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@ -21,25 +21,15 @@ |
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*/ |
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*/ |
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/**
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/**
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stepper_indirection.c - stepper motor driver indirection |
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* stepper_indirection.cpp |
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to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation |
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* |
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Part of Marlin |
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* Stepper motor driver indirection to allow some stepper functions to |
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* be done via SPI/I2c instead of direct pin manipulation. |
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Copyright (c) 2015 Dominik Wenger |
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* |
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* Part of Marlin |
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Marlin is free software: you can redistribute it and/or modify |
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* |
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it under the terms of the GNU General Public License as published by |
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* Copyright (c) 2015 Dominik Wenger |
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the Free Software Foundation, either version 3 of the License, or |
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*/ |
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(at your option) any later version. |
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Marlin 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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You should have received a copy of the GNU General Public License |
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along with Marlin. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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#include "stepper_indirection.h" |
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#include "stepper_indirection.h" |
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@ -53,41 +43,43 @@ |
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#include <SPI.h> |
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#include <SPI.h> |
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#include <TMC26XStepper.h> |
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#include <TMC26XStepper.h> |
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#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR) |
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#if ENABLED(X_IS_TMC) |
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#if ENABLED(X_IS_TMC) |
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TMC26XStepper stepperX(200, X_ENABLE_PIN, X_STEP_PIN, X_DIR_PIN, X_MAX_CURRENT, X_SENSE_RESISTOR); |
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_TMC_DEFINE(X); |
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#endif |
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#endif |
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#if ENABLED(X2_IS_TMC) |
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#if ENABLED(X2_IS_TMC) |
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TMC26XStepper stepperX2(200, X2_ENABLE_PIN, X2_STEP_PIN, X2_DIR_PIN, X2_MAX_CURRENT, X2_SENSE_RESISTOR); |
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_TMC_DEFINE(X2); |
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#endif |
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#endif |
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#if ENABLED(Y_IS_TMC) |
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#if ENABLED(Y_IS_TMC) |
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TMC26XStepper stepperY(200, Y_ENABLE_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_MAX_CURRENT, Y_SENSE_RESISTOR); |
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_TMC_DEFINE(Y); |
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#endif |
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#endif |
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#if ENABLED(Y2_IS_TMC) |
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#if ENABLED(Y2_IS_TMC) |
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TMC26XStepper stepperY2(200, Y2_ENABLE_PIN, Y2_STEP_PIN, Y2_DIR_PIN, Y2_MAX_CURRENT, Y2_SENSE_RESISTOR); |
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_TMC_DEFINE(Y2); |
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#endif |
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#endif |
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#if ENABLED(Z_IS_TMC) |
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#if ENABLED(Z_IS_TMC) |
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TMC26XStepper stepperZ(200, Z_ENABLE_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_MAX_CURRENT, Z_SENSE_RESISTOR); |
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_TMC_DEFINE(Z); |
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#endif |
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#endif |
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#if ENABLED(Z2_IS_TMC) |
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#if ENABLED(Z2_IS_TMC) |
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TMC26XStepper stepperZ2(200, Z2_ENABLE_PIN, Z2_STEP_PIN, Z2_DIR_PIN, Z2_MAX_CURRENT, Z2_SENSE_RESISTOR); |
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_TMC_DEFINE(Z2); |
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#endif |
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#endif |
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#if ENABLED(E0_IS_TMC) |
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#if ENABLED(E0_IS_TMC) |
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TMC26XStepper stepperE0(200, E0_ENABLE_PIN, E0_STEP_PIN, E0_DIR_PIN, E0_MAX_CURRENT, E0_SENSE_RESISTOR); |
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_TMC_DEFINE(E0); |
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#endif |
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#endif |
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#if ENABLED(E1_IS_TMC) |
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#if ENABLED(E1_IS_TMC) |
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TMC26XStepper stepperE1(200, E1_ENABLE_PIN, E1_STEP_PIN, E1_DIR_PIN, E1_MAX_CURRENT, E1_SENSE_RESISTOR); |
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_TMC_DEFINE(E1); |
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#endif |
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#endif |
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#if ENABLED(E2_IS_TMC) |
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#if ENABLED(E2_IS_TMC) |
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TMC26XStepper stepperE2(200, E2_ENABLE_PIN, E2_STEP_PIN, E2_DIR_PIN, E2_MAX_CURRENT, E2_SENSE_RESISTOR); |
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_TMC_DEFINE(E2); |
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#endif |
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#endif |
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#if ENABLED(E3_IS_TMC) |
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#if ENABLED(E3_IS_TMC) |
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TMC26XStepper stepperE3(200, E3_ENABLE_PIN, E3_STEP_PIN, E3_DIR_PIN, E3_MAX_CURRENT, E3_SENSE_RESISTOR); |
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_TMC_DEFINE(E3); |
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#endif |
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#endif |
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#define _TMC_INIT(A) do{ \ |
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#define _TMC_INIT(A) do{ \ |
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stepper##A.setMicrosteps(A##_MICROSTEPS); \ |
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stepper##A.setMicrosteps(A##_MICROSTEPS); \ |
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stepper##A.start(); \ |
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stepper##A.start(); \ |
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} while(0) |
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}while(0) |
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void tmc_init() { |
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void tmc_init() { |
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#if ENABLED(X_IS_TMC) |
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#if ENABLED(X_IS_TMC) |
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@ -127,394 +119,70 @@ |
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//
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//
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// TMC2130 Driver objects and inits
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// TMC2130 Driver objects and inits
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//
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//
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#if ENABLED(HAVE_TMC2130DRIVER) |
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#if ENABLED(HAVE_TMC2130) |
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#include <SPI.h> |
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#include <SPI.h> |
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#include <Trinamic_TMC2130.h> |
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#include <TMC2130Stepper.h> |
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#if ENABLED(TMC2130_ADVANCED_CONFIGURATION) |
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#ifdef GLOBAL_I_SCALE_ANALOG |
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#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT) |
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#define _2130_set_I_scale_analog(A) stepper##A.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG) |
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#else |
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#define _2130_set_I_scale_analog(A) NOOP |
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#endif |
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#ifdef GLOBAL_INTERNAL_RSENSE |
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#define _2130_set_internal_Rsense(A) stepper##A.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE) |
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#else |
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#define _2130_set_internal_Rsense(A) NOOP |
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#endif |
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#ifdef GLOBAL_EN_PWM_MODE |
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#define _2130_set_en_pwm_mode(A) stepper##A.set_en_pwm_mode(GLOBAL_EN_PWM_MODE) |
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#else |
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#define _2130_set_en_pwm_mode(A) NOOP |
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#endif |
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#ifdef GLOBAL_ENC_COMMUTATION |
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#define _2130_set_enc_commutation(A) stepper##A.set_enc_commutation(GLOBAL_ENC_COMMUTATION) |
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#else |
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#define _2130_set_enc_commutation(A) NOOP |
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#endif |
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#ifdef GLOBAL_SHAFT |
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#define _2130_set_shaft(A) stepper##A.set_shaft(GLOBAL_SHAFT) |
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#else |
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#define _2130_set_shaft(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG0_ERROR |
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#define _2130_set_diag0_error(A) stepper##A.set_diag0_error(GLOBAL_DIAG0_ERROR) |
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#else |
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#define _2130_set_diag0_error(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG0_OTPW |
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#define _2130_set_diag0_otpw(A) stepper##A.set_diag0_otpw(GLOBAL_DIAG0_OTPW) |
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#else |
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#define _2130_set_diag0_otpw(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG0_STALL |
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#define _2130_set_diag0_stall(A) stepper##A.set_diag0_stall(GLOBAL_DIAG0_STALL) |
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#else |
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#define _2130_set_diag0_stall(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG1_STALL |
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#define _2130_set_diag1_stall(A) stepper##A.set_diag1_stall(GLOBAL_DIAG1_STALL) |
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#else |
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#define _2130_set_diag1_stall(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG1_INDEX |
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#define _2130_set_diag1_index(A) stepper##A.set_diag1_index(GLOBAL_DIAG1_INDEX) |
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#else |
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#define _2130_set_diag1_index(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG1_ONSTATE |
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#define _2130_set_diag1_onstate(A) stepper##A.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE) |
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#else |
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#define _2130_set_diag1_onstate(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG1_ONSTATE |
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#define _2130_set_diag1_steps_skipped(A) stepper##A.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE) |
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#else |
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#define _2130_set_diag1_steps_skipped(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG0_INT_PUSHPULL |
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#define _2130_set_diag0_int_pushpull(A) stepper##A.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL) |
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#else |
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#define _2130_set_diag0_int_pushpull(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIAG1_INT_PUSHPULL |
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#define _2130_set_diag1_int_pushpull(A) stepper##A.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL) |
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#else |
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#define _2130_set_diag1_int_pushpull(A) NOOP |
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#endif |
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#ifdef GLOBAL_SMALL_HYSTERESIS |
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#define _2130_set_small_hysteresis(A) stepper##A.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS) |
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#else |
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#define _2130_set_small_hysteresis(A) NOOP |
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#endif |
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#ifdef GLOBAL_STOP_ENABLE |
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#define _2130_set_stop_enable(A) stepper##A.set_stop_enable(GLOBAL_STOP_ENABLE) |
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#else |
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#define _2130_set_stop_enable(A) NOOP |
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#endif |
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#ifdef GLOBAL_DIRECT_MODE |
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#define _2130_set_direct_mode(A) stepper##A.set_direct_mode(GLOBAL_DIRECT_MODE) |
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#else |
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#define _2130_set_direct_mode(A) NOOP |
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#endif |
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#if defined(GLOBAL_IHOLD) && defined(GLOBAL_IRUN) && defined(GLOBAL_IHOLDDELAY) |
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#define _2130_set_IHOLD_IRUN(A) stepper##A.set_IHOLD_IRUN(GLOBAL_IHOLD, GLOBAL_IRUN, GLOBAL_IHOLDDELAY) |
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#else |
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#define _2130_set_IHOLD_IRUN(A) NOOP |
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#endif |
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#ifdef GLOBAL_TPOWERDOWN |
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#define _2130_set_TPOWERDOWN(A) stepper##A.set_TPOWERDOWN(GLOBAL_TPOWERDOWN) |
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#else |
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#define _2130_set_TPOWERDOWN(A) NOOP |
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#endif |
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#ifdef GLOBAL_TPWMTHRS |
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#define _2130_set_TPWMTHRS(A) stepper##A.set_TPWMTHRS(GLOBAL_TPWMTHRS) |
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#else |
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#define _2130_set_TPWMTHRS(A) NOOP |
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#endif |
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#ifdef GLOBAL_TCOOLTHRS |
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#define _2130_set_TCOOLTHRS(A) stepper##A.set_TCOOLTHRS(GLOBAL_TCOOLTHRS) |
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#else |
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#define _2130_set_TCOOLTHRS(A) NOOP |
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#endif |
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#ifdef GLOBAL_THIGH |
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#define _2130_set_THIGH(A) stepper##A.set_THIGH(GLOBAL_THIGH) |
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#else |
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#define _2130_set_THIGH(A) NOOP |
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#endif |
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#ifdef GLOBAL_XDIRECT |
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#define _2130_set_XDIRECT(A) stepper##A.set_XDIRECT(GLOBAL_XDIRECT) |
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#else |
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#define _2130_set_XDIRECT(A) NOOP |
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#endif |
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#ifdef GLOBAL_VDCMIN |
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#define _2130_set_VDCMIN(A) stepper##A.set_VDCMIN(GLOBAL_VDCMIN) |
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#else |
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#define _2130_set_VDCMIN(A) NOOP |
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#endif |
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#ifdef GLOBAL_DEDGE |
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#define _2130_set_dedge(A) stepper##A.set_dedge(GLOBAL_DEDGE) |
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#else |
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#define _2130_set_dedge(A) NOOP |
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#endif |
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#ifdef GLOBAL_DISS2G |
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#define _2130_set_diss2g(A) stepper##A.set_diss2g(GLOBAL_DISS2G) |
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#else |
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#define _2130_set_diss2g(A) NOOP |
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#endif |
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#ifdef GLOBAL_INTPOL |
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#define _2130_set_intpol(A) stepper##A.set_intpol(GLOBAL_INTPOL) |
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#else |
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#define _2130_set_intpol(A) NOOP |
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#endif |
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#ifdef GLOBAL_MRES |
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#define _2130_set_mres(A) stepper##A.set_mres(GLOBAL_MRES) |
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#else |
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#define _2130_set_mres(A) NOOP |
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#endif |
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#ifdef GLOBAL_SYNC |
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#define _2130_set_sync(A) stepper##A.set_sync(GLOBAL_SYNC) |
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#else |
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#define _2130_set_sync(A) NOOP |
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#endif |
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#ifdef GLOBAL_VHIGHCHM |
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#define _2130_set_vhighchm(A) stepper##A.set_vhighchm(GLOBAL_VHIGHCHM) |
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#else |
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#define _2130_set_vhighchm(A) NOOP |
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#endif |
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#ifdef GLOBAL_VHIGHFS |
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#define _2130_set_vhighfs(A) stepper##A.set_vhighfs(GLOBAL_VHIGHFS) |
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#else |
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#define _2130_set_vhighfs(A) NOOP |
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#endif |
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#ifdef GLOBAL_VSENSE |
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#define _2130_set_vsense(A) stepper##A.set_vsense(GLOBAL_VSENSE) |
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#else |
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#define _2130_set_vsense(A) NOOP |
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#endif |
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#ifdef GLOBAL_TBL |
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#define _2130_set_tbl(A) stepper##A.set_tbl(GLOBAL_TBL) |
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#else |
|
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|
|
#define _2130_set_tbl(A) NOOP |
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|
|
#endif |
|
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|
|
#ifdef GLOBAL_CHM |
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|
|
#define _2130_set_chm(A) stepper##A.set_chm(GLOBAL_CHM) |
|
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|
#else |
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|
#define _2130_set_chm(A) NOOP |
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|
#endif |
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|
|
#ifdef GLOBAL_RNDTF |
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|
#define _2130_set_rndtf(A) stepper##A.set_rndtf(GLOBAL_RNDTF) |
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#else |
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|
#define _2130_set_rndtf(A) NOOP |
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|
#endif |
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|
|
#ifdef GLOBAL_DISFDCC |
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|
#define _2130_set_disfdcc(A) stepper##A.set_disfdcc(GLOBAL_DISFDCC) |
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#else |
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|
#define _2130_set_disfdcc(A) NOOP |
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|
#endif |
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|
#ifdef GLOBAL_FD |
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|
#define _2130_set_fd(A) stepper##A.set_fd(GLOBAL_FD) |
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#else |
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|
#define _2130_set_fd(A) NOOP |
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|
#endif |
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|
#ifdef GLOBAL_HEND |
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|
#define _2130_set_hend(A) stepper##A.set_hend(GLOBAL_HEND) |
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#else |
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|
#define _2130_set_hend(A) NOOP |
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|
#endif |
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|
#ifdef GLOBAL_HSTRT |
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|
#define _2130_set_hstrt(A) stepper##A.set_hstrt(GLOBAL_HSTRT) |
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#else |
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|
#define _2130_set_hstrt(A) NOOP |
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|
#endif |
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|
#ifdef GLOBAL_TOFF |
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|
#define _2130_set_toff(A) stepper##A.set_toff(GLOBAL_TOFF) |
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|
#else |
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|
#define _2130_set_toff(A) NOOP |
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|
#endif |
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|
#ifdef GLOBAL_SFILT |
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|
#define _2130_set_sfilt(A) stepper##A.set_sfilt(GLOBAL_SFILT) |
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#else |
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|
#define _2130_set_sfilt(A) NOOP |
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|
#endif |
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|
#ifdef GLOBAL_SGT |
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|
|
#define _2130_set_sgt(A) stepper##A.set_sgt(GLOBAL_SGT) |
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|
#else |
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|
#define _2130_set_sgt(A) NOOP |
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|
#endif |
|
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|
|
#ifdef GLOBAL_SEIMIN |
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|
#define _2130_set_seimin(A) stepper##A.set_seimin(GLOBAL_SEIMIN) |
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|
#else |
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|
|
#define _2130_set_seimin(A) NOOP |
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|
#endif |
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|
#ifdef GLOBAL_SEDN |
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|
#define _2130_set_sedn(A) stepper##A.set_sedn(GLOBAL_SEDN) |
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|
#else |
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|
|
#define _2130_set_sedn(A) NOOP |
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|
|
#endif |
|
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|
|
#ifdef GLOBAL_SEMAX |
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|
|
#define _2130_set_semax(A) stepper##A.set_semax(GLOBAL_SEMAX) |
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|
#else |
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|
#define _2130_set_semax(A) NOOP |
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|
|
#endif |
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|
|
#ifdef GLOBAL_SEUP |
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|
|
#define _2130_set_seup(A) stepper##A.set_seup(GLOBAL_SEUP) |
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|
|
#else |
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|
|
#define _2130_set_seup(A) NOOP |
|
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|
|
#endif |
|
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|
|
#ifdef GLOBAL_SEMIN |
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|
|
#define _2130_set_semin(A) stepper##A.set_semin(GLOBAL_SEMIN) |
|
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|
|
#else |
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|
|
#define _2130_set_semin(A) NOOP |
|
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|
|
#endif |
|
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|
|
#if defined(GLOBAL_DC_TIME) && defined(GLOBAL_DC_SG) |
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|
|
#define _2130_set_DCCTRL(A) stepper##A.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG) |
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|
|
#else |
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|
|
#define _2130_set_DCCTRL(A) NOOP |
|
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|
|
#endif |
|
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|
|
#ifdef GLOBAL_FREEWHEEL |
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|
|
#define _2130_set_freewheel(A) stepper##A.set_freewheel(GLOBAL_FREEWHEEL) |
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|
|
#else |
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|
|
#define _2130_set_freewheel(A) NOOP |
|
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|
|
#endif |
|
|
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|
|
#ifdef GLOBAL_PWM_SYMMETRIC |
|
|
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|
|
#define _2130_set_pwm_symmetric(A) stepper##A.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC) |
|
|
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|
|
#else |
|
|
|
|
|
#define _2130_set_pwm_symmetric(A) NOOP |
|
|
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|
|
#endif |
|
|
|
|
|
#ifdef GLOBAL_PWM_AUTOSCALE |
|
|
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|
|
#define _2130_set_pwm_autoscale(A) stepper##A.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE) |
|
|
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|
|
#else |
|
|
|
|
|
#define _2130_set_pwm_autoscale(A) NOOP |
|
|
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|
|
#endif |
|
|
|
|
|
#ifdef GLOBAL_PWM_FREQ |
|
|
|
|
|
#define _2130_set_pwm_freq(A) stepper##A.set_pwm_freq(GLOBAL_PWM_FREQ) |
|
|
|
|
|
#else |
|
|
|
|
|
#define _2130_set_pwm_freq(A) NOOP |
|
|
|
|
|
#endif |
|
|
|
|
|
#ifdef GLOBAL_PWM_GRAD |
|
|
|
|
|
#define _2130_set_PWM_GRAD(A) stepper##A.set_PWM_GRAD(GLOBAL_PWM_GRAD) |
|
|
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|
|
#else |
|
|
|
|
|
#define _2130_set_PWM_GRAD(A) NOOP |
|
|
|
|
|
#endif |
|
|
|
|
|
#ifdef GLOBAL_PWM_AMPL |
|
|
|
|
|
#define _2130_set_PWM_AMPL(A) stepper##A.set_PWM_AMPL(GLOBAL_PWM_AMPL) |
|
|
|
|
|
#else |
|
|
|
|
|
#define _2130_set_PWM_AMPL(A) NOOP |
|
|
|
|
|
#endif |
|
|
|
|
|
#ifdef GLOBAL_ENCM_CTRL |
|
|
|
|
|
#define _2130_set_ENCM_CTRL(A) stepper##A.set_ENCM_CTRL(GLOBAL_ENCM_CTRL) |
|
|
|
|
|
#else |
|
|
|
|
|
#define _2130_set_ENCM_CTRL(A) NOOP |
|
|
|
|
|
#endif |
|
|
|
|
|
|
|
|
|
|
|
#define _TMC2130_INIT(A) do{ \ |
|
|
|
|
|
stepper##A.init(); \ |
|
|
|
|
|
_2130_set_I_scale_analog(A); \ |
|
|
|
|
|
_2130_set_internal_Rsense(A); \ |
|
|
|
|
|
_2130_set_en_pwm_mode(A); \ |
|
|
|
|
|
_2130_set_enc_commutation(A); \ |
|
|
|
|
|
_2130_set_shaft(A); \ |
|
|
|
|
|
_2130_set_diag0_error(A); \ |
|
|
|
|
|
_2130_set_diag0_otpw(A); \ |
|
|
|
|
|
_2130_set_diag0_stall(A); \ |
|
|
|
|
|
_2130_set_diag1_stall(A); \ |
|
|
|
|
|
_2130_set_diag1_index(A); \ |
|
|
|
|
|
_2130_set_diag1_onstate(A); \ |
|
|
|
|
|
_2130_set_diag1_steps_skipped(A); \ |
|
|
|
|
|
_2130_set_diag0_int_pushpull(A); \ |
|
|
|
|
|
_2130_set_diag1_int_pushpull(A); \ |
|
|
|
|
|
_2130_set_small_hysteresis(A); \ |
|
|
|
|
|
_2130_set_stop_enable(A); \ |
|
|
|
|
|
_2130_set_direct_mode(A); \ |
|
|
|
|
|
_2130_set_IHOLD_IRUN(A); \ |
|
|
|
|
|
_2130_set_TPOWERDOWN(A); \ |
|
|
|
|
|
_2130_set_TPWMTHRS(A); \ |
|
|
|
|
|
_2130_set_TCOOLTHRS(A); \ |
|
|
|
|
|
_2130_set_THIGH(A); \ |
|
|
|
|
|
_2130_set_XDIRECT(A); \ |
|
|
|
|
|
_2130_set_VDCMIN(A); \ |
|
|
|
|
|
_2130_set_dedge(A); \ |
|
|
|
|
|
_2130_set_diss2g(A); \ |
|
|
|
|
|
_2130_set_intpol(A); \ |
|
|
|
|
|
_2130_set_mres(A); \ |
|
|
|
|
|
_2130_set_sync(A); \ |
|
|
|
|
|
_2130_set_vhighchm(A); \ |
|
|
|
|
|
_2130_set_vhighfs(A); \ |
|
|
|
|
|
_2130_set_vsense(A); \ |
|
|
|
|
|
_2130_set_tbl(A); \ |
|
|
|
|
|
_2130_set_chm(A); \ |
|
|
|
|
|
_2130_set_rndtf(A); \ |
|
|
|
|
|
_2130_set_disfdcc(A); \ |
|
|
|
|
|
_2130_set_fd(A); \ |
|
|
|
|
|
_2130_set_hend(A); \ |
|
|
|
|
|
_2130_set_hstrt(A); \ |
|
|
|
|
|
_2130_set_toff(A); \ |
|
|
|
|
|
_2130_set_sfilt(A); \ |
|
|
|
|
|
_2130_set_sgt(A); \ |
|
|
|
|
|
_2130_set_seimin(A); \ |
|
|
|
|
|
_2130_set_sedn(A); \ |
|
|
|
|
|
_2130_set_semax(A); \ |
|
|
|
|
|
_2130_set_seup(A); \ |
|
|
|
|
|
_2130_set_semin(A); \ |
|
|
|
|
|
_2130_set_DCCTRL(A); \ |
|
|
|
|
|
_2130_set_freewheel(A); \ |
|
|
|
|
|
_2130_set_pwm_symmetric(A); \ |
|
|
|
|
|
_2130_set_pwm_autoscale(A); \ |
|
|
|
|
|
_2130_set_pwm_freq(A); \ |
|
|
|
|
|
_2130_set_PWM_GRAD(A); \ |
|
|
|
|
|
_2130_set_PWM_AMPL(A); \ |
|
|
|
|
|
_2130_set_ENCM_CTRL(A); \ |
|
|
|
|
|
} while(0) |
|
|
|
|
|
|
|
|
|
|
|
#else // !TMC2130_ADVANCED_CONFIGURATION
|
|
|
|
|
|
|
|
|
|
|
|
#define _TMC2130_INIT(A) do{ \ |
|
|
// Stepper objects of TMC2130 steppers used
|
|
|
stepper##A.init(); \ |
|
|
|
|
|
stepper##A.set_mres(A##_MRES); \ |
|
|
|
|
|
stepper##A.set_IHOLD_IRUN(A##_IHOLD, A##_IRUN, A##_IHOLDDELAY); \ |
|
|
|
|
|
stepper##A.set_I_scale_analog(A##_I_SCALE_ANALOG); \ |
|
|
|
|
|
stepper##A.set_tbl(A##_TBL); \ |
|
|
|
|
|
stepper##A.set_toff(A##_TOFF); \ |
|
|
|
|
|
} while(0) |
|
|
|
|
|
|
|
|
|
|
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
|
|
|
|
|
|
|
|
|
|
|
// Stepper objects of TMC2310 steppers used
|
|
|
|
|
|
#if ENABLED(X_IS_TMC2130) |
|
|
#if ENABLED(X_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperX(X_CS_PIN); |
|
|
_TMC2130_DEFINE(X); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(X2_IS_TMC2130) |
|
|
#if ENABLED(X2_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperX2(X2_CS_PIN); |
|
|
_TMC2130_DEFINE(X2); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(Y_IS_TMC2130) |
|
|
#if ENABLED(Y_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperY(Y_CS_PIN); |
|
|
_TMC2130_DEFINE(Y); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(Y2_IS_TMC2130) |
|
|
#if ENABLED(Y2_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperY2(Y2_CS_PINR); |
|
|
_TMC2130_DEFINE(Y2); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(Z_IS_TMC2130) |
|
|
#if ENABLED(Z_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperZ(Z_CS_PIN); |
|
|
_TMC2130_DEFINE(Z); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(Z2_IS_TMC2130) |
|
|
#if ENABLED(Z2_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperZ2(Z2_CS_PIN); |
|
|
_TMC2130_DEFINE(Z2); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(E0_IS_TMC2130) |
|
|
#if ENABLED(E0_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperE0(E0_CS_PIN); |
|
|
_TMC2130_DEFINE(E0); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(E1_IS_TMC2130) |
|
|
#if ENABLED(E1_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperE1(E1_CS_PIN); |
|
|
_TMC2130_DEFINE(E1); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(E2_IS_TMC2130) |
|
|
#if ENABLED(E2_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperE2(E2_CS_PIN); |
|
|
_TMC2130_DEFINE(E2); |
|
|
#endif |
|
|
#endif |
|
|
#if ENABLED(E3_IS_TMC2130) |
|
|
#if ENABLED(E3_IS_TMC2130) |
|
|
Trinamic_TMC2130 stepperE3(E3_CS_PIN); |
|
|
_TMC2130_DEFINE(E3); |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
|
|
|
// Use internal reference voltage for current calculations. This is the default.
|
|
|
|
|
|
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
|
|
|
|
|
|
void tmc2130_init(TMC2130Stepper &st, const uint16_t max_current, const uint16_t microsteps) { |
|
|
|
|
|
st.begin(); |
|
|
|
|
|
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER); |
|
|
|
|
|
st.microsteps(microsteps); |
|
|
|
|
|
st.blank_time(24); |
|
|
|
|
|
st.off_time(8); |
|
|
|
|
|
st.interpolate(INTERPOLATE); |
|
|
|
|
|
#if ENABLED(STEALTHCHOP) |
|
|
|
|
|
st.stealthChop(1); |
|
|
|
|
|
#endif |
|
|
|
|
|
#if ENABLED(SENSORLESS_HOMING) |
|
|
|
|
|
st.coolstep_min_speed(1048575); |
|
|
|
|
|
st.sg_stall_value(STALL_THRESHOLD); |
|
|
|
|
|
st.sg_filter(1); |
|
|
|
|
|
st.diag1_stall(1); |
|
|
|
|
|
st.diag1_active_high(1); |
|
|
|
|
|
#endif |
|
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
#define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS) |
|
|
|
|
|
|
|
|
void tmc2130_init() { |
|
|
void tmc2130_init() { |
|
|
|
|
|
delay(500); // Let power stabilize before configuring the steppers
|
|
|
#if ENABLED(X_IS_TMC2130) |
|
|
#if ENABLED(X_IS_TMC2130) |
|
|
_TMC2130_INIT(X); |
|
|
_TMC2130_INIT(X); |
|
|
#endif |
|
|
#endif |
|
|
@ -545,9 +213,11 @@ |
|
|
#if ENABLED(E3_IS_TMC2130) |
|
|
#if ENABLED(E3_IS_TMC2130) |
|
|
_TMC2130_INIT(E3); |
|
|
_TMC2130_INIT(E3); |
|
|
#endif |
|
|
#endif |
|
|
|
|
|
|
|
|
|
|
|
TMC2130_ADV() |
|
|
} |
|
|
} |
|
|
|
|
|
#endif // HAVE_TMC2130
|
|
|
|
|
|
|
|
|
#endif // HAVE_TMC2130DRIVER
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
//
|
|
|
// L6470 Driver objects and inits
|
|
|
// L6470 Driver objects and inits
|
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@ -557,36 +227,38 @@ |
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#include <SPI.h> |
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#include <SPI.h> |
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#include <L6470.h> |
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#include <L6470.h> |
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#define _L6470_DEFINE(ST) L6470 stepper##ST(ST##_ENABLE_PIN) |
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// L6470 Stepper objects
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// L6470 Stepper objects
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#if ENABLED(X_IS_L6470) |
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#if ENABLED(X_IS_L6470) |
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L6470 stepperX(X_ENABLE_PIN); |
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_L6470_DEFINE(X); |
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#endif |
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#endif |
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#if ENABLED(X2_IS_L6470) |
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#if ENABLED(X2_IS_L6470) |
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L6470 stepperX2(X2_ENABLE_PIN); |
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_L6470_DEFINE(X2); |
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#endif |
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#endif |
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#if ENABLED(Y_IS_L6470) |
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#if ENABLED(Y_IS_L6470) |
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L6470 stepperY(Y_ENABLE_PIN); |
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_L6470_DEFINE(Y); |
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#endif |
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#endif |
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#if ENABLED(Y2_IS_L6470) |
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#if ENABLED(Y2_IS_L6470) |
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L6470 stepperY2(Y2_ENABLE_PIN); |
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_L6470_DEFINE(Y2); |
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#endif |
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#endif |
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#if ENABLED(Z_IS_L6470) |
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#if ENABLED(Z_IS_L6470) |
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L6470 stepperZ(Z_ENABLE_PIN); |
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_L6470_DEFINE(Z); |
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#endif |
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#endif |
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#if ENABLED(Z2_IS_L6470) |
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#if ENABLED(Z2_IS_L6470) |
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L6470 stepperZ2(Z2_ENABLE_PIN); |
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_L6470_DEFINE(Z2); |
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#endif |
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#endif |
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#if ENABLED(E0_IS_L6470) |
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#if ENABLED(E0_IS_L6470) |
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L6470 stepperE0(E0_ENABLE_PIN); |
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_L6470_DEFINE(E0); |
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#endif |
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#endif |
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#if ENABLED(E1_IS_L6470) |
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#if ENABLED(E1_IS_L6470) |
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L6470 stepperE1(E1_ENABLE_PIN); |
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_L6470_DEFINE(E1); |
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#endif |
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#endif |
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#if ENABLED(E2_IS_L6470) |
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#if ENABLED(E2_IS_L6470) |
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L6470 stepperE2(E2_ENABLE_PIN); |
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_L6470_DEFINE(E2); |
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#endif |
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#endif |
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#if ENABLED(E3_IS_L6470) |
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#if ENABLED(E3_IS_L6470) |
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L6470 stepperE3(E3_ENABLE_PIN); |
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_L6470_DEFINE(E3); |
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#endif |
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#endif |
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#define _L6470_INIT(A) do{ \ |
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#define _L6470_INIT(A) do{ \ |
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Scott Lahteine
8 years ago