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@ -128,269 +128,425 @@ void tmc_init() { |
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#endif |
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#if ENABLED(HAVE_TMC2130DRIVER) |
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#include <SPI.h> |
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#include <Trinamic_TMC2130.h> |
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#endif |
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// Stepper objects of TMC2310 steppers used
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#if ENABLED(X_IS_TMC2130) |
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Trinamic_TMC2130 stepperX(X_CS_PIN); |
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#endif |
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#if ENABLED(X2_IS_TMC2130) |
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Trinamic_TMC2130 stepperX2(X2_CS_PIN); |
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#endif |
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#if ENABLED(Y_IS_TMC2130) |
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Trinamic_TMC2130 stepperY(Y_CS_PIN); |
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#endif |
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#if ENABLED(Y2_IS_TMC2130) |
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Trinamic_TMC2130 stepperY2(Y2_CS_PINR); |
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#endif |
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#if ENABLED(Z_IS_TMC2130) |
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Trinamic_TMC2130 stepperZ(Z_CS_PIN); |
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#endif |
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#if ENABLED(Z2_IS_TMC2130) |
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Trinamic_TMC2130 stepperZ2(Z2_CS_PIN); |
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#endif |
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#if ENABLED(E0_IS_TMC2130) |
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Trinamic_TMC2130 stepperE0(E0_CS_PIN); |
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#endif |
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#if ENABLED(E1_IS_TMC2130) |
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Trinamic_TMC2130 stepperE1(E1_CS_PIN); |
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#endif |
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#if ENABLED(E2_IS_TMC2130) |
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Trinamic_TMC2130 stepperE2(E2_CS_PIN); |
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#endif |
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#if ENABLED(E3_IS_TMC2130) |
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Trinamic_TMC2130 stepperE3(E3_CS_PIN); |
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#endif |
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#if ENABLED(HAVE_TMC2130DRIVER) |
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#if ENABLED(TMC2130_ADVANCED_CONFIGURATION) |
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void tmc2130_init() { |
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// If you've enabled TMC2130_ADVANCED_CONFIGURATION configure your
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// steppers manually here. The ENABLED(XYZ_IS_TMC2130) is optional,
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#if ENABLED(X_IS_TMC2130) |
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stepperX.init(); |
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stepperX.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG); |
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//stepperX.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
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stepperX.set_en_pwm_mode(GLOBAL_EN_PWM_MODE); |
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//stepperX.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
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stepperX.set_shaft(GLOBAL_SHAFT); |
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//stepperX.set_diag0_error(GLOBAL_DIAG0_ERROR);
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//stepperX.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
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//stepperX.set_diag0_stall(GLOBAL_DIAG0_STALL);
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//stepperX.set_diag1_stall(GLOBAL_DIAG1_STALL);
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//stepperX.set_diag1_index(GLOBAL_DIAG1_INDEX);
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//stepperX.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
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//stepperX.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
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//stepperX.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
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//stepperX.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
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//stepperX.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
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//stepperX.set_stop_enable(GLOBAL_STOP_ENABLE);
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//stepperX.set_direct_mode(GLOBAL_DIRECT_MODE);
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stepperX.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY); |
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//stepperX.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
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//stepperX.set_TPWMTHRS(GLOBAL_TPWMTHRS);
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//stepperX.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
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stepperX.set_THIGH(GLOBAL_THIGH); |
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//stepperX.set_XDIRECT(GLOBAL_XDIRECT);
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//stepperX.set_VDCMIN(GLOBAL_VDCMIN);
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//stepperX.set_dedge(GLOBAL_DEDGE);
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//stepperX.set_diss2g(GLOBAL_DISS2G);
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stepperX.set_intpol(GLOBAL_INTPOL); |
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stepperX.set_mres(GLOBAL_MRES); |
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stepperX.set_sync(GLOBAL_SYNC); |
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stepperX.set_vhighchm(GLOBAL_VHIGHCHM); |
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stepperX.set_vhighfs(GLOBAL_VHIGHFS); |
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//stepperX.set_vsense(GLOBAL_VSENSE);
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stepperX.set_tbl(GLOBAL_TBL); |
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stepperX.set_chm(GLOBAL_CHM); |
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//stepperX.set_rndtf(GLOBAL_RNDTF);
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//stepperX.set_disfdcc(GLOBAL_DISFDCC);
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//stepperX.set_fd(GLOBAL_FD);
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//stepperX.set_hend(GLOBAL_HEND);
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//stepperX.set_hstrt(GLOBAL_HSTRT);
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stepperX.set_toff(GLOBAL_TOFF); |
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//stepperX.set_sfilt(GLOBAL_SFILT);
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//stepperX.set_sgt(GLOBAL_SGT);
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//stepperX.set_seimin(GLOBAL_SEIMIN);
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//stepperX.set_sedn(GLOBAL_SEDN);
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//stepperX.set_semax(GLOBAL_SEMAX);
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//stepperX.set_seup(GLOBAL_SEUP);
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//stepperX.set_semin(GLOBAL_SEMIN);
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//stepperX.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
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//stepperX.set_freewheel(GLOBAL_FREEWHEEL);
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//stepperX.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
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//stepperX.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
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//stepperX.set_pwm_freq(GLOBAL_PWM_FREQ);
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//stepperX.set_PWM_GRAD(GLOBAL_PWM_GRAD);
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//stepperX.set_PWM_AMPL(GLOBAL_PWM_AMPL);
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//stepperX.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
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#endif |
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#if ENABLED(Y_IS_TMC2130) |
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stepperY.init(); |
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stepperY.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG); |
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//stepperY.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
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stepperY.set_en_pwm_mode(GLOBAL_EN_PWM_MODE); |
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//stepperY.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
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stepperY.set_shaft(GLOBAL_SHAFT); |
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//stepperY.set_diag0_error(GLOBAL_DIAG0_ERROR);
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//stepperY.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
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//stepperY.set_diag0_stall(GLOBAL_DIAG0_STALL);
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//stepperY.set_diag1_stall(GLOBAL_DIAG1_STALL);
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//stepperY.set_diag1_index(GLOBAL_DIAG1_INDEX);
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//stepperY.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
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//stepperY.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
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//stepperY.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
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//stepperY.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
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//stepperY.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
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//stepperY.set_stop_enable(GLOBAL_STOP_ENABLE);
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//stepperY.set_direct_mode(GLOBAL_DIRECT_MODE);
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stepperY.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY); |
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//stepperY.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
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//stepperY.set_TPWMTHRS(GLOBAL_TPWMTHRS);
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//stepperY.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
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stepperY.set_THIGH(GLOBAL_THIGH); |
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//stepperY.set_XDIRECT(GLOBAL_XDIRECT);
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//stepperY.set_VDCMIN(GLOBAL_VDCMIN);
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//stepperY.set_dedge(GLOBAL_DEDGE);
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//stepperY.set_diss2g(GLOBAL_DISS2G);
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stepperY.set_intpol(GLOBAL_INTPOL); |
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stepperY.set_mres(GLOBAL_MRES); |
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stepperY.set_sync(GLOBAL_SYNC); |
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stepperY.set_vhighchm(GLOBAL_VHIGHCHM); |
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stepperY.set_vhighfs(GLOBAL_VHIGHFS); |
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//stepperY.set_vsense(GLOBAL_VSENSE);
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stepperY.set_tbl(GLOBAL_TBL); |
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stepperY.set_chm(GLOBAL_CHM); |
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//stepperY.set_rndtf(GLOBAL_RNDTF);
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//stepperY.set_disfdcc(GLOBAL_DISFDCC);
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//stepperY.set_fd(GLOBAL_FD);
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//stepperY.set_hend(GLOBAL_HEND);
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//stepperY.set_hstrt(GLOBAL_HSTRT);
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stepperY.set_toff(GLOBAL_TOFF); |
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//stepperY.set_sfilt(GLOBAL_SFILT);
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//stepperY.set_sgt(GLOBAL_SGT);
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//stepperY.set_seimin(GLOBAL_SEIMIN);
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//stepperY.set_sedn(GLOBAL_SEDN);
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//stepperY.set_semax(GLOBAL_SEMAX);
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//stepperY.set_seup(GLOBAL_SEUP);
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//stepperY.set_semin(GLOBAL_SEMIN);
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//stepperY.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
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//stepperY.set_freewheel(GLOBAL_FREEWHEEL);
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//stepperY.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
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//stepperY.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
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//stepperY.set_pwm_freq(GLOBAL_PWM_FREQ);
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//stepperY.set_PWM_GRAD(GLOBAL_PWM_GRAD);
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//stepperY.set_PWM_AMPL(GLOBAL_PWM_AMPL);
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//stepperY.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
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#endif |
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} |
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#ifdef GLOBAL_I_SCALE_ANALOG |
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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 |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_DEDGE |
|
|
|
#define _2130_set_dedge(A) stepper##A.set_dedge(GLOBAL_DEDGE) |
|
|
|
#else |
|
|
|
#define _2130_set_dedge(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_DISS2G |
|
|
|
#define _2130_set_diss2g(A) stepper##A.set_diss2g(GLOBAL_DISS2G) |
|
|
|
#else |
|
|
|
#define _2130_set_diss2g(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_INTPOL |
|
|
|
#define _2130_set_intpol(A) stepper##A.set_intpol(GLOBAL_INTPOL) |
|
|
|
#else |
|
|
|
#define _2130_set_intpol(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_MRES |
|
|
|
#define _2130_set_mres(A) stepper##A.set_mres(GLOBAL_MRES) |
|
|
|
#else |
|
|
|
#define _2130_set_mres(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_SYNC |
|
|
|
#define _2130_set_sync(A) stepper##A.set_sync(GLOBAL_SYNC) |
|
|
|
#else |
|
|
|
#define _2130_set_sync(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_VHIGHCHM |
|
|
|
#define _2130_set_vhighchm(A) stepper##A.set_vhighchm(GLOBAL_VHIGHCHM) |
|
|
|
#else |
|
|
|
#define _2130_set_vhighchm(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_VHIGHFS |
|
|
|
#define _2130_set_vhighfs(A) stepper##A.set_vhighfs(GLOBAL_VHIGHFS) |
|
|
|
#else |
|
|
|
#define _2130_set_vhighfs(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_VSENSE |
|
|
|
#define _2130_set_vsense(A) stepper##A.set_vsense(GLOBAL_VSENSE) |
|
|
|
#else |
|
|
|
#define _2130_set_vsense(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_TBL |
|
|
|
#define _2130_set_tbl(A) stepper##A.set_tbl(GLOBAL_TBL) |
|
|
|
#else |
|
|
|
#define _2130_set_tbl(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_CHM |
|
|
|
#define _2130_set_chm(A) stepper##A.set_chm(GLOBAL_CHM) |
|
|
|
#else |
|
|
|
#define _2130_set_chm(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_RNDTF |
|
|
|
#define _2130_set_rndtf(A) stepper##A.set_rndtf(GLOBAL_RNDTF) |
|
|
|
#else |
|
|
|
#define _2130_set_rndtf(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_DISFDCC |
|
|
|
#define _2130_set_disfdcc(A) stepper##A.set_disfdcc(GLOBAL_DISFDCC) |
|
|
|
#else |
|
|
|
#define _2130_set_disfdcc(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_FD |
|
|
|
#define _2130_set_fd(A) stepper##A.set_fd(GLOBAL_FD) |
|
|
|
#else |
|
|
|
#define _2130_set_fd(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_HEND |
|
|
|
#define _2130_set_hend(A) stepper##A.set_hend(GLOBAL_HEND) |
|
|
|
#else |
|
|
|
#define _2130_set_hend(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_HSTRT |
|
|
|
#define _2130_set_hstrt(A) stepper##A.set_hstrt(GLOBAL_HSTRT) |
|
|
|
#else |
|
|
|
#define _2130_set_hstrt(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_TOFF |
|
|
|
#define _2130_set_toff(A) stepper##A.set_toff(GLOBAL_TOFF) |
|
|
|
#else |
|
|
|
#define _2130_set_toff(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_SFILT |
|
|
|
#define _2130_set_sfilt(A) stepper##A.set_sfilt(GLOBAL_SFILT) |
|
|
|
#else |
|
|
|
#define _2130_set_sfilt(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_SGT |
|
|
|
#define _2130_set_sgt(A) stepper##A.set_sgt(GLOBAL_SGT) |
|
|
|
#else |
|
|
|
#define _2130_set_sgt(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_SEIMIN |
|
|
|
#define _2130_set_seimin(A) stepper##A.set_seimin(GLOBAL_SEIMIN) |
|
|
|
#else |
|
|
|
#define _2130_set_seimin(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_SEDN |
|
|
|
#define _2130_set_sedn(A) stepper##A.set_sedn(GLOBAL_SEDN) |
|
|
|
#else |
|
|
|
#define _2130_set_sedn(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_SEMAX |
|
|
|
#define _2130_set_semax(A) stepper##A.set_semax(GLOBAL_SEMAX) |
|
|
|
#else |
|
|
|
#define _2130_set_semax(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_SEUP |
|
|
|
#define _2130_set_seup(A) stepper##A.set_seup(GLOBAL_SEUP) |
|
|
|
#else |
|
|
|
#define _2130_set_seup(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_SEMIN |
|
|
|
#define _2130_set_semin(A) stepper##A.set_semin(GLOBAL_SEMIN) |
|
|
|
#else |
|
|
|
#define _2130_set_semin(A) NOOP |
|
|
|
#endif |
|
|
|
#if defined(GLOBAL_DC_TIME) && defined(GLOBAL_DC_SG) |
|
|
|
#define _2130_set_DCCTRL(A) stepper##A.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG) |
|
|
|
#else |
|
|
|
#define _2130_set_DCCTRL(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_FREEWHEEL |
|
|
|
#define _2130_set_freewheel(A) stepper##A.set_freewheel(GLOBAL_FREEWHEEL) |
|
|
|
#else |
|
|
|
#define _2130_set_freewheel(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_PWM_SYMMETRIC |
|
|
|
#define _2130_set_pwm_symmetric(A) stepper##A.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC) |
|
|
|
#else |
|
|
|
#define _2130_set_pwm_symmetric(A) NOOP |
|
|
|
#endif |
|
|
|
#ifdef GLOBAL_PWM_AUTOSCALE |
|
|
|
#define _2130_set_pwm_autoscale(A) stepper##A.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE) |
|
|
|
#else |
|
|
|
#define _2130_set_pwm_autoscale(A) NOOP |
|
|
|
#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) |
|
|
|
#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
|
|
|
|
|
|
|
|
void tmc2130_init() { |
|
|
|
#if ENABLED(X_IS_TMC2130) |
|
|
|
stepperX.init(); |
|
|
|
stepperX.set_mres(X_MRES); |
|
|
|
stepperX.set_IHOLD_IRUN(X_IHOLD,X_IRUN,X_IHOLDDELAY); |
|
|
|
stepperX.set_I_scale_analog(X_ISCALE); |
|
|
|
stepperX.set_tbl(X_TBL); |
|
|
|
stepperX.set_toff(X_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(X2_IS_TMC2130) |
|
|
|
stepperX2.init(); |
|
|
|
stepperX2.set_mres(X2_MRES); |
|
|
|
stepperX2.set_IHOLD_IRUN(X2_IHOLD,X2_IRUN,X2_IHOLDDELAY); |
|
|
|
stepperX2.set_I_scale_analog(X2_ISCALE); |
|
|
|
stepperX2.set_tbl(X2_TBL); |
|
|
|
stepperX2.set_toff(X2_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(Y_IS_TMC2130) |
|
|
|
stepperY.init(); |
|
|
|
stepperY.set_mres(Y_MRES); |
|
|
|
stepperY.set_IHOLD_IRUN(Y_IHOLD,Y_IRUN,Y_IHOLDDELAY); |
|
|
|
stepperY.set_I_scale_analog(Y_ISCALE); |
|
|
|
stepperY.set_tbl(Y_TBL); |
|
|
|
stepperY.set_toff(Y_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(Y2_IS_TMC2130) |
|
|
|
stepperY2.init(); |
|
|
|
stepperY2.set_mres(Y2_MRES); |
|
|
|
stepperY2.set_IHOLD_IRUN(Y2_IHOLD,Y2_IRUN,Y2_IHOLDDELAY); |
|
|
|
stepperY2.set_I_scale_analog(Y2_ISCALE); |
|
|
|
stepperY2.set_tbl(Y2_TBL); |
|
|
|
stepperY2.set_toff(Y2_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(Z_IS_TMC2130) |
|
|
|
stepperZ.init(); |
|
|
|
stepperZ.set_mres(Z_MRES); |
|
|
|
stepperZ.set_IHOLD_IRUN(Z_IHOLD,Z_IRUN,Z_IHOLDDELAY); |
|
|
|
stepperZ.set_I_scale_analog(Z_ISCALE); |
|
|
|
stepperZ.set_tbl(Z_TBL); |
|
|
|
stepperZ.set_toff(Z_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(Z2_IS_TMC2130) |
|
|
|
stepperZ2.init(); |
|
|
|
stepperZ2.set_mres(Z2_MRES); |
|
|
|
stepperZ2.set_IHOLD_IRUN(Z2_IHOLD,Z2_IRUN,Z2_IHOLDDELAY); |
|
|
|
stepperZ2.set_I_scale_analog(Z2_ISCALE); |
|
|
|
stepperZ2.set_tbl(Z2_TBL); |
|
|
|
stepperZ2.set_toff(Z2_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(E0_IS_TMC2130) |
|
|
|
stepperE0.init(); |
|
|
|
stepperE0.set_mres(E0_MRES); |
|
|
|
stepperE0.set_IHOLD_IRUN(E0_IHOLD,E0_IRUN,E0_IHOLDDELAY); |
|
|
|
stepperE0.set_I_scale_analog(E0_ISCALE); |
|
|
|
stepperE0.set_tbl(E0_TBL); |
|
|
|
stepperE0.set_toff(E0_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(E1_IS_TMC2130) |
|
|
|
stepperE1.init(); |
|
|
|
stepperE1.set_mres(E1_MRES); |
|
|
|
stepperE1.set_IHOLD_IRUN(E1_IHOLD,E1_IRUN,E1_IHOLDDELAY); |
|
|
|
stepperE1.set_I_scale_analog(E1_ISCALE); |
|
|
|
stepperE1.set_tbl(E1_TBL); |
|
|
|
stepperE1.set_toff(E1_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(E2_IS_TMC2130) |
|
|
|
stepperE2.init(); |
|
|
|
stepperE2.set_mres(E2_MRES); |
|
|
|
stepperE2.set_IHOLD_IRUN(E2_IHOLD,E2_IRUN,E2_IHOLDDELAY); |
|
|
|
stepperE2.set_I_scale_analog(E2_ISCALE); |
|
|
|
stepperE2.set_tbl(E2_TBL); |
|
|
|
stepperE2.set_toff(E2_TOFF); |
|
|
|
#endif |
|
|
|
#if ENABLED(E3_IS_TMC2130) |
|
|
|
stepperE3.init(); |
|
|
|
stepperE3.set_mres(E3_MRES); |
|
|
|
stepperE3.set_IHOLD_IRUN(E3_IHOLD,E3_IRUN,E3_IHOLDDELAY); |
|
|
|
stepperE3.set_I_scale_analog(E3_ISCALE); |
|
|
|
stepperE3.set_tbl(E3_TBL); |
|
|
|
stepperE3.set_toff(E3_TOFF); |
|
|
|
#endif |
|
|
|
} |
|
|
|
#define _TMC2130_INIT(A) do{ \ |
|
|
|
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) |
|
|
|
Trinamic_TMC2130 stepperX(X_CS_PIN); |
|
|
|
#endif |
|
|
|
#if ENABLED(X2_IS_TMC2130) |
|
|
|
Trinamic_TMC2130 stepperX2(X2_CS_PIN); |
|
|
|
#endif |
|
|
|
#if ENABLED(Y_IS_TMC2130) |
|
|
|
Trinamic_TMC2130 stepperY(Y_CS_PIN); |
|
|
|
#endif |
|
|
|
#if ENABLED(Y2_IS_TMC2130) |
|
|
|
Trinamic_TMC2130 stepperY2(Y2_CS_PINR); |
|
|
|
#endif |
|
|
|
#if ENABLED(Z_IS_TMC2130) |
|
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Trinamic_TMC2130 stepperZ(Z_CS_PIN); |
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#endif |
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#if ENABLED(Z2_IS_TMC2130) |
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Trinamic_TMC2130 stepperZ2(Z2_CS_PIN); |
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#endif |
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#if ENABLED(E0_IS_TMC2130) |
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Trinamic_TMC2130 stepperE0(E0_CS_PIN); |
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#endif |
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#if ENABLED(E1_IS_TMC2130) |
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Trinamic_TMC2130 stepperE1(E1_CS_PIN); |
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#endif |
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#if ENABLED(E2_IS_TMC2130) |
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Trinamic_TMC2130 stepperE2(E2_CS_PIN); |
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#endif |
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#if ENABLED(E3_IS_TMC2130) |
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Trinamic_TMC2130 stepperE3(E3_CS_PIN); |
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#endif |
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void tmc2130_init() { |
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#if ENABLED(X_IS_TMC2130) |
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_TMC2130_INIT(X); |
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#endif |
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#if ENABLED(X2_IS_TMC2130) |
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_TMC2130_INIT(X2); |
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#endif |
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#if ENABLED(Y_IS_TMC2130) |
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_TMC2130_INIT(Y); |
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#endif |
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#if ENABLED(Y2_IS_TMC2130) |
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_TMC2130_INIT(Y2); |
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#endif |
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#if ENABLED(Z_IS_TMC2130) |
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_TMC2130_INIT(Z); |
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#endif |
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#if ENABLED(Z2_IS_TMC2130) |
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_TMC2130_INIT(Z2); |
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#endif |
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#if ENABLED(E0_IS_TMC2130) |
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_TMC2130_INIT(E0); |
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#endif |
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#if ENABLED(E1_IS_TMC2130) |
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_TMC2130_INIT(E1); |
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#endif |
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#if ENABLED(E2_IS_TMC2130) |
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_TMC2130_INIT(E2); |
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#endif |
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#if ENABLED(E3_IS_TMC2130) |
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_TMC2130_INIT(E3); |
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#endif |
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} |
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#endif // HAVE_TMC2130DRIVER
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// L6470 Driver objects and inits
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Scott Lahteine
8 years ago