Subversion Repositories MK-Marlin

/**

 * 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 "MarlinConfig.h"

#if HAS_TRINAMIC

#include "tmc_util.h"

#include "Marlin.h"

#include "printcounter.h"

#include "duration_t.h"

#include "stepper_indirection.h"

#if ENABLED(TMC_DEBUG)

  #include "planner.h"

#endif

bool report_tmc_status = false;

/**

 * Check for over temperature or short to ground error flags.

 * Report and log warning of overtemperature condition.

 * Reduce driver current in a persistent otpw condition.

 * Keep track of otpw counter so we don't reduce current on a single instance,

 * and so we don't repeatedly report warning before the condition is cleared.

 */

#if ENABLED(MONITOR_DRIVER_STATUS)

  struct TMC_driver_data {

    uint32_t drv_status;

    bool is_otpw;

    bool is_ot;

    bool is_error;

  };

  #if HAS_DRIVER(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 TMC_driver_data get_driver_data(TMC2130Stepper &st) {

      constexpr uint32_t OTPW_bm = 0x4000000UL;

      constexpr uint8_t OTPW_bp = 26;

      constexpr uint32_t OT_bm = 0x2000000UL;

      constexpr uint8_t OT_bp = 25;

      constexpr uint8_t DRIVER_ERROR_bm = 0x2UL;

      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;

      return data;

    }

  #endif

  #if HAS_DRIVER(TMC2208)

    static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }

    static uint8_t get_status_response(TMC2208Stepper &st) {

      uint32_t drv_status = st.DRV_STATUS();

      uint8_t gstat = st.GSTAT();

      uint8_t response = 0;

      response |= (drv_status >> (31-3)) & 0b1000;

      response |= gstat & 0b11;

      return response;

    }

    static TMC_driver_data get_driver_data(TMC2208Stepper &st) {

      constexpr uint32_t OTPW_bm = 0b1ul;

      constexpr uint8_t OTPW_bp = 0;

      constexpr uint32_t OT_bm = 0b10ul;

      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_error = st.drv_err();

      return data;

    }

  #endif

  template<typename TMC>

  void monitor_tmc_driver(TMC &st, const TMC_AxisEnum axis, uint8_t &otpw_cnt) {

    TMC_driver_data data = get_driver_data(st);

    #if ENABLED(STOP_ON_ERROR)

      if (data.is_error) {

        SERIAL_EOL();

        _tmc_say_axis(axis);

        SERIAL_ECHOLNPGM(" driver error detected:");

        if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");

        if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");

        if (st.s2gb()) SERIAL_ECHOLNPGM("short to ground (coil B)");

        #if ENABLED(TMC_DEBUG)

          tmc_report_all();

        #endif

        kill(PSTR("Driver error"));

      }

    #endif

    // Report if a warning was triggered

    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);

      (void)elapsed.toDigital(timestamp, has_days);

      SERIAL_EOL();

      SERIAL_ECHO(timestamp);

      SERIAL_ECHOPGM(": ");

      _tmc_say_axis(axis);

      SERIAL_ECHOPGM(" driver overtemperature warning! (");

      SERIAL_ECHO(st.getCurrent());

      SERIAL_ECHOLNPGM("mA)");

    }

    #if CURRENT_STEP_DOWN > 0

      // Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings

      if (data.is_otpw && st.isEnabled() && otpw_cnt > 4) {

        st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);

        #if ENABLED(REPORT_CURRENT_CHANGE)

          _tmc_say_axis(axis);

          SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());

        #endif

      }

    #endif

    if (data.is_otpw) {

      otpw_cnt++;

      st.flag_otpw = true;

    }

    else if (otpw_cnt > 0) otpw_cnt = 0;

    if (report_tmc_status) {

      const uint32_t pwm_scale = get_pwm_scale(st);

      _tmc_say_axis(axis);

      SERIAL_ECHOPAIR(":", pwm_scale);

      SERIAL_ECHOPGM(" |0b"); SERIAL_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');

    }

  }

  #define HAS_HW_COMMS(ST) AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && defined(ST##_HARDWARE_SERIAL))

  void monitor_tmc_driver() {

    static millis_t next_cOT = 0;

    if (ELAPSED(millis(), next_cOT)) {

      next_cOT = millis() + 500;

      #if HAS_HW_COMMS(X)

        static uint8_t x_otpw_cnt = 0;

        monitor_tmc_driver(stepperX, TMC_X, x_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(Y)

        static uint8_t y_otpw_cnt = 0;

        monitor_tmc_driver(stepperY, TMC_Y, y_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(Z)

        static uint8_t z_otpw_cnt = 0;

        monitor_tmc_driver(stepperZ, TMC_Z, z_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(X2)

        static uint8_t x2_otpw_cnt = 0;

        monitor_tmc_driver(stepperX2, TMC_X, x2_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(Y2)

        static uint8_t y2_otpw_cnt = 0;

        monitor_tmc_driver(stepperY2, TMC_Y, y2_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(Z2)

        static uint8_t z2_otpw_cnt = 0;

        monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(E0)

        static uint8_t e0_otpw_cnt = 0;

        monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(E1)

        static uint8_t e1_otpw_cnt = 0;

        monitor_tmc_driver(stepperE1, TMC_E1, e1_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(E2)

        static uint8_t e2_otpw_cnt = 0;

        monitor_tmc_driver(stepperE2, TMC_E2, e2_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(E3)

        static uint8_t e3_otpw_cnt = 0;

        monitor_tmc_driver(stepperE3, TMC_E3, e3_otpw_cnt);

      #endif

      #if HAS_HW_COMMS(E4)

        static uint8_t e4_otpw_cnt = 0;

        monitor_tmc_driver(stepperE4, TMC_E4, e4_otpw_cnt);

      #endif

      if (report_tmc_status) SERIAL_EOL();

    }

  }

#endif // MONITOR_DRIVER_STATUS

void _tmc_say_axis(const TMC_AxisEnum axis) {

  static const char ext_X[]  PROGMEM = "X",  ext_Y[]  PROGMEM = "Y",  ext_Z[]  PROGMEM = "Z",

                    ext_X2[] PROGMEM = "X2", ext_Y2[] PROGMEM = "Y2", ext_Z2[] PROGMEM = "Z2",

                    ext_E0[] PROGMEM = "E0", ext_E1[] PROGMEM = "E1",

                    ext_E2[] PROGMEM = "E2", ext_E3[] PROGMEM = "E3",

                    ext_E4[] PROGMEM = "E4";

  static const char* const tmc_axes[] PROGMEM = { ext_X, ext_Y, ext_Z, ext_X2, ext_Y2, ext_Z2, ext_E0, ext_E1, ext_E2, ext_E3, ext_E4 };

  serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));

}

void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr) {

  _tmc_say_axis(axis);

  SERIAL_ECHOLNPAIR(" driver current: ", curr);

}

void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw) {

  _tmc_say_axis(axis);

  SERIAL_ECHOPGM(" temperature prewarn triggered: ");

  serialprintPGM(otpw ? PSTR("true") : PSTR("false"));

  SERIAL_EOL();

}

void _tmc_say_otpw_cleared(const TMC_AxisEnum axis) {

  _tmc_say_axis(axis);

  SERIAL_ECHOLNPGM(" prewarn flag cleared");

}

void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs) {

  _tmc_say_axis(axis);

  SERIAL_ECHOLNPAIR(" stealthChop max speed: ", thrs);

}

void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {

  _tmc_say_axis(axis);

  SERIAL_ECHOPGM(" homing sensitivity: ");

  SERIAL_PRINTLN(sgt, DEC);

}

#if ENABLED(TMC_DEBUG)

  enum TMC_debug_enum : char {

    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 : char {

    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 TMC_AxisEnum axis, const uint32_t drv_status) {

    _tmc_say_axis(axis);

    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 HAS_DRIVER(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 HAS_DRIVER(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_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, const TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {

    SERIAL_ECHO('\t');

    switch (i) {

      case TMC_CODES: _tmc_say_axis(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();

          if (tpwmthrs_val)

            SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm));

          else

            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.hysteresis_end(), DEC); break;

      case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;

      default: tmc_status(st, i); break;

    }

  }

  template <typename TMC>

  static void tmc_parse_drv_status(TMC &st, const TMC_AxisEnum axis, const TMC_drv_status_enum i) {

    SERIAL_CHAR('\t');

    switch (i) {

      case TMC_DRV_CODES:     _tmc_say_axis(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(axis, st.DRV_STATUS()); break;

      default: tmc_parse_drv_status(st, i); break;

    }

  }

  static void tmc_debug_loop(const TMC_debug_enum i) {

    #if AXIS_IS_TMC(X)

      tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);

    #endif

    #if AXIS_IS_TMC(X2)

      tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);

    #endif

    #if AXIS_IS_TMC(Y)

      tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);

    #endif

    #if AXIS_IS_TMC(Y2)

      tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);

    #endif

    #if AXIS_IS_TMC(Z)

      tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);

    #endif

    #if AXIS_IS_TMC(Z2)

      tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);

    #endif

    #if AXIS_IS_TMC(E0)

      tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);

    #endif

    #if AXIS_IS_TMC(E1)

      tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS

        #if ENABLED(DISTINCT_E_FACTORS)

          + 1

        #endif

      ]);

    #endif

    #if AXIS_IS_TMC(E2)

      tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS

        #if ENABLED(DISTINCT_E_FACTORS)

          + 2

        #endif

      ]);

    #endif

    #if AXIS_IS_TMC(E3)

      tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS

        #if ENABLED(DISTINCT_E_FACTORS)

          + 3

        #endif

      ]);

    #endif

    #if AXIS_IS_TMC(E4)

      tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS

        #if ENABLED(DISTINCT_E_FACTORS)

          + 4

        #endif

      ]);

    #endif

    SERIAL_EOL();

  }

  static void drv_status_loop(const TMC_drv_status_enum i) {

    #if AXIS_IS_TMC(X)

      tmc_parse_drv_status(stepperX, TMC_X, i);

    #endif

    #if AXIS_IS_TMC(X2)

      tmc_parse_drv_status(stepperX2, TMC_X2, i);

    #endif

    #if AXIS_IS_TMC(Y)

      tmc_parse_drv_status(stepperY, TMC_Y, i);

    #endif

    #if AXIS_IS_TMC(Y2)

      tmc_parse_drv_status(stepperY2, TMC_Y2, i);

    #endif

    #if AXIS_IS_TMC(Z)

      tmc_parse_drv_status(stepperZ, TMC_Z, i);

    #endif

    #if AXIS_IS_TMC(Z2)

      tmc_parse_drv_status(stepperZ2, TMC_Z2, i);

    #endif

    #if AXIS_IS_TMC(E0)

      tmc_parse_drv_status(stepperE0, TMC_E0, i);

    #endif

    #if AXIS_IS_TMC(E1)

      tmc_parse_drv_status(stepperE1, TMC_E1, i);

    #endif

    #if AXIS_IS_TMC(E2)

      tmc_parse_drv_status(stepperE2, TMC_E2, i);

    #endif

    #if AXIS_IS_TMC(E3)

      tmc_parse_drv_status(stepperE3, TMC_E3, i);

    #endif

    #if AXIS_IS_TMC(E4)

      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\t",        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("hysteresis\n-end\t", TMC_HEND);

    TMC_REPORT("-start\t",           TMC_HSTRT);

    TMC_REPORT("Stallguard thrs",    TMC_SGT);

    DRV_REPORT("DRVSTATUS",          TMC_DRV_CODES);

    #if HAS_DRIVER(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 HAS_DRIVER(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, const bool enable/*=true*/) {

    st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);

    #if ENABLED(STEALTHCHOP)

      st.stealthChop(!enable);

    #endif

    st.diag1_stall(enable ? 1 : 0);

  }

#endif // SENSORLESS_HOMING

#if HAS_DRIVER(TMC2130)

  #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)

  void tmc_init_cs_pins() {

    #if AXIS_DRIVER_TYPE(X, TMC2130)

      SET_CS_PIN(X);

    #endif

    #if AXIS_DRIVER_TYPE(Y, TMC2130)

      SET_CS_PIN(Y);

    #endif

    #if AXIS_DRIVER_TYPE(Z, TMC2130)

      SET_CS_PIN(Z);

    #endif

    #if AXIS_DRIVER_TYPE(X2, TMC2130)

      SET_CS_PIN(X2);

    #endif

    #if AXIS_DRIVER_TYPE(Y2, TMC2130)

      SET_CS_PIN(Y2);

    #endif

    #if AXIS_DRIVER_TYPE(Z2, TMC2130)

      SET_CS_PIN(Z2);

    #endif

    #if AXIS_DRIVER_TYPE(E0, TMC2130)

      SET_CS_PIN(E0);

    #endif

    #if AXIS_DRIVER_TYPE(E1, TMC2130)

      SET_CS_PIN(E1);

    #endif

    #if AXIS_DRIVER_TYPE(E2, TMC2130)

      SET_CS_PIN(E2);

    #endif

    #if AXIS_DRIVER_TYPE(E3, TMC2130)

      SET_CS_PIN(E3);

    #endif

    #if AXIS_DRIVER_TYPE(E4, TMC2130)

      SET_CS_PIN(E4);

    #endif

  }

#endif // TMC2130

#endif // HAS_TRINAMIC