andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Clean up digital pots and microsteps

pull/1/head
Scott Lahteine 8 years ago
parent
cb48292338
commit
5fff8d148b
4 changed files with 177 additions and 141 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 5
      Marlin/Conditionals_post.h
  2. 21
      Marlin/Marlin_main.cpp
  3. 274
      Marlin/stepper.cpp
  4. 18
      Marlin/stepper.h

5
Marlin/Conditionals_post.h
View File

@ -462,10 +462,13 @@
#define HAS_SOLENOID_1 (PIN_EXISTS(SOL1))
#define HAS_SOLENOID_2 (PIN_EXISTS(SOL2))
#define HAS_SOLENOID_3 (PIN_EXISTS(SOL3))
#define HAS_MICROSTEPS (PIN_EXISTS(X_MS1))
#define HAS_MICROSTEPS_X (PIN_EXISTS(X_MS1))
#define HAS_MICROSTEPS_Y (PIN_EXISTS(Y_MS1))
#define HAS_MICROSTEPS_Z (PIN_EXISTS(Z_MS1))
#define HAS_MICROSTEPS_E0 (PIN_EXISTS(E0_MS1))
#define HAS_MICROSTEPS_E1 (PIN_EXISTS(E1_MS1))
#define HAS_MICROSTEPS_E2 (PIN_EXISTS(E2_MS1))
#define HAS_MICROSTEPS (HAS_MICROSTEPS_X || HAS_MICROSTEPS_Y || HAS_MICROSTEPS_Z || HAS_MICROSTEPS_E0 || HAS_MICROSTEPS_E1 || HAS_MICROSTEPS_E2)
#define HAS_STEPPER_RESET (PIN_EXISTS(STEPPER_RESET))
#define HAS_X_ENABLE (PIN_EXISTS(X_ENABLE))
#define HAS_X2_ENABLE (PIN_EXISTS(X2_ENABLE))

21
Marlin/Marlin_main.cpp
View File

@ -6514,18 +6514,19 @@ inline void gcode_M503() {
inline void gcode_M907() {
#if HAS_DIGIPOTSS
LOOP_XYZE(i)
if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
if (code_seen('B')) stepper.digipot_current(4, code_value_int());
if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
if (code_seen('X')) stepper.digipot_current(0, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
if (code_seen('E')) stepper.digipot_current(2, code_value_int());
#elif HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
if (code_seen('X')) stepper.digipot_current(0, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
if (code_seen('E')) stepper.digipot_current(2, code_value_int());
#endif
#endif
#if ENABLED(DIGIPOT_I2C)
// this one uses actual amps in floating point

274
Marlin/stepper.cpp
View File

@ -733,19 +733,27 @@ void Stepper::isr() {
void Stepper::init() {
digipot_init(); //Initialize Digipot Motor Current
microstep_init(); //Initialize Microstepping Pins
// Init Digipot Motor Current
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
digipot_init();
#endif
// initialise TMC Steppers
// Init Microstepping Pins
#if HAS_MICROSTEPS
microstep_init();
#endif
// Init TMC Steppers
#if ENABLED(HAVE_TMCDRIVER)
tmc_init();
#endif
// initialise L6470 Steppers
// Init L6470 Steppers
#if ENABLED(HAVE_L6470DRIVER)
L6470_init();
#endif
// Initialize Dir Pins
// Init Dir Pins
#if HAS_X_DIR
X_DIR_INIT;
#endif
@ -777,8 +785,7 @@ void Stepper::init() {
E3_DIR_INIT;
#endif
//Initialize Enable Pins - steppers default to disabled.
// Init Enable Pins - steppers default to disabled.
#if HAS_X_ENABLE
X_ENABLE_INIT;
if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
@ -787,7 +794,6 @@ void Stepper::init() {
if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
#endif
#endif
#if HAS_Y_ENABLE
Y_ENABLE_INIT;
if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
@ -796,7 +802,6 @@ void Stepper::init() {
if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif
#endif
#if HAS_Z_ENABLE
Z_ENABLE_INIT;
if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
@ -805,7 +810,6 @@ void Stepper::init() {
if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif
#endif
#if HAS_E0_ENABLE
E0_ENABLE_INIT;
if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
@ -823,9 +827,7 @@ void Stepper::init() {
if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
#endif
//
// Init endstops and pullups here
//
// Init endstops and pullups
endstops.init();
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
@ -839,7 +841,7 @@ void Stepper::init() {
#define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
// Initialize Step Pins
// Init Step Pins
#if HAS_X_STEP
#if ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)
X2_STEP_INIT;
@ -1164,134 +1166,158 @@ void Stepper::report_positions() {
#endif //HAS_DIGIPOTSS
void Stepper::digipot_init() {
#if HAS_DIGIPOTSS
const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
SPI.begin();
pinMode(DIGIPOTSS_PIN, OUTPUT);
for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
digipot_current(i, digipot_motor_current[i]);
}
#endif
#if HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT);
digipot_current(0, motor_current_setting[0]);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
pinMode(MOTOR_CURRENT_PWM_Z_PIN, OUTPUT);
digipot_current(1, motor_current_setting[1]);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
pinMode(MOTOR_CURRENT_PWM_E_PIN, OUTPUT);
digipot_current(2, motor_current_setting[2]);
#endif
//Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
#endif
}
void Stepper::digipot_current(uint8_t driver, int current) {
#if HAS_DIGIPOTSS
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
#elif HAS_MOTOR_CURRENT_PWM
#define _WRITE_CURRENT_PWM(P) analogWrite(P, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
switch (driver) {
void Stepper::digipot_init() {
#if HAS_DIGIPOTSS
static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
digipot_current(i, digipot_motor_current[i]);
}
#elif HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
case 0: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_XY_PIN); break;
SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN);
digipot_current(0, motor_current_setting[0]);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
case 1: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_Z_PIN); break;
SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
digipot_current(1, motor_current_setting[1]);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
case 2: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_E_PIN); break;
SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
digipot_current(2, motor_current_setting[2]);
#endif
}
#else
UNUSED(driver);
UNUSED(current);
#endif
}
//Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
#endif
}
void Stepper::microstep_init() {
#if HAS_MICROSTEPS_E1
pinMode(E1_MS1_PIN, OUTPUT);
pinMode(E1_MS2_PIN, OUTPUT);
#endif
void Stepper::digipot_current(uint8_t driver, int current) {
#if HAS_DIGIPOTSS
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
#elif HAS_MOTOR_CURRENT_PWM
#define _WRITE_CURRENT_PWM(P) analogWrite(P, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
switch (driver) {
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
case 0: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_XY_PIN); break;
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
case 1: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_Z_PIN); break;
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
case 2: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_E_PIN); break;
#endif
}
#endif
}
#if HAS_MICROSTEPS
pinMode(X_MS1_PIN, OUTPUT);
pinMode(X_MS2_PIN, OUTPUT);
pinMode(Y_MS1_PIN, OUTPUT);
pinMode(Y_MS2_PIN, OUTPUT);
pinMode(Z_MS1_PIN, OUTPUT);
pinMode(Z_MS2_PIN, OUTPUT);
pinMode(E0_MS1_PIN, OUTPUT);
pinMode(E0_MS2_PIN, OUTPUT);
const uint8_t microstep_modes[] = MICROSTEP_MODES;
for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
microstep_mode(i, microstep_modes[i]);
#endif
}
#endif
/**
* Software-controlled Microstepping
*/
#if HAS_MICROSTEPS
/**
* Software-controlled Microstepping
*/
void Stepper::microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
if (ms1 >= 0) switch (driver) {
case 0: digitalWrite(X_MS1_PIN, ms1); break;
case 1: digitalWrite(Y_MS1_PIN, ms1); break;
case 2: digitalWrite(Z_MS1_PIN, ms1); break;
case 3: digitalWrite(E0_MS1_PIN, ms1); break;
void Stepper::microstep_init() {
SET_OUTPUT(X_MS1_PIN);
SET_OUTPUT(X_MS2_PIN);
#if HAS_MICROSTEPS_Y
SET_OUTPUT(Y_MS1_PIN);
SET_OUTPUT(Y_MS2_PIN);
#endif
#if HAS_MICROSTEPS_Z
SET_OUTPUT(Z_MS1_PIN);
SET_OUTPUT(Z_MS2_PIN);
#endif
#if HAS_MICROSTEPS_E0
SET_OUTPUT(E0_MS1_PIN);
SET_OUTPUT(E0_MS2_PIN);
#endif
#if HAS_MICROSTEPS_E1
case 4: digitalWrite(E1_MS1_PIN, ms1); break;
SET_OUTPUT(E1_MS1_PIN);
SET_OUTPUT(E1_MS2_PIN);
#endif
static const uint8_t microstep_modes[] = MICROSTEP_MODES;
for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
microstep_mode(i, microstep_modes[i]);
}
if (ms2 >= 0) switch (driver) {
case 0: digitalWrite(X_MS2_PIN, ms2); break;
case 1: digitalWrite(Y_MS2_PIN, ms2); break;
case 2: digitalWrite(Z_MS2_PIN, ms2); break;
case 3: digitalWrite(E0_MS2_PIN, ms2); break;
#if PIN_EXISTS(E1_MS2)
case 4: digitalWrite(E1_MS2_PIN, ms2); break;
#endif
void Stepper::microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
if (ms1 >= 0) switch (driver) {
case 0: digitalWrite(X_MS1_PIN, ms1); break;
#if HAS_MICROSTEPS_Y
case 1: digitalWrite(Y_MS1_PIN, ms1); break;
#endif
#if HAS_MICROSTEPS_Z
case 2: digitalWrite(Z_MS1_PIN, ms1); break;
#endif
#if HAS_MICROSTEPS_E0
case 3: digitalWrite(E0_MS1_PIN, ms1); break;
#endif
#if HAS_MICROSTEPS_E1
case 4: digitalWrite(E1_MS1_PIN, ms1); break;
#endif
}
if (ms2 >= 0) switch (driver) {
case 0: digitalWrite(X_MS2_PIN, ms2); break;
#if HAS_MICROSTEPS_Y
case 1: digitalWrite(Y_MS2_PIN, ms2); break;
#endif
#if HAS_MICROSTEPS_Z
case 2: digitalWrite(Z_MS2_PIN, ms2); break;
#endif
#if HAS_MICROSTEPS_E0
case 3: digitalWrite(E0_MS2_PIN, ms2); break;
#endif
#if HAS_MICROSTEPS_E1
case 4: digitalWrite(E1_MS2_PIN, ms2); break;
#endif
}
}
}
void Stepper::microstep_mode(uint8_t driver, uint8_t stepping_mode) {
switch (stepping_mode) {
case 1: microstep_ms(driver, MICROSTEP1); break;
case 2: microstep_ms(driver, MICROSTEP2); break;
case 4: microstep_ms(driver, MICROSTEP4); break;
case 8: microstep_ms(driver, MICROSTEP8); break;
case 16: microstep_ms(driver, MICROSTEP16); break;
void Stepper::microstep_mode(uint8_t driver, uint8_t stepping_mode) {
switch (stepping_mode) {
case 1: microstep_ms(driver, MICROSTEP1); break;
case 2: microstep_ms(driver, MICROSTEP2); break;
case 4: microstep_ms(driver, MICROSTEP4); break;
case 8: microstep_ms(driver, MICROSTEP8); break;
case 16: microstep_ms(driver, MICROSTEP16); break;
}
}
}
void Stepper::microstep_readings() {
SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins");
SERIAL_PROTOCOLPGM("X: ");
SERIAL_PROTOCOL(READ(X_MS1_PIN));
SERIAL_PROTOCOLLN(READ(X_MS2_PIN));
SERIAL_PROTOCOLPGM("Y: ");
SERIAL_PROTOCOL(READ(Y_MS1_PIN));
SERIAL_PROTOCOLLN(READ(Y_MS2_PIN));
SERIAL_PROTOCOLPGM("Z: ");
SERIAL_PROTOCOL(READ(Z_MS1_PIN));
SERIAL_PROTOCOLLN(READ(Z_MS2_PIN));
SERIAL_PROTOCOLPGM("E0: ");
SERIAL_PROTOCOL(READ(E0_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E0_MS2_PIN));
#if HAS_MICROSTEPS_E1
SERIAL_PROTOCOLPGM("E1: ");
SERIAL_PROTOCOL(READ(E1_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E1_MS2_PIN));
#endif
}
void Stepper::microstep_readings() {
SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins");
SERIAL_PROTOCOLPGM("X: ");
SERIAL_PROTOCOL(READ(X_MS1_PIN));
SERIAL_PROTOCOLLN(READ(X_MS2_PIN));
#if HAS_MICROSTEPS_Y
SERIAL_PROTOCOLPGM("Y: ");
SERIAL_PROTOCOL(READ(Y_MS1_PIN));
SERIAL_PROTOCOLLN(READ(Y_MS2_PIN));
#endif
#if HAS_MICROSTEPS_Z
SERIAL_PROTOCOLPGM("Z: ");
SERIAL_PROTOCOL(READ(Z_MS1_PIN));
SERIAL_PROTOCOLLN(READ(Z_MS2_PIN));
#endif
#if HAS_MICROSTEPS_E0
SERIAL_PROTOCOLPGM("E0: ");
SERIAL_PROTOCOL(READ(E0_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E0_MS2_PIN));
#endif
#if HAS_MICROSTEPS_E1
SERIAL_PROTOCOLPGM("E1: ");
SERIAL_PROTOCOL(READ(E1_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E1_MS2_PIN));
#endif
}
#endif // HAS_MICROSTEPS
#if ENABLED(LIN_ADVANCE)

18
Marlin/stepper.h
View File

@ -239,13 +239,16 @@ class Stepper {
//
static FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
#if HAS_DIGIPOTSS
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digitalPotWrite(int address, int value);
static void digipot_current(uint8_t driver, int current);
#endif
#if HAS_MICROSTEPS
static void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
static void microstep_mode(uint8_t driver, uint8_t stepping);
static void microstep_readings();
#endif
static void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
static void digipot_current(uint8_t driver, int current);
static void microstep_mode(uint8_t driver, uint8_t stepping);
static void microstep_readings();
#if ENABLED(Z_DUAL_ENDSTOPS)
static FORCE_INLINE void set_homing_flag(bool state) { performing_homing = state; }
@ -380,7 +383,10 @@ class Stepper {
}
static void digipot_init();
static void microstep_init();
#if HAS_MICROSTEPS
static void microstep_init();
#endif
};

Write Preview
Loading…
Cancel
Save