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trinamic.c
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trinamic.c
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/*
motors/trinamic.c - Trinamic stepper driver plugin
Part of grblHAL
Copyright (c) 2018-2022 Terje Io
Grbl 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.
Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifdef ARDUINO
#include "../driver.h"
#else
#include "driver.h"
#endif
#if TRINAMIC_ENABLE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "trinamic.h"
#if TRINAMIC_I2C
#include "../trinamic/tmc_i2c_interface.h"
#endif
#include "../grbl/nvs_buffer.h"
#include "../grbl/protocol.h"
#include "../grbl/state_machine.h"
#include "../grbl/report.h"
#include "../grbl/platform.h"
static bool warning = false, is_homing = false, settings_loaded = false;
static volatile uint_fast16_t diag1_poll = 0;
static char sbuf[65]; // string buffer for reports
static uint_fast8_t n_motors = 0;
static float current_homing_rate = 0.0f;
static const tmchal_t *stepper[TMC_N_MOTORS_MAX];
static motor_map_t *motor_map;
static axes_signals_t homing = {0}, otpw_triggered = {0}, driver_enabled = {0};
#if TMC_POLL_STALLED
static limits_get_state_ptr limits_get_state = NULL;
#endif
static limits_enable_ptr limits_enable = NULL;
static stepper_pulse_start_ptr hal_stepper_pulse_start = NULL;
static nvs_address_t nvs_address;
static on_realtime_report_ptr on_realtime_report;
static on_report_options_ptr on_report_options;
static driver_setup_ptr driver_setup;
static settings_changed_ptr settings_changed;
static user_mcode_ptrs_t user_mcode;
static trinamic_driver_if_t driver_if = {0};
static trinamic_settings_t trinamic;
static struct {
bool raw;
bool sg_status_enable;
volatile bool sg_status;
bool sfilt;
uint32_t sg_status_motor;
axes_signals_t sg_status_motormask;
uint32_t msteps;
} report = {0};
#if TRINAMIC_I2C
static stepper_enable_ptr stepper_enable = NULL;
TMCI2C_enable_dgr_t dgr_enable = {
.addr.value = TMC_I2CReg_ENABLE
};
TMCI2C_monitor_status_dgr_t dgr_monitor = {
.addr.value = TMC_I2CReg_MON_STATE
};
#endif
static void write_debug_report (uint_fast8_t axes);
// Wrapper for initializing physical interface
void trinamic_if_init (trinamic_driver_if_t *driver)
{
memcpy(&driver_if, driver, sizeof(trinamic_driver_if_t));
}
#if 1 // Region settings
static void trinamic_drivers_init (axes_signals_t axes);
static void trinamic_settings_load (void);
static void trinamic_settings_restore (void);
static status_code_t set_axis_setting (setting_id_t setting, uint_fast16_t value);
static uint32_t get_axis_setting (setting_id_t setting);
static status_code_t set_axis_setting_float (setting_id_t setting, float value);
static float get_axis_setting_float (setting_id_t setting);
#if TRINAMIC_MIXED_DRIVERS
static status_code_t set_driver_enable (setting_id_t id, uint_fast16_t value);
static uint32_t get_driver_enable (setting_id_t setting);
#endif
static const setting_detail_t trinamic_settings[] = {
#if TRINAMIC_MIXED_DRIVERS
{ Setting_TrinamicDriver, Group_MotorDriver, "Trinamic driver", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_NonCoreFn, set_driver_enable, get_driver_enable, NULL },
#endif
{ Setting_TrinamicHoming, Group_MotorDriver, "Sensorless homing", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_NonCore, &trinamic.homing_enable.mask, NULL, NULL },
{ Setting_AxisStepperCurrent, Group_Axis0, "?-axis motor current", "mA", Format_Integer, "###0", NULL, NULL, Setting_NonCoreFn, set_axis_setting, get_axis_setting, NULL },
{ Setting_AxisMicroSteps, Group_Axis0, "?-axis microsteps", "steps", Format_Integer, "###0", NULL, NULL, Setting_NonCoreFn, set_axis_setting, get_axis_setting, NULL },
#if TMC_STALLGUARD == 4
{ Setting_AxisExtended0, Group_Axis0, "?-axis StallGuard4 fast threshold", NULL, Format_Decimal, "##0", "0", "255", Setting_NonCoreFn, set_axis_setting_float, get_axis_setting_float, NULL },
#else
{ Setting_AxisExtended0, Group_Axis0, "?-axis StallGuard2 fast threshold", NULL, Format_Decimal, "-##0", "-64", "63", Setting_NonCoreFn, set_axis_setting_float, get_axis_setting_float, NULL },
#endif
{ Setting_AxisExtended1, Group_Axis0, "?-axis hold current", "%", Format_Int8, "##0", "5", "100", Setting_NonCoreFn, set_axis_setting, get_axis_setting, NULL },
#if TMC_STALLGUARD == 4
{ Setting_AxisExtended2, Group_Axis0, "?-axis StallGuard4 slow threshold", NULL, Format_Decimal, "##0", "0", "255", Setting_NonCoreFn, set_axis_setting_float, get_axis_setting_float, NULL },
#else
{ Setting_AxisExtended2, Group_Axis0, "?-axis stallGuard2 slow threshold", NULL, Format_Decimal, "-##0", "-64", "63", Setting_NonCoreFn, set_axis_setting_float, get_axis_setting_float, NULL },
#endif
};
#ifndef NO_SETTINGS_DESCRIPTIONS
static const setting_descr_t trinamic_settings_descr[] = {
#if TRINAMIC_MIXED_DRIVERS
{ Setting_TrinamicDriver, "Enable SPI or UART controlled Trinamic drivers for axes." },
#endif
{ Setting_TrinamicHoming, "Enable sensorless homing for axis. Requires SPI controlled Trinamic drivers." },
{ Setting_AxisStepperCurrent, "Motor current in mA (RMS)." },
{ Setting_AxisMicroSteps, "Microsteps per fullstep." },
{ Setting_AxisExtended0, "StallGuard threshold for fast (seek) homing phase." },
{ Setting_AxisExtended1, "Motor current at standstill as a percentage of full current.\n"
"NOTE: if grblHAL is configured to disable motors on standstill this setting has no use."
},
{ Setting_AxisExtended2, "StallGuard threshold for slow (feed) homing phase." },
};
#endif
static void trinamic_settings_save (void)
{
hal.nvs.memcpy_to_nvs(nvs_address, (uint8_t *)&trinamic, sizeof(trinamic_settings_t), true);
}
static setting_details_t settings_details = {
.settings = trinamic_settings,
.n_settings = sizeof(trinamic_settings) / sizeof(setting_detail_t),
#ifndef NO_SETTINGS_DESCRIPTIONS
.descriptions = trinamic_settings_descr,
.n_descriptions = sizeof(trinamic_settings_descr) / sizeof(setting_descr_t),
#endif
.load = trinamic_settings_load,
.save = trinamic_settings_save,
.restore = trinamic_settings_restore
};
static void trinamic_drivers_setup (void)
{
if(driver_if.on_drivers_init) {
uint8_t n_enabled = 0, motor = n_motors;
do {
if(bit_istrue(trinamic.driver_enable.mask, bit(motor_map[--motor].axis)))
n_enabled++;
} while(motor);
driver_if.on_drivers_init(n_enabled, trinamic.driver_enable);
}
trinamic_drivers_init(trinamic.driver_enable);
}
#if TRINAMIC_MIXED_DRIVERS
static status_code_t set_driver_enable (setting_id_t id, uint_fast16_t value)
{
if(trinamic.driver_enable.mask != (uint8_t)value) {
driver_enabled.mask = 0;
trinamic.driver_enable.mask = (uint8_t)value;
trinamic_drivers_setup();
}
return Status_OK;
}
static uint32_t get_driver_enable (setting_id_t setting)
{
return trinamic.driver_enable.mask;
}
#endif
// Parse and set driver specific parameters
static status_code_t set_axis_setting (setting_id_t setting, uint_fast16_t value)
{
uint_fast8_t axis, motor = n_motors;
status_code_t status = Status_OK;
switch(settings_get_axis_base(setting, &axis)) {
case Setting_AxisStepperCurrent:
trinamic.driver[axis].current = (uint16_t)value;
do {
motor--;
if(stepper[motor] && stepper[motor]->get_config(motor)->motor.axis == axis)
stepper[motor]->set_current(motor, trinamic.driver[axis].current, trinamic.driver[axis].hold_current_pct);
} while(motor);
break;
case Setting_AxisExtended1: // Hold current percentage
if(value > 100)
value = 100;
trinamic.driver[axis].hold_current_pct = (uint16_t)value;
do {
motor--;
if(stepper[motor] && stepper[motor]->get_config(motor)->motor.axis == axis)
stepper[motor]->set_current(motor, trinamic.driver[axis].current, trinamic.driver[axis].hold_current_pct);
} while(motor);
break;
case Setting_AxisMicroSteps:
do {
motor--;
if(stepper[motor] && stepper[motor]->get_config(motor)->motor.axis == axis) {
if(stepper[motor]->microsteps_isvalid(motor, (uint16_t)value)) {
trinamic.driver[axis].microsteps = value;
stepper[motor]->set_microsteps(motor, trinamic.driver[axis].microsteps);
if(report.sg_status_motormask.mask & bit(axis))
report.msteps = trinamic.driver[axis].microsteps;
} else {
status = Status_InvalidStatement;
break;
}
}
} while(motor);
break;
default:
status = Status_Unhandled;
break;
}
return status;
}
static uint32_t get_axis_setting (setting_id_t setting)
{
uint32_t value = 0;
uint_fast8_t idx;
switch(settings_get_axis_base(setting, &idx)) {
case Setting_AxisStepperCurrent:
value = trinamic.driver[idx].current;
break;
case Setting_AxisExtended1: // Hold current percentage
value = trinamic.driver[idx].hold_current_pct;
break;
case Setting_AxisMicroSteps:
value = trinamic.driver[idx].microsteps;
break;
default: // for stopping compiler warning
break;
}
return value;
}
// Parse and set driver specific parameters
static status_code_t set_axis_setting_float (setting_id_t setting, float value)
{
status_code_t status = Status_OK;
uint_fast8_t idx;
switch(settings_get_axis_base(setting, &idx)) {
case Setting_AxisExtended0:
trinamic.driver[idx].homing_seek_sensitivity = (int16_t)value;
break;
case Setting_AxisExtended2:
trinamic.driver[idx].homing_feed_sensitivity = (int16_t)value;
break;
default:
status = Status_Unhandled;
break;
}
return status;
}
static float get_axis_setting_float (setting_id_t setting)
{
float value = 0.0f;
uint_fast8_t idx;
switch(settings_get_axis_base(setting, &idx)) {
case Setting_AxisExtended0:
value = (float)trinamic.driver[idx].homing_seek_sensitivity;
break;
case Setting_AxisExtended2:
value = (float)trinamic.driver[idx].homing_feed_sensitivity;
break;
default: // for stopping compiler warning
break;
}
return value;
}
// Initialize default EEPROM settings
static void trinamic_settings_restore (void)
{
uint_fast8_t idx = N_AXIS;
trinamic.driver_enable.mask = driver_enabled.mask = 0;
trinamic.homing_enable.mask = 0;
do {
switch(--idx) {
case X_AXIS:
#if TMC_X_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
trinamic.driver_enable.x = TMC_X_ENABLE;
trinamic.driver[idx].current = TMC_X_CURRENT;
trinamic.driver[idx].hold_current_pct = TMC_X_HOLD_CURRENT_PCT;
trinamic.driver[idx].microsteps = TMC_X_MICROSTEPS;
trinamic.driver[idx].r_sense = TMC_X_R_SENSE;
trinamic.driver[idx].homing_seek_sensitivity = TMC_X_HOMING_SEEK_SGT;
trinamic.driver[idx].homing_feed_sensitivity = TMC_X_HOMING_FEED_SGT;
break;
case Y_AXIS:
#if TMC_Y_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
trinamic.driver_enable.y = TMC_Y_ENABLE;
trinamic.driver[idx].current = TMC_Y_CURRENT;
trinamic.driver[idx].hold_current_pct = TMC_Y_HOLD_CURRENT_PCT;
trinamic.driver[idx].microsteps = TMC_Y_MICROSTEPS;
trinamic.driver[idx].r_sense = TMC_Y_R_SENSE;
trinamic.driver[idx].homing_seek_sensitivity = TMC_Y_HOMING_SEEK_SGT;
trinamic.driver[idx].homing_feed_sensitivity = TMC_Y_HOMING_FEED_SGT;
break;
case Z_AXIS:
#if TMC_Z_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
trinamic.driver_enable.z = TMC_Z_ENABLE;
trinamic.driver[idx].current = TMC_Z_CURRENT;
trinamic.driver[idx].hold_current_pct = TMC_Z_HOLD_CURRENT_PCT;
trinamic.driver[idx].microsteps = TMC_Z_MICROSTEPS;
trinamic.driver[idx].r_sense = TMC_Z_R_SENSE;
trinamic.driver[idx].homing_seek_sensitivity = TMC_Z_HOMING_SEEK_SGT;
trinamic.driver[idx].homing_feed_sensitivity = TMC_Z_HOMING_FEED_SGT;
break;
#ifdef A_AXIS
case A_AXIS:
#if TMC_A_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
trinamic.driver_enable.z = TMC_A_ENABLE;
trinamic.driver[idx].current = TMC_A_CURRENT;
trinamic.driver[idx].hold_current_pct = TMC_A_HOLD_CURRENT_PCT;
trinamic.driver[idx].microsteps = TMC_A_MICROSTEPS;
trinamic.driver[idx].r_sense = TMC_A_R_SENSE;
trinamic.driver[idx].homing_seek_sensitivity = TMC_A_HOMING_SEEK_SGT;
trinamic.driver[idx].homing_feed_sensitivity = TMC_A_HOMING_FEED_SGT;
break;
#endif
#ifdef B_AXIS
case B_AXIS:
#if TMC_B_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
trinamic.driver_enable.z = TMC_B_ENABLE;
trinamic.driver[idx].current = TMC_B_CURRENT;
trinamic.driver[idx].hold_current_pct = TMC_B_HOLD_CURRENT_PCT;
trinamic.driver[idx].microsteps = TMC_B_MICROSTEPS;
trinamic.driver[idx].r_sense = TMC_B_R_SENSE;
trinamic.driver[idx].homing_seek_sensitivity = TMC_B_HOMING_SEEK_SGT;
trinamic.driver[idx].homing_feed_sensitivity = TMC_B_HOMING_FEED_SGT;
break;
#endif
#ifdef C_AXIS
case C_AXIS:
#if TMC_C_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
trinamic.driver_enable.z = TMC_C_ENABLE;
trinamic.driver[idx].current = TMC_C_CURRENT;
trinamic.driver[idx].hold_current_pct = TMC_C_HOLD_CURRENT_PCT;
trinamic.driver[idx].microsteps = TMC_C_MICROSTEPS;
trinamic.driver[idx].r_sense = TMC_C_R_SENSE;
trinamic.driver[idx].homing_seek_sensitivity = TMC_C_HOMING_SEEK_SGT;
trinamic.driver[idx].homing_feed_sensitivity = TMC_C_HOMING_FEED_SGT;
break;
#endif
}
} while(idx);
hal.nvs.memcpy_to_nvs(nvs_address, (uint8_t *)&trinamic, sizeof(trinamic_settings_t), true);
if(settings_loaded)
trinamic_drivers_setup();
}
static void trinamic_settings_load (void)
{
if(hal.nvs.memcpy_from_nvs((uint8_t *)&trinamic, nvs_address, sizeof(trinamic_settings_t), true) != NVS_TransferResult_OK)
trinamic_settings_restore();
else {
uint_fast8_t idx = N_AXIS;
do {
#if TMC_STALLGUARD == 4
if(trinamic.driver[--idx].homing_seek_sensitivity < 0)
trinamic.driver[idx].homing_seek_sensitivity = 0;
if(trinamic.driver[idx].homing_feed_sensitivity < 0)
trinamic.driver[idx].homing_feed_sensitivity = 0;
#else
if(trinamic.driver[--idx].homing_seek_sensitivity > 64)
trinamic.driver[idx].homing_seek_sensitivity = 0;
if(trinamic.driver[idx].homing_feed_sensitivity > 64)
trinamic.driver[idx].homing_feed_sensitivity = 0;
#endif
// Until $-setting is added set from mode from defines
switch(idx) {
case X_AXIS:
#if TMC_X_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
break;
case Y_AXIS:
#if TMC_Y_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
break;
case Z_AXIS:
#if TMC_Z_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
break;
#ifdef A_AXIS
case A_AXIS:
#if TMC_A_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
break;
#endif
#ifdef B_AXIS
case B_AXIS:
#if TMC_B_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
break;
#endif
#ifdef C_AXIS
case C_AXIS:
#if TMC_C_STEALTHCHOP
trinamic.driver[idx].mode = TMCMode_StealthChop;
#else
trinamic.driver[idx].mode = TMCMode_CoolStep;
#endif
break;
#endif
}
//
} while(idx);
}
#if !TRINAMIC_MIXED_DRIVERS
trinamic.driver_enable.mask = AXES_BITMASK;
#endif
settings_loaded = true;
}
static void on_settings_changed (settings_t *settings)
{
static bool init_ok = false;
static float steps_per_mm[N_AXIS];
uint_fast8_t idx = N_AXIS;
settings_changed(settings);
if(init_ok) {
do {
idx--;
if(steps_per_mm[idx] != settings->axis[idx].steps_per_mm) {
steps_per_mm[idx] = settings->axis[idx].steps_per_mm;
#if PWM_THRESHOLD_VELOCITY > 0
uint8_t motor = n_motors;
do {
motor--;
if(bit_istrue(driver_enabled.mask, bit(idx)) && idx == motor_map[motor].axis)
stepper[motor]->set_tpwmthrs(motor, (float)PWM_THRESHOLD_VELOCITY / 60.0f, steps_per_mm[idx]);
} while(motor);
#endif
}
} while(idx);
} else {
init_ok = true;
do {
idx--;
steps_per_mm[idx] = settings->axis[idx].steps_per_mm;
} while(idx);
}
}
#endif // End region settings
static void pos_failed (sys_state_t state)
{
report_message("Could not communicate with stepper driver!", Message_Warning);
}
static bool trinamic_driver_config (motor_map_t motor, uint8_t seq)
{
bool ok = false;
trinamic_driver_config_t cfg = {
.address = motor.id,
.settings = &trinamic.driver[motor.axis]
};
if(driver_if.on_driver_preinit)
driver_if.on_driver_preinit(motor, &cfg);
#if TRINAMIC_ENABLE == 2209
ok = (stepper[motor.id] = TMC2209_AddMotor(motor, cfg.address, cfg.settings->current, cfg.settings->microsteps, cfg.settings->r_sense)) != NULL;
#elif TRINAMIC_ENABLE == 2130
ok = (stepper[motor.id] = TMC2130_AddMotor(motor, cfg.settings->current, cfg.settings->microsteps, cfg.settings->r_sense)) != NULL;
#elif TRINAMIC_ENABLE == 5160
ok = (stepper[motor.id] = TMC5160_AddMotor(motor, cfg.settings->current, cfg.settings->microsteps, cfg.settings->r_sense)) != NULL;
#endif
if(!ok) {
protocol_enqueue_rt_command(pos_failed);
// system_raise_alarm(Alarm_SelftestFailed);
return false;
}
stepper[motor.id]->get_config(motor.id)->motor.seq = seq; //
driver_enabled.mask |= bit(motor.axis);
switch(motor.axis) {
case X_AXIS:
#ifdef TMC_X_ADVANCED
TMC_X_ADVANCED(motor.id)
#endif
#if TRINAMIC_I2C && TMC_X_MONITOR
dgr_enable.reg.monitor.x = TMC_X_MONITOR;
#endif
break;
case Y_AXIS:
#ifdef TMC_Y_ADVANCED
TMC_Y_ADVANCED(motor.id)
#endif
#if TRINAMIC_I2C && TMC_Y_MONITOR
dgr_enable.reg.monitor.y = TMC_Y_MONITOR;
#endif
break;
case Z_AXIS:
#ifdef TMC_Z_ADVANCED
TMC_Z_ADVANCED(motor.id)
#endif
#if TRINAMIC_I2C && TMC_Z_MONITOR
dgr_enable.reg.monitor.z = TMC_Z_MONITOR;
#endif
break;
#ifdef A_AXIS
case A_AXIS:
#ifdef TMC_A_ADVANCED
TMC_A_ADVANCED(motor.id)
#endif
#if TRINAMIC_I2C && TMC_A_MONITOR
dgr_enable.reg.monitor.a = TMC_A_MONITOR;
#endif
break;
#endif
#ifdef B_AXIS
case B_AXIS:
#ifdef TMC_B_ADVANCED
TMC_B_ADVANCED(motor.id)
#endif
#if TRINAMIC_I2C && TMC_B_MONITOR
dgr_enable.reg.monitor.b = TMC_B_MONITOR;
#endif
break;
#endif
#ifdef C_AXIS
case C_AXIS:
#ifdef TMC_C_ADVANCED
TMC_C_ADVANCED(motor.id)
#endif
#if TRINAMIC_I2C && TMC_C_MONITOR
dgr_enable.reg.monitor.c = TMC_C_MONITOR;
#endif
break;
#endif
}
stepper[motor.id]->stealthChop(motor.id, cfg.settings->mode == TMCMode_StealthChop);
#if PWM_THRESHOLD_VELOCITY > 0
stepper[motor.id]->set_tpwmthrs(motor.id, (float)PWM_THRESHOLD_VELOCITY / 60.0f, cfg.settings->steps_per_mm);
#endif
stepper[motor.id]->set_current(motor.id, cfg.settings->current, cfg.settings->hold_current_pct);
stepper[motor.id]->set_microsteps(motor.id, cfg.settings->microsteps);
#if TRINAMIC_I2C
tmc_spi_write((trinamic_motor_t){0}, (TMC_spi_datagram_t *)&dgr_enable);
#endif
if(driver_if.on_driver_postinit)
driver_if.on_driver_postinit(motor, stepper[motor.id]);
return true;
}
static void trinamic_drivers_init (axes_signals_t axes)
{
bool ok = axes.value != 0;
uint_fast8_t motor = n_motors, n_enabled = 0, seq = 0;
memset(stepper, 0, sizeof(stepper));
do {
if(bit_istrue(axes.mask, bit(motor_map[--motor].axis)))
seq++;
} while(motor);
motor = n_motors;
do {
if(bit_istrue(axes.mask, bit(motor_map[--motor].axis))) {
if((ok = trinamic_driver_config(motor_map[motor], --seq)))
n_enabled++;
}
} while(ok && motor);
tmc_motors_set(ok ? n_enabled : 0);
if(!ok) {
driver_enabled.mask = 0;
memset(stepper, 0, sizeof(stepper));
}
}
// Add warning info to next realtime report when warning flag set by drivers
static void trinamic_realtime_report (stream_write_ptr stream_write, report_tracking_flags_t report)
{
if(warning) {
warning = false;
#if TRINAMIC_I2C
TMC_spi_status_t status = tmc_spi_read((trinamic_motor_t){0}, (TMC_spi_datagram_t *)&dgr_monitor);
otpw_triggered.mask |= dgr_monitor.reg.otpw.mask;
sprintf(sbuf, "|TMCMON:%d:%d:%d:%d:%d", status, dgr_monitor.reg.ot.mask, dgr_monitor.reg.otpw.mask, dgr_monitor.reg.otpw_cnt.mask, dgr_monitor.reg.error.mask);
stream_write(sbuf);
#endif
}
if(on_realtime_report)
on_realtime_report(stream_write, report);
}
// Return pointer to end of string
static char *append (char *s)
{
while(*s) s++;
return s;
}
// Write CRLF terminated string to current stream
static void write_line (char *s)
{
strcat(s, ASCII_EOL);
hal.stream.write(s);
}
//
static void report_sg_status (sys_state_t state)
{
hal.stream.write("[SG:");
hal.stream.write(uitoa(stepper[report.sg_status_motor]->get_sg_result(report.sg_status_motor)));
hal.stream.write("]" ASCII_EOL);
}
static void stepper_pulse_start (stepper_t *motors)
{
static uint32_t step_count = 0;
hal_stepper_pulse_start(motors);
if(motors->step_outbits.mask & report.sg_status_motormask.mask) {
uint32_t ms = hal.get_elapsed_ticks();
if(ms - step_count >= 20) {
step_count = ms;
protocol_enqueue_rt_command(report_sg_status);
}
/* step_count++;
if(step_count >= report.msteps * 4) {
step_count = 0;
protocol_enqueue_rt_command(report_sg_status);
} */
}
}
static char *get_axisname (motor_map_t motor)
{
static char axisname[3] = {0};
axisname[0] = axis_letter[motor.axis][0];
axisname[1] = motor.id == motor.axis ? '\0' : '2';
return axisname;
}
#if TRINAMIC_DEV
static uint_fast8_t bit_count (uint32_t n)
{
uint_fast8_t count = 0;
while (n) {
n &= (n - 1);
count++;
}
return count;
}
static axes_signals_t get_axes (parameter_words_t words)
{
axes_signals_t axes = {0};
axes.x = words.x;
axes.y = words.y;
axes.z = words.z;
#ifdef A_AXIS
axes.a = words.a;
#endif
#ifdef B_AXIS
axes.b = words.b;
#endif
#ifdef C_AXIS
axes.c = words.c;
#endif
#ifdef U_AXIS
axes.u = words.u;
#endif
#ifdef V_AXIS
axes.v = words.v;
#endif
axes.mask &= driver_enabled.mask;
return axes;
}
#endif
// Validate M-code axis parameters
// Sets value to NAN (Not A Number) and returns false if driver not installed
static bool check_params (parser_block_t *gc_block)
{
static const parameter_words_t wordmap[] = {
{ .x = On },
{ .y = On },
{ .z = On }
#if N_AXIS > 3
, { .a = On },
{ .b = On },
{ .c = On }
#endif
#if N_AXIS > 6
, { .u = On },
{ .v = On },
#endif
};
uint_fast8_t n_found = 0, n_ok = 0, idx = N_AXIS;
do {
idx--;
if(gc_block->words.mask & wordmap[idx].mask) {
n_found++;
if(bit_istrue(driver_enabled.mask, bit(idx)) && !isnanf(gc_block->values.xyz[idx])) {
n_ok++;
gc_block->words.mask &= ~wordmap[idx].mask;
}
} else
gc_block->values.xyz[idx] = NAN;
} while(idx);
return n_ok > 0 && n_ok == n_found;
}
// Check if given M-code is handled here
static user_mcode_t trinamic_MCodeCheck (user_mcode_t mcode)
{
#if TRINAMIC_DEV
if(mcode == Trinamic_ReadRegister || mcode == Trinamic_WriteRegister)
return mcode;
#endif
return mcode == Trinamic_DebugReport ||
(driver_enabled.mask && (mcode == Trinamic_StepperCurrent || mcode == Trinamic_ReportPrewarnFlags || mcode == Trinamic_ClearPrewarnFlags ||
mcode == Trinamic_HybridThreshold || mcode == Trinamic_HomingSensitivity))
? mcode
: (user_mcode.check ? user_mcode.check(mcode) : UserMCode_Ignore);
}
// Validate driver specific M-code parameters
static status_code_t trinamic_MCodeValidate (parser_block_t *gc_block, parameter_words_t *deprecated)
{
status_code_t state = Status_GcodeValueWordMissing;
switch(gc_block->user_mcode) {
#if TRINAMIC_DEV
case Trinamic_ReadRegister:
case Trinamic_WriteRegister:
{
axes_signals_t axes = get_axes(gc_block->words);
if(axes.mask == 0)
state = Status_GcodeNoAxisWords;
else if(bit_count(axes.mask) > 1)
state = Status_ValueWordConflict;
else {
if(gc_block->words.i && !(gc_block->values.ijk[0] == 0.0f || gc_block->values.ijk[0] == 1.0f))
state = Status_GcodeValueOutOfRange;
if(gc_block->words.r && (gc_block->user_mcode == Trinamic_ReadRegister || gc_block->words.o)) {
if(!isintf(gc_block->values.r))
state = Status_BadNumberFormat;
else {
if(stepper[0]->get_register_addr(0, (uint8_t)gc_block->values.r))
state = Status_OK;
else
state = Status_GcodeValueOutOfRange;
gc_block->words.r = gc_block->words.o = Off;
}
}
}
}
break;
#endif
case Trinamic_DebugReport:
state = Status_OK;
if(gc_block->words.h && gc_block->values.h > 1)
state = Status_BadNumberFormat;
if(gc_block->words.q && isnanf(gc_block->values.q))
state = Status_BadNumberFormat;
if(gc_block->words.s && isnanf(gc_block->values.s))
state = Status_BadNumberFormat;
gc_block->words.h = gc_block->words.i = gc_block->words.q = gc_block->words.s =
gc_block->words.x = gc_block->words.y = gc_block->words.z = Off;
#ifdef A_AXIS
gc_block->words.a = Off;
#endif
#ifdef B_AXIS
gc_block->words.b = Off;
#endif
#ifdef C_AXIS
gc_block->words.c = Off;
#endif
// gc_block->user_mcode_sync = true;
break;
case Trinamic_StepperCurrent:
if(check_params(gc_block)) {
state = Status_OK;
gc_block->user_mcode_sync = true;
if(!gc_block->words.q)
gc_block->values.q = NAN;
else // TODO: add range check?
gc_block->words.q = Off;
}
break;
case Trinamic_ReportPrewarnFlags:
case Trinamic_ClearPrewarnFlags:
state = Status_OK;
break;
case Trinamic_HybridThreshold:
if(check_params(gc_block)) {
state = Status_OK;
gc_block->user_mcode_sync = true;
}
break;
case Trinamic_HomingSensitivity:
if(check_params(gc_block)) {
uint_fast8_t idx = N_AXIS;
state = gc_block->words.i && (isnanf(gc_block->values.ijk[0]) || gc_block->values.ijk[0] != 1.0f) ? Status_BadNumberFormat : Status_OK;
gc_block->words.i = Off;
if(state == Status_OK) do {
idx--;
#if TMC_STALLGUARD == 4
if(!isnanf(gc_block->values.xyz[idx]) && (gc_block->values.xyz[idx] < 0.0f || gc_block->values.xyz[idx] > 255.0f))
state = Status_BadNumberFormat;
#else
if(!isnanf(gc_block->values.xyz[idx]) && (gc_block->values.xyz[idx] < -64.0f || gc_block->values.xyz[idx] > 63.0f))
state = Status_BadNumberFormat;
#endif
} while(idx && state == Status_OK);
}
break;
case Trinamic_ChopperTiming:
if(check_params(gc_block)) {
state = Status_OK;
if(gc_block->words.o && (gc_block->values.o < 1 || gc_block->values.ijk[0] > 15))
state = Status_BadNumberFormat;
if(gc_block->words.p && (!isintf(gc_block->values.p) || gc_block->values.p < -3.0f || gc_block->values.p > 12.0f))
state = Status_BadNumberFormat;
if(gc_block->words.s && (!isintf(gc_block->values.s) || gc_block->values.s < 1.0f || gc_block->values.ijk[0] > 8.0f))
state = Status_BadNumberFormat;
gc_block->words.o = gc_block->words.p = gc_block->words.s = Off;
}
break;
default:
state = Status_Unhandled;
break;
}
return state == Status_Unhandled && user_mcode.validate ? user_mcode.validate(gc_block, deprecated) : state;
}