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Cleanup TMC Stepper a bit.

pull/1/head
domonoky 10 years ago
parent
38500165ea
commit
5727cb3ed4
4 changed files with 151 additions and 127 deletions
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  1. 78
      Marlin/stepper.cpp
  2. 40
      Marlin/stepper.h
  3. 106
      Marlin/stepper_indirection.cpp
  4. 54
      Marlin/stepper_indirection.h

78
Marlin/stepper.cpp
View File

@ -87,37 +87,7 @@ static bool check_endstops = true;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1}; volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
// Stepper objects of TMC steppers are used
#ifdef X_IS_TMC
TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
#endif
#ifdef X2_IS_TMC
TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
#endif
#ifdef Y_IS_TMC
TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
#endif
#ifdef Y2_IS_TMC
TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
#endif
#ifdef Z_IS_TMC
TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
#endif
#ifdef Z2_IS_TMC
TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
#endif
#ifdef E0_IS_TMC
TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
#endif
#ifdef E1_IS_TMC
TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
#endif
#ifdef E2_IS_TMC
TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
#endif
#ifdef E3_IS_TMC
TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
#endif
//=========================================================================== //===========================================================================
//=============================functions ============================ //=============================functions ============================
//=========================================================================== //===========================================================================
@ -1420,49 +1390,3 @@ void microstep_readings()
SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN)); SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
#endif #endif
} }
#ifdef HAVE_TMCDRIVER
void tmc_init()
{
#ifdef X_IS_TMC
stepperX.setMicrosteps(X_MICROSTEPS);
stepperX.start();
#endif
#ifdef X2_IS_TMC
stepperX2.setMicrosteps(X2_MICROSTEPS);
stepperX2.start();
#endif
#ifdef Y_IS_TMC
stepperY.setMicrosteps(Y_MICROSTEPS);
stepperY.start();
#endif
#ifdef Y2_IS_TMC
stepperY2.setMicrosteps(Y2_MICROSTEPS);
stepperY2.start();
#endif
#ifdef Z_IS_TMC
stepperZ.setMicrosteps(Z_MICROSTEPS);
stepperZ.start();
#endif
#ifdef Z2_IS_TMC
stepperZ2.setMicrosteps(Z2_MICROSTEPS);
stepperZ2.start();
#endif
#ifdef E0_IS_TMC
stepperE0.setMicrosteps(E0_MICROSTEPS);
stepperE0.start();
#endif
#ifdef E1_IS_TMC
stepperE1.setMicrosteps(E1_MICROSTEPS);
stepperE1.start();
#endif
#ifdef E2_IS_TMC
stepperE2.setMicrosteps(E2_MICROSTEPS);
stepperE2.start();
#endif
#ifdef E3_IS_TMC
stepperE3.setMicrosteps(E3_MICROSTEPS);
stepperE3.start();
#endif
}
#endif

40
Marlin/stepper.h
View File

@ -24,11 +24,6 @@
#include "planner.h" #include "planner.h"
#include "stepper_indirection.h" #include "stepper_indirection.h"
#ifdef HAVE_TMCDRIVER
#include <SPI.h>
#include <TMC26XStepper.h>
#endif
#if EXTRUDERS > 3 #if EXTRUDERS > 3
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}} #define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
#define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}} #define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
@ -106,39 +101,4 @@ void microstep_readings();
void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif #endif
#ifdef HAVE_TMCDRIVER
void tmc_init();
#ifdef X_IS_TMC
extern TMC26XStepper stepperX;
#endif
#ifdef X2_IS_TMC
extern TMC26XStepper stepperX2;
#endif
#ifdef Y_IS_TMC
extern TMC26XStepper stepperY;
#endif
#ifdef Y2_IS_TMC
extern TMC26XStepper stepperY2;
#endif
#ifdef Z_IS_TMC
extern TMC26XStepper stepperZ;
#endif
#ifdef Z2_IS_TMC
extern TMC26XStepper stepperZ2;
#endif
#ifdef E0_IS_TMC
extern TMC26XStepper stepperE0;
#endif
#ifdef E1_IS_TMC
extern TMC26XStepper stepperE1;
#endif
#ifdef E2_IS_TMC
extern TMC26XStepper stepperE2;
#endif
#ifdef E3_IS_TMC
extern TMC26XStepper stepperE3;
#endif
#endif
#endif #endif

106
Marlin/stepper_indirection.cpp
View File

@ -0,0 +1,106 @@
/*
stepper_indirection.c - stepper motor driver indirection
to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
Part of Marlin
Copyright (c) 2015 Dominik Wenger
Marlin 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.
Marlin 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 Marlin. If not, see <http://www.gnu.org/licenses/>.
*/
#include "stepper_indirection.h"
#include "Configuration.h"
#ifdef HAVE_TMCDRIVER
#include <SPI.h>
#include <TMC26XStepper.h>
#endif
// Stepper objects of TMC steppers used
#ifdef X_IS_TMC
TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
#endif
#ifdef X2_IS_TMC
TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
#endif
#ifdef Y_IS_TMC
TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
#endif
#ifdef Y2_IS_TMC
TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
#endif
#ifdef Z_IS_TMC
TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
#endif
#ifdef Z2_IS_TMC
TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
#endif
#ifdef E0_IS_TMC
TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
#endif
#ifdef E1_IS_TMC
TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
#endif
#ifdef E2_IS_TMC
TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
#endif
#ifdef E3_IS_TMC
TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
#endif
#ifdef HAVE_TMCDRIVER
void tmc_init()
{
#ifdef X_IS_TMC
stepperX.setMicrosteps(X_MICROSTEPS);
stepperX.start();
#endif
#ifdef X2_IS_TMC
stepperX2.setMicrosteps(X2_MICROSTEPS);
stepperX2.start();
#endif
#ifdef Y_IS_TMC
stepperY.setMicrosteps(Y_MICROSTEPS);
stepperY.start();
#endif
#ifdef Y2_IS_TMC
stepperY2.setMicrosteps(Y2_MICROSTEPS);
stepperY2.start();
#endif
#ifdef Z_IS_TMC
stepperZ.setMicrosteps(Z_MICROSTEPS);
stepperZ.start();
#endif
#ifdef Z2_IS_TMC
stepperZ2.setMicrosteps(Z2_MICROSTEPS);
stepperZ2.start();
#endif
#ifdef E0_IS_TMC
stepperE0.setMicrosteps(E0_MICROSTEPS);
stepperE0.start();
#endif
#ifdef E1_IS_TMC
stepperE1.setMicrosteps(E1_MICROSTEPS);
stepperE1.start();
#endif
#ifdef E2_IS_TMC
stepperE2.setMicrosteps(E2_MICROSTEPS);
stepperE2.start();
#endif
#ifdef E3_IS_TMC
stepperE3.setMicrosteps(E3_MICROSTEPS);
stepperE3.start();
#endif
}
#endif

54
Marlin/stepper_indirection.h
View File

@ -157,9 +157,43 @@
// TMC26X drivers have step and dir on normal pins, but everything else via SPI // TMC26X drivers have step and dir on normal pins, but everything else via SPI
////////////////////////////////// //////////////////////////////////
#ifdef HAVE_TMCDRIVER #ifdef HAVE_TMCDRIVER
#include <SPI.h>
#include <TMC26XStepper.h>
#ifdef X_IS_TMC
extern TMC26XStepper stepperX;
#endif
#ifdef X2_IS_TMC
extern TMC26XStepper stepperX2;
#endif
#ifdef Y_IS_TMC
extern TMC26XStepper stepperY;
#endif
#ifdef Y2_IS_TMC
extern TMC26XStepper stepperY2;
#endif
#ifdef Z_IS_TMC
extern TMC26XStepper stepperZ;
#endif
#ifdef Z2_IS_TMC
extern TMC26XStepper stepperZ2;
#endif
#ifdef E0_IS_TMC
extern TMC26XStepper stepperE0;
#endif
#ifdef E1_IS_TMC
extern TMC26XStepper stepperE1;
#endif
#ifdef E2_IS_TMC
extern TMC26XStepper stepperE2;
#endif
#ifdef E3_IS_TMC
extern TMC26XStepper stepperE3;
#endif
void tmc_init();
#ifdef X_IS_TMC #ifdef X_IS_TMC
#undef X_ENABLE_INIT #undef X_ENABLE_INIT
#define X_ENABLE_INIT #define X_ENABLE_INIT ((void)0)
#undef X_ENABLE_WRITE #undef X_ENABLE_WRITE
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE) #define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
@ -169,7 +203,7 @@
#endif #endif
#ifdef X2_IS_TMC #ifdef X2_IS_TMC
#undef X2_ENABLE_INIT #undef X2_ENABLE_INIT
#define X2_ENABLE_INIT #define X2_ENABLE_INIT ((void)0)
#undef X2_ENABLE_WRITE #undef X2_ENABLE_WRITE
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE) #define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
@ -179,7 +213,7 @@
#endif #endif
#ifdef Y_IS_TMC #ifdef Y_IS_TMC
#undef Y_ENABLE_INIT #undef Y_ENABLE_INIT
#define Y_ENABLE_INIT #define Y_ENABLE_INIT ((void)0)
#undef Y_ENABLE_WRITE #undef Y_ENABLE_WRITE
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE) #define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
@ -189,7 +223,7 @@
#endif #endif
#ifdef Y2_IS_TMC #ifdef Y2_IS_TMC
#undef Y2_ENABLE_INIT #undef Y2_ENABLE_INIT
#define Y2_ENABLE_INIT #define Y2_ENABLE_INIT ((void)0)
#undef Y2_ENABLE_WRITE #undef Y2_ENABLE_WRITE
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE) #define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
@ -199,7 +233,7 @@
#endif #endif
#ifdef Z_IS_TMC #ifdef Z_IS_TMC
#undef Z_ENABLE_INIT #undef Z_ENABLE_INIT
#define Z_ENABLE_INIT #define Z_ENABLE_INIT ((void)0)
#undef Z_ENABLE_WRITE #undef Z_ENABLE_WRITE
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE) #define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
@ -209,7 +243,7 @@
#endif #endif
#ifdef Z2_IS_TMC #ifdef Z2_IS_TMC
#undef Z2_ENABLE_INIT #undef Z2_ENABLE_INIT
#define Z2_ENABLE_INIT #define Z2_ENABLE_INIT ((void)0)
#undef Z2_ENABLE_WRITE #undef Z2_ENABLE_WRITE
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE) #define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
@ -219,7 +253,7 @@
#endif #endif
#ifdef E0_IS_TMC #ifdef E0_IS_TMC
#undef E0_ENABLE_INIT #undef E0_ENABLE_INIT
#define E0_ENABLE_INIT #define E0_ENABLE_INIT ((void)0)
#undef E0_ENABLE_WRITE #undef E0_ENABLE_WRITE
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE) #define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
@ -229,7 +263,7 @@
#endif #endif
#ifdef E1_IS_TMC #ifdef E1_IS_TMC
#undef E1_ENABLE_INIT #undef E1_ENABLE_INIT
#define E1_ENABLE_INIT #define E1_ENABLE_INIT ((void)0)
#undef E1_ENABLE_WRITE #undef E1_ENABLE_WRITE
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE) #define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
@ -239,7 +273,7 @@
#endif #endif
#ifdef E2_IS_TMC #ifdef E2_IS_TMC
#undef E2_ENABLE_INIT #undef E2_ENABLE_INIT
#define E2_ENABLE_INIT #define E2_ENABLE_INIT ((void)0)
#undef E2_ENABLE_WRITE #undef E2_ENABLE_WRITE
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE) #define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
@ -249,7 +283,7 @@
#endif #endif
#ifdef E3_IS_TMC #ifdef E3_IS_TMC
#undef E3_ENABLE_INIT #undef E3_ENABLE_INIT
#define E3_ENABLE_INIT #define E3_ENABLE_INIT ((void)0)
#undef E3_ENABLE_WRITE #undef E3_ENABLE_WRITE
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE) #define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)

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