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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef _TMC_UTIL_H_
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#define _TMC_UTIL_H_
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#include "MarlinConfig.h"
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#if HAS_DRIVER(TMC2130)
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#include <TMC2130Stepper.h>
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#endif
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#if HAS_DRIVER(TMC2208)
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#include <TMC2208Stepper.h>
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#endif
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extern bool report_tmc_status;
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enum TMC_AxisEnum : char { TMC_X, TMC_Y, TMC_Z, TMC_X2, TMC_Y2, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 };
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constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
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return 12650000UL * msteps / (256 * thrs * spmm);
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}
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void _tmc_say_axis(const TMC_AxisEnum axis);
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void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr);
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void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw);
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void _tmc_say_otpw_cleared(const TMC_AxisEnum axis);
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void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs);
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void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt);
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template<typename TMC>
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void tmc_get_current(TMC &st, const TMC_AxisEnum axis) {
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_tmc_say_current(axis, st.getCurrent());
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}
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template<typename TMC>
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void tmc_set_current(TMC &st, const int mA) {
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
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}
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template<typename TMC>
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void tmc_report_otpw(TMC &st, const TMC_AxisEnum axis) {
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_tmc_say_otpw(axis, st.getOTPW());
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}
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template<typename TMC>
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void tmc_clear_otpw(TMC &st, const TMC_AxisEnum axis) {
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st.clear_otpw();
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_tmc_say_otpw_cleared(axis);
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}
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template<typename TMC>
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void tmc_get_pwmthrs(TMC &st, const TMC_AxisEnum axis, const uint16_t spmm) {
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_tmc_say_pwmthrs(axis, _tmc_thrs(st.microsteps(), st.TPWMTHRS(), spmm));
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}
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template<typename TMC>
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void tmc_set_pwmthrs(TMC &st, const int32_t thrs, const uint32_t spmm) {
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st.TPWMTHRS(_tmc_thrs(st.microsteps(), thrs, spmm));
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}
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template<typename TMC>
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void tmc_get_sgt(TMC &st, const TMC_AxisEnum axis) {
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_tmc_say_sgt(axis, st.sgt());
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}
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template<typename TMC>
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void tmc_set_sgt(TMC &st, const int8_t sgt_val) {
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st.sgt(sgt_val);
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}
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void monitor_tmc_driver();
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#if ENABLED(TMC_DEBUG)
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void tmc_set_report_status(const bool status);
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void tmc_report_all();
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#endif
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/**
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* TMC2130 specific sensorless homing using stallGuard2.
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* stallGuard2 only works when in spreadCycle mode.
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* spreadCycle and stealthChop are mutually exclusive.
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*
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* Defined here because of limitations with templates and headers.
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*/
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#if ENABLED(SENSORLESS_HOMING)
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void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable=true);
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#endif
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#if HAS_DRIVER(TMC2130)
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void tmc_init_cs_pins();
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#endif
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#endif // _TMC_UTIL_H_
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