Fix TMC gcode commands

Marlin/src/feature/tmc_util.cpp

@@ -35,56 +35,6 @@
 bool report_tmc_status = false;
 char extended_axis_codes[11][3] = { "X", "X2", "Y", "Y2", "Z", "Z2", "E0", "E1", "E2", "E3", "E4" };
 
-template<typename TMC>
-void tmc_get_current(TMC &st, const char name[]) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" axis driver current: ");
-  SERIAL_ECHOLN(st.getCurrent());
-}
-template<typename TMC>
-void tmc_set_current(TMC &st, const char name[], const int mA) {
-  st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
-  tmc_get_current(st, name);
-}
-
-template<typename TMC>
-void tmc_report_otpw(TMC &st, const char name[]) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
-  serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
-  SERIAL_EOL();
-}
-template<typename TMC>
-void tmc_clear_otpw(TMC &st, const char name[]) {
-  st.clear_otpw();
-  SERIAL_ECHO(name);
-  SERIAL_ECHOLNPGM(" prewarn flag cleared");
-}
-
-template<typename TMC>
-void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" stealthChop max speed set to ");
-  SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
-}
-template<typename TMC>
-void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
-  st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
-  tmc_get_pwmthrs(st, name, spmm);
-}
-
-template<typename TMC>
-void tmc_get_sgt(TMC &st, const char name[]) {
-  SERIAL_ECHO(name);
-  SERIAL_ECHOPGM(" driver homing sensitivity set to ");
-  MYSERIAL.println(st.sgt(), DEC);
-}
-template<typename TMC>
-void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
-  st.sgt(sgt_val);
-  tmc_get_sgt(st, name);
-}
-
 /*
  * Check for over temperature or short to ground error flags.
  * Report and log warning of overtemperature condition.

Marlin/src/feature/tmc_util.h

@@ -29,27 +29,58 @@
 
 extern bool report_tmc_status;
 extern char extended_axis_codes[11][3];
+
 enum TMC_AxisEnum {
   TMC_X, TMC_X2, TMC_Y, TMC_Y2, TMC_Z, TMC_Z2,
   TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4
 };
 
 template<typename TMC>
-void tmc_get_current(TMC &st, const char name[]);
+void tmc_get_current(TMC &st, const char name[]) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOPGM(" axis driver current: ");
+  SERIAL_ECHOLN(st.getCurrent());
+}
 template<typename TMC>
-void tmc_set_current(TMC &st, const char name[], const int mA);
+void tmc_set_current(TMC &st, const char name[], const int mA) {
+  st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+  tmc_get_current(st, name);
+}
 template<typename TMC>
-void tmc_report_otpw(TMC &st, const char name[]);
+void tmc_report_otpw(TMC &st, const char name[]) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
+  serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
+  SERIAL_EOL();
+}
 template<typename TMC>
-void tmc_clear_otpw(TMC &st, const char name[]);
+void tmc_clear_otpw(TMC &st, const char name[]) {
+  st.clear_otpw();
+  SERIAL_ECHO(name);
+  SERIAL_ECHOLNPGM(" prewarn flag cleared");
+}
 template<typename TMC>
-void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm);
+void tmc_get_pwmthrs(TMC &st, const char name[], const uint16_t spmm) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOPGM(" stealthChop max speed set to ");
+  SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.TPWMTHRS() * spmm));
+}
 template<typename TMC>
-void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm);
+void tmc_set_pwmthrs(TMC &st, const char name[], const int32_t thrs, const uint32_t spmm) {
+  st.TPWMTHRS(12650000UL * st.microsteps() / (256 * thrs * spmm));
+  tmc_get_pwmthrs(st, name, spmm);
+}
 template<typename TMC>
-void tmc_get_sgt(TMC &st, const char name[]);
+void tmc_get_sgt(TMC &st, const char name[]) {
+  SERIAL_ECHO(name);
+  SERIAL_ECHOPGM(" driver homing sensitivity set to ");
+  MYSERIAL.println(st.sgt(), DEC);
+}
 template<typename TMC>
-void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val);
+void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {
+  st.sgt(sgt_val);
+  tmc_get_sgt(st, name);
+}
 
 void _M122();
 void monitor_tmc_driver();

Marlin/src/gcode/feature/trinamic/M122.cpp

@@ -334,6 +334,6 @@ void _M122() {
 }
 
 // We need to call M122 from monitor_tmc_driver() as well but GcodeSuite::M122 is private.
-inline void GcodeSuite::M122() { _M122(); }
+void GcodeSuite::M122() { _M122(); }
 
 #endif // TMC_DEBUG

Marlin/src/gcode/feature/trinamic/M906.cpp

@@ -33,7 +33,7 @@
  * M906: Set motor current in milliamps using axis codes X, Y, Z, E
  * Report driver currents when no axis specified
  */
-inline void GcodeSuite::M906() {
+void GcodeSuite::M906() {
   uint16_t values[XYZE];
   LOOP_XYZE(i)
     values[i] = parser.intval(axis_codes[i]);

Marlin/src/gcode/feature/trinamic/M911-M915.cpp

@@ -28,12 +28,13 @@
 #include "../../../feature/tmc_util.h"
 #include "../../../module/stepper_indirection.h"
 #include "../../../module/planner.h"
+#include "../../queue.h"
 
 /**
  * M911: Report TMC stepper driver overtemperature pre-warn flag
  * The flag is held by the library and persist until manually cleared by M912
  */
-inline void GcodeSuite::M911() {
+void GcodeSuite::M911() {
   #if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS)
     tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]);
   #endif
@@ -51,7 +52,7 @@ inline void GcodeSuite::M911() {
 /**
  * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
  */
-inline void GcodeSuite::M912() {
+void GcodeSuite::M912() {
   const bool clearX = parser.seen(axis_codes[X_AXIS]), clearY = parser.seen(axis_codes[Y_AXIS]), clearZ = parser.seen(axis_codes[Z_AXIS]), clearE = parser.seen(axis_codes[E_AXIS]),
            clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
   #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
@@ -78,7 +79,7 @@ inline void GcodeSuite::M912() {
  * M913: Set HYBRID_THRESHOLD speed.
  */
 #if ENABLED(HYBRID_THRESHOLD)
-  inline void GcodeSuite::M913() {
+  void GcodeSuite::M913() {
     uint16_t values[XYZE];
     LOOP_XYZE(i)
       values[i] = parser.intval(axis_codes[i]);
@@ -137,7 +138,7 @@ inline void GcodeSuite::M912() {
  * M914: Set SENSORLESS_HOMING sensitivity.
  */
 #if ENABLED(SENSORLESS_HOMING)
-  inline void GcodeSuite::M914() {
+  void GcodeSuite::M914() {
     #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
       if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int());
       else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
@@ -160,8 +161,8 @@ inline void GcodeSuite::M912() {
 /**
  * TMC Z axis calibration routine
  */
-#if ENABLED(TMC_Z_CALIBRATION) && (Z_IS_TRINAMIC || Z2_IS_TRINAMIC)
-  inline void GcodeSuite::M915() {
+#if ENABLED(TMC_Z_CALIBRATION)
+  void GcodeSuite::M915() {
     uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT;
     uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT;
 
@@ -170,25 +171,33 @@ inline void GcodeSuite::M912() {
       return;
     }
 
-    uint16_t Z_current_1 = stepperZ.getCurrent();
-    uint16_t Z2_current_1 = stepperZ.getCurrent();
+    #if Z_IS_TRINAMIC
+      uint16_t Z_current_1 = stepperZ.getCurrent();
+      stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+    #endif
+    #if Z2_IS_TRINAMIC
+      uint16_t Z2_current_1 = stepperZ2.getCurrent();
+      stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
+    #endif
 
-    stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
-    stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
     SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
 
     soft_endstops_enabled = false;
 
     do_blocking_move_to_z(Z_MAX_POS+_z);
 
-    stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
-    stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
+    #if Z_IS_TRINAMIC
+      stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
+    #endif
+    #if Z2_IS_TRINAMIC
+      stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
+    #endif
 
     do_blocking_move_to_z(Z_MAX_POS);
     soft_endstops_enabled = true;
 
     SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
-    home_z_safely();
+    enqueue_and_echo_commands_P(PSTR("G28 Z"));
   }
 #endif
 

Marlin/src/gcode/gcode.cpp

@@ -659,8 +659,10 @@ void GcodeSuite::process_parsed_command() {
         #endif
       #endif
 
-      #if HAVE_TRINAMIC
-        case 122: M122(); break;
+      #if HAS_TRINAMIC
+        #if ENABLED(TMC_DEBUG)
+          case 122: M122(); break;
+        #endif
         case 906: M906(); break;    // M906: Set motor current in milliamps using axis codes X, Y, Z, E
         case 911: M911(); break;    // M911: Report TMC2130 prewarn triggered flags
         case 912: M912(); break;    // M912: Clear TMC2130 prewarn triggered flags
@@ -670,6 +672,9 @@ void GcodeSuite::process_parsed_command() {
         #if ENABLED(SENSORLESS_HOMING)
           case 914: M914(); break;  // M914: Set SENSORLESS_HOMING sensitivity.
         #endif
+        #if ENABLED(TMC_Z_CALIBRATION)
+          case 915: M915(); break;  // M915: TMC Z axis calibration.
+        #endif
       #endif
 
       #if HAS_MICROSTEPS

Marlin/src/inc/SanityCheck.h

@@ -1491,6 +1491,12 @@ static_assert(1 >= 0
   #error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
 #endif
 
+#include "../feature/tmc_macros.h"
+
+#if ENABLED(TMC_Z_CALIBRATION) && !Z_IS_TRINAMIC && !Z2_IS_TRINAMIC
+  #error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
+#endif
+
 /**
  * Make sure HAVE_L6470DRIVER is warranted
  */