get noticeably quieter
- * as it stops losing steps.
- */
-
- void GcodeSuite::M916() {
-
- DEBUG_ECHOLNPGM("M916");
-
- L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-
- // Variables used by L64xxManager.get_user_input function - some may not be used
- char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored
- L64XX_axis_t axis_index[3];
- uint16_t axis_status[3];
- uint8_t driver_count = 1;
- float position_max;
- float position_min;
- float final_feedrate;
- uint8_t kval_hold;
- uint8_t OCD_TH_val = 0;
- uint8_t STALL_TH_val = 0;
- uint16_t over_current_threshold;
- constexpr uint8_t over_current_flag = false; // M916 doesn't play with the overcurrent thresholds
-
- #define DRIVER_TYPE_L6474(Q) AXIS_DRIVER_TYPE_##Q(L6474)
-
- uint8_t j; // general purpose counter
-
- if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
- return; // quit if invalid user input
-
- DEBUG_ECHOLNPAIR("feedrate = ", final_feedrate);
-
- planner.synchronize(); // wait for all current movement commands to complete
-
- const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
- for (j = 0; j < driver_count; j++)
- L64xxManager.get_status(axis_index[j]); // clear out any pre-existing error flags
-
- char temp_axis_string[] = " ";
- temp_axis_string[0] = axis_mon[0][0]; // need to have a string for use within sprintf format section
- char gcode_string[80];
- uint16_t status_composite = 0;
-
- uint16_t M91x_counter = kval_hold;
- uint16_t M91x_counter_max;
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {
- M91x_counter_max = 128; // TVAL is 7 bits
- LIMIT(M91x_counter, 0U, 127U);
- }
- else
- M91x_counter_max = 256; // KVAL_HOLD is 8 bits
-
- uint8_t M91x_delay_s = parser.byteval('D'); // get delay in seconds
- millis_t M91x_delay_ms = M91x_delay_s * 60 * 1000;
- millis_t M91x_delay_end;
-
- DEBUG_ECHOLNPGM(".\n.");
-
- do {
-
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)
- DEBUG_ECHOLNPAIR("TVAL current (mA) = ", (M91x_counter + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV); // report TVAL current for this run
- else
- DEBUG_ECHOLNPAIR("kval_hold = ", M91x_counter); // report KVAL_HOLD for this run
-
- for (j = 0; j < driver_count; j++)
- L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, M91x_counter); //set KVAL_HOLD or TVAL (same register address)
-
- M91x_delay_end = millis() + M91x_delay_ms;
- do {
- // turn the motor(s) both directions
- sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate));
- gcode.process_subcommands_now_P(gcode_string);
-
- sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate));
- gcode.process_subcommands_now_P(gcode_string);
-
- // get the status after the motors have stopped
- planner.synchronize();
-
- status_composite = 0; // clear out the old bits
-
- for (j = 0; j < driver_count; j++) {
- axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low
- status_composite |= axis_status[j] ;
- }
-
- if (status_composite) break;
- } while (millis() < M91x_delay_end);
-
- if (status_composite) break;
-
- M91x_counter++;
-
- } while (!(status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) && (M91x_counter < M91x_counter_max));
-
- DEBUG_ECHOLNPGM(".");
-
- #if ENABLED(L6470_CHITCHAT)
- if (status_composite) {
- L64xxManager.error_status_decode(status_composite, axis_index[0],
- sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
- sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
- sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
- DEBUG_ECHOLNPGM(".");
- }
- #endif
-
- if ((status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)))
- DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Thermal warning/shutdown has occurred");
- else if (status_composite)
- DEBUG_ECHOLNPGM(".\n.\nTest completed abnormally - non-thermal error has occured");
- else
- DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Unable to get to thermal warning/shutdown");
-
- L64xxManager.pause_monitor(false);
- }
-
- /**
- *
- * M917: Find minimum current thresholds
- *
- * Decrease OCD current until overcurrent error
- * Increase OCD until overcurrent error goes away
- * Decrease stall threshold until stall (not done on L6474)
- * Increase stall until stall error goes away (not done on L6474)
- *
- * J - select which driver(s) to monitor on multi-driver axis
- * 0 - (default) monitor all drivers on the axis or E0
- * 1 - monitor only X, Y, Z, E1
- * 2 - monitor only X2, Y2, Z2, E2
- * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement
- * xxx (1-255) is distance moved on either side of current position
- *
- * F - feedrate
- * optional - will use default max feedrate from Configuration.h if not specified
- *
- * I - starting over-current threshold
- * optional - will report current value from driver if not specified
- * if there are multiple drivers on the axis then all will be set the same
- *
- * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
- * optional - will report current value from driver if not specified
- *
- * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
- * optional - will report current value from driver if not specified
- *
- */
- void GcodeSuite::M917() {
-
- DEBUG_ECHOLNPGM("M917");
-
- L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-
- char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored
- L64XX_axis_t axis_index[3];
- uint16_t axis_status[3];
- uint8_t driver_count = 1;
- float position_max;
- float position_min;
- float final_feedrate;
- uint8_t kval_hold;
- uint8_t OCD_TH_val = 0;
- uint8_t STALL_TH_val = 0;
- uint16_t over_current_threshold;
- constexpr uint8_t over_current_flag = true;
-
- uint8_t j; // general purpose counter
-
- if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
- return; // quit if invalid user input
-
- DEBUG_ECHOLNPAIR("feedrate = ", final_feedrate);
-
- planner.synchronize(); // wait for all current movement commands to complete
-
- const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
- for (j = 0; j < driver_count; j++)
- L64xxManager.get_status(axis_index[j]); // clear error flags
- char temp_axis_string[] = " ";
- temp_axis_string[0] = axis_mon[0][0]; // need a sprintf format string
- char gcode_string[80];
- uint16_t status_composite = 0;
- uint8_t test_phase = 0; // 0 - decreasing OCD - exit when OCD warning occurs (ignore STALL)
- // 1 - increasing OCD - exit when OCD warning stops (ignore STALL)
- // 2 - OCD finalized - decreasing STALL - exit when STALL warning happens
- // 3 - OCD finalized - increasing STALL - exit when STALL warning stop
- // 4 - all testing completed
- DEBUG_ECHOPAIR(".\n.\n.\nover_current threshold : ", (OCD_TH_val + 1) * 375); // first status display
- DEBUG_ECHOPAIR(" (OCD_TH: : ", OCD_TH_val);
- if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) {
- DEBUG_ECHOPAIR(") Stall threshold: ", (STALL_TH_val + 1) * 31.25);
- DEBUG_ECHOPAIR(" (STALL_TH: ", STALL_TH_val);
- }
- DEBUG_ECHOLNPGM(")");
-
- do {
-
- if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) DEBUG_ECHOPAIR("STALL threshold : ", (STALL_TH_val + 1) * 31.25);
- DEBUG_ECHOLNPAIR(" OCD threshold : ", (OCD_TH_val + 1) * 375);
-
- sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate));
- gcode.process_subcommands_now_P(gcode_string);
-
- sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate));
- gcode.process_subcommands_now_P(gcode_string);
-
- planner.synchronize();
-
- status_composite = 0; // clear out the old bits
-
- for (j = 0; j < driver_count; j++) {
- axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low
- status_composite |= axis_status[j];
- }
-
- if (status_composite && (status_composite & sh.STATUS_AXIS_UVLO)) {
- DEBUG_ECHOLNPGM("Test aborted (Undervoltage lockout active)");
- #if ENABLED(L6470_CHITCHAT)
- for (j = 0; j < driver_count; j++) {
- if (j) DEBUG_ECHOPGM("...");
- L64xxManager.error_status_decode(axis_status[j], axis_index[j],
- sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
- sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
- sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
- }
- #endif
- return;
- }
-
- if (status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) {
- DEBUG_ECHOLNPGM("thermal problem - waiting for chip(s) to cool down ");
- uint16_t status_composite_temp = 0;
- uint8_t k = 0;
- do {
- k++;
- if (!(k % 4)) {
- kval_hold *= 0.95;
- DEBUG_EOL();
- DEBUG_ECHOLNPAIR("Lowering KVAL_HOLD by about 5% to ", kval_hold);
- for (j = 0; j < driver_count; j++)
- L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
- }
- DEBUG_ECHOLNPGM(".");
- gcode.reset_stepper_timeout(); // reset_stepper_timeout to keep steppers powered
- watchdog_refresh();; // beat the dog
- safe_delay(5000);
- status_composite_temp = 0;
- for (j = 0; j < driver_count; j++) {
- axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low
- status_composite_temp |= axis_status[j];
- }
- }
- while (status_composite_temp & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD));
- DEBUG_EOL();
- }
- if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B | sh.STATUS_AXIS_OCD)) {
- switch (test_phase) {
-
- case 0: {
- if (status_composite & sh.STATUS_AXIS_OCD) {
- // phase 0 with OCD warning - time to go to next phase
- if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) {
- OCD_TH_val = sh.AXIS_OCD_TH_MAX; // limit to max
- test_phase = 2; // at highest value so skip phase 1
- //DEBUG_ECHOLNPGM("LOGIC E0A OCD at highest - skip to 2");
- DEBUG_ECHOLNPGM("OCD at highest - OCD finalized");
- }
- else {
- OCD_TH_val++; // normal exit to next phase
- test_phase = 1; // setup for first pass of phase 1
- //DEBUG_ECHOLNPGM("LOGIC E0B - inc OCD & go to 1");
- DEBUG_ECHOLNPGM("inc OCD");
- }
- }
- else { // phase 0 without OCD warning - keep on decrementing if can
- if (OCD_TH_val) {
- OCD_TH_val--; // try lower value
- //DEBUG_ECHOLNPGM("LOGIC E0C - dec OCD");
- DEBUG_ECHOLNPGM("dec OCD");
- }
- else {
- test_phase = 2; // at lowest value without warning so skip phase 1
- //DEBUG_ECHOLNPGM("LOGIC E0D - OCD at latest - go to 2");
- DEBUG_ECHOLNPGM("OCD finalized");
- }
- }
- } break;
-
- case 1: {
- if (status_composite & sh.STATUS_AXIS_OCD) {
- // phase 1 with OCD warning - increment if can
- if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) {
- OCD_TH_val = sh.AXIS_OCD_TH_MAX; // limit to max
- test_phase = 2; // at highest value so go to next phase
- //DEBUG_ECHOLNPGM("LOGIC E1A - OCD at max - go to 2");
- DEBUG_ECHOLNPGM("OCD finalized");
- }
- else {
- OCD_TH_val++; // try a higher value
- //DEBUG_ECHOLNPGM("LOGIC E1B - inc OCD");
- DEBUG_ECHOLNPGM("inc OCD");
- }
- }
- else { // phase 1 without OCD warning - normal exit to phase 2
- test_phase = 2;
- //DEBUG_ECHOLNPGM("LOGIC E1C - no OCD warning - go to 1");
- DEBUG_ECHOLNPGM("OCD finalized");
- }
- } break;
-
- case 2: {
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474
- test_phase = 4;
- break;
- }
- if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) {
- // phase 2 with stall warning - time to go to next phase
- if (STALL_TH_val >= 127) {
- STALL_TH_val = 127; // limit to max
- //DEBUG_ECHOLNPGM("LOGIC E2A - STALL warning, STALL at max, quit");
- DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
- test_phase = 4;
- }
- else {
- test_phase = 3; // normal exit to next phase (found failing value of STALL)
- STALL_TH_val++; // setup for first pass of phase 3
- //DEBUG_ECHOLNPGM("LOGIC E2B - INC - STALL warning, inc Stall, go to 3");
- DEBUG_ECHOLNPGM("inc Stall");
- }
- }
- else { // phase 2 without stall warning - decrement if can
- if (STALL_TH_val) {
- STALL_TH_val--; // try a lower value
- //DEBUG_ECHOLNPGM("LOGIC E2C - no STALL, dec STALL");
- DEBUG_ECHOLNPGM("dec STALL");
- }
- else {
- DEBUG_ECHOLNPGM("finished - STALL at lowest value but still do NOT have stall warning");
- test_phase = 4;
- //DEBUG_ECHOLNPGM("LOGIC E2D - no STALL, at lowest so quit");
- }
- }
- } break;
-
- case 3: {
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474
- test_phase = 4;
- break;
- }
- if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) {
- // phase 3 with stall warning - increment if can
- if (STALL_TH_val >= 127) {
- STALL_TH_val = 127; // limit to max
- DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
- test_phase = 4;
- //DEBUG_ECHOLNPGM("LOGIC E3A - STALL, at max so quit");
- }
- else {
- STALL_TH_val++; // still looking for passing value
- //DEBUG_ECHOLNPGM("LOGIC E3B - STALL, inc stall");
- DEBUG_ECHOLNPGM("inc stall");
- }
- }
- else { //phase 3 without stall warning but have OCD warning
- DEBUG_ECHOLNPGM("Hardware problem - OCD warning without STALL warning");
- test_phase = 4;
- //DEBUG_ECHOLNPGM("LOGIC E3C - not STALLED, hardware problem (quit)");
- }
- } break;
-
- }
-
- }
- else {
- switch (test_phase) {
- case 0: { // phase 0 without OCD warning - keep on decrementing if can
- if (OCD_TH_val) {
- OCD_TH_val--; // try lower value
- //DEBUG_ECHOLNPGM("LOGIC N0A - DEC OCD");
- DEBUG_ECHOLNPGM("DEC OCD");
- }
- else {
- test_phase = 2; // at lowest value without warning so skip phase 1
- //DEBUG_ECHOLNPGM("LOGIC N0B - OCD at lowest (go to phase 2)");
- DEBUG_ECHOLNPGM("OCD finalized");
- }
- } break;
-
- case 1: //DEBUG_ECHOLNPGM("LOGIC N1 (go directly to 2)"); // phase 1 without OCD warning - drop directly to phase 2
- DEBUG_ECHOLNPGM("OCD finalized");
-
- case 2: { // phase 2 without stall warning - keep on decrementing if can
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474
- test_phase = 4;
- break;
- }
- if (STALL_TH_val) {
- STALL_TH_val--; // try a lower value (stay in phase 2)
- //DEBUG_ECHOLNPGM("LOGIC N2B - dec STALL");
- DEBUG_ECHOLNPGM("dec STALL");
- }
- else {
- DEBUG_ECHOLNPGM("finished - STALL at lowest value but still no stall warning");
- test_phase = 4;
- //DEBUG_ECHOLNPGM("LOGIC N2C - STALL at lowest (quit)");
- }
- } break;
-
- case 3: {
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474
- test_phase = 4;
- break;
- }
- test_phase = 4;
- //DEBUG_ECHOLNPGM("LOGIC N3 - finished!");
- DEBUG_ECHOLNPGM("finished!");
- } break; // phase 3 without any warnings - desired exit
- } //
- } // end of status checks
-
- if (test_phase != 4) {
- for (j = 0; j < driver_count; j++) { // update threshold(s)
- L64xxManager.set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val);
- if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) L64xxManager.set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val);
- if (L64xxManager.get_param(axis_index[j], L6470_OCD_TH) != OCD_TH_val) DEBUG_ECHOLNPGM("OCD mismatch");
- if ((L64xxManager.get_param(axis_index[j], L6470_STALL_TH) != STALL_TH_val) && (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT)) DEBUG_ECHOLNPGM("STALL mismatch");
- }
- }
-
- } while (test_phase != 4);
-
- DEBUG_ECHOLNPGM(".");
- if (status_composite) {
- #if ENABLED(L6470_CHITCHAT)
- for (j = 0; j < driver_count; j++) {
- if (j) DEBUG_ECHOPGM("...");
- L64xxManager.error_status_decode(axis_status[j], axis_index[j],
- sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
- sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
- sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
- }
- DEBUG_ECHOLNPGM(".");
- #endif
- DEBUG_ECHOLNPGM("Completed with errors");
- }
- else
- DEBUG_ECHOLNPGM("Completed with no errors");
- DEBUG_ECHOLNPGM(".");
-
- L64xxManager.pause_monitor(false);
- }
-
- /**
- *
- * M918: increase speed until error or max feedrate achieved (as shown in configuration.h))
- *
- * J - select which driver(s) to monitor on multi-driver axis
- * 0 - (default) monitor all drivers on the axis or E0
- * 1 - monitor only X, Y, Z, E1
- * 2 - monitor only X2, Y2, Z2, E2
- * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement
- * xxx (1-255) is distance moved on either side of current position
- *
- * I - over current threshold
- * optional - will report current value from driver if not specified
- *
- * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
- * optional - will report current value from driver if not specified
- *
- * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
- * optional - will report current value from driver if not specified
- *
- * M - value for microsteps (1 - 128) (optional)
- * optional - will report current value from driver if not specified
- *
- */
- void GcodeSuite::M918() {
-
- DEBUG_ECHOLNPGM("M918");
-
- L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-
- char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored
- L64XX_axis_t axis_index[3];
- uint16_t axis_status[3];
- uint8_t driver_count = 1;
- float position_max, position_min;
- float final_feedrate;
- uint8_t kval_hold;
- uint8_t OCD_TH_val = 0;
- uint8_t STALL_TH_val = 0;
- uint16_t over_current_threshold;
- constexpr uint8_t over_current_flag = true;
-
- const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
-
- uint8_t j; // general purpose counter
-
- if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
- return; // quit if invalid user input
-
- L64xxManager.get_status(axis_index[0]); // populate shadow array
-
- uint8_t m_steps = parser.byteval('M');
-
- if (m_steps != 0) {
- LIMIT(m_steps, 1, sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT ? 16 : 128); // L6474
-
- uint8_t stepVal;
- for (stepVal = 0; stepVal < 8; stepVal++) { // convert to L64xx register value
- if (m_steps == 1) break;
- m_steps >>= 1;
- }
-
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)
- stepVal |= 0x98; // NO SYNC
- else
- stepVal |= (!SYNC_EN) | SYNC_SEL_1 | stepVal;
-
- for (j = 0; j < driver_count; j++) {
- L64xxManager.set_param(axis_index[j], dSPIN_HARD_HIZ, 0); // can't write STEP register if stepper being powered
- // results in an extra NOOP being sent (data 00)
- L64xxManager.set_param(axis_index[j], L6470_STEP_MODE, stepVal); // set microsteps
- }
- }
- m_steps = L64xxManager.get_param(axis_index[0], L6470_STEP_MODE) & 0x07; // get microsteps
-
- DEBUG_ECHOLNPAIR("Microsteps = ", _BV(m_steps));
- DEBUG_ECHOLNPAIR("target (maximum) feedrate = ", final_feedrate);
-
- const float feedrate_inc = final_feedrate / 10, // Start at 1/10 of max & go up by 1/10 per step
- fr_limit = final_feedrate * 0.99f; // Rounding-safe comparison value
- float current_feedrate = 0;
-
- planner.synchronize(); // Wait for moves to complete
-
- for (j = 0; j < driver_count; j++)
- L64xxManager.get_status(axis_index[j]); // Clear error flags
-
- char temp_axis_string[2] = " ";
- temp_axis_string[0] = axis_mon[0][0]; // Need a sprintf format string
- //temp_axis_string[1] = '\n';
-
- char gcode_string[80];
- uint16_t status_composite = 0;
- DEBUG_ECHOLNPGM(".\n.\n."); // Make feedrate outputs easier to read
-
- do {
- current_feedrate += feedrate_inc;
- DEBUG_ECHOLNPAIR("...feedrate = ", current_feedrate);
-
- sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(current_feedrate));
- gcode.process_subcommands_now_P(gcode_string);
-
- sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(current_feedrate));
- gcode.process_subcommands_now_P(gcode_string);
-
- planner.synchronize();
-
- for (j = 0; j < driver_count; j++) {
- axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & 0x0800; // Bits of interest are all active LOW
- status_composite |= axis_status[j];
- }
- if (status_composite) break; // Break on any error
- } while (current_feedrate < fr_limit);
-
- DEBUG_ECHOPGM("Completed with ");
- if (status_composite) {
- DEBUG_ECHOLNPGM("errors");
- #if ENABLED(L6470_CHITCHAT)
- for (j = 0; j < driver_count; j++) {
- if (j) DEBUG_ECHOPGM("...");
- L64xxManager.error_status_decode(axis_status[j], axis_index[j],
- sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
- sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
- sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
- }
- #endif
- }
- else
- DEBUG_ECHOLNPGM("no errors");
-
- L64xxManager.pause_monitor(false);
- }
-
- #endif // HAS_L64XX
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