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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program 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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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* stepper_indirection.cpp
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*
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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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*
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* Part of Marlin
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*
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* Copyright (c) 2015 Dominik Wenger
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*/
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#include "stepper_indirection.h"
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#include "MarlinConfig.h"
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#include "stepper.h"
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//
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// TMC26X Driver objects and inits
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//
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#if HAS_DRIVER(TMC26X)
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#include <SPI.h>
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#include <TMC26XStepper.h>
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#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_CS_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
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#if AXIS_DRIVER_TYPE(X, TMC26X)
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_TMC26X_DEFINE(X);
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#endif
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#if AXIS_DRIVER_TYPE(X2, TMC26X)
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_TMC26X_DEFINE(X2);
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#endif
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#if AXIS_DRIVER_TYPE(Y, TMC26X)
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_TMC26X_DEFINE(Y);
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#endif
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#if AXIS_DRIVER_TYPE(Y2, TMC26X)
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_TMC26X_DEFINE(Y2);
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#endif
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#if AXIS_DRIVER_TYPE(Z, TMC26X)
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_TMC26X_DEFINE(Z);
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#endif
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#if AXIS_DRIVER_TYPE(Z2, TMC26X)
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_TMC26X_DEFINE(Z2);
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#endif
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#if AXIS_DRIVER_TYPE(E0, TMC26X)
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_TMC26X_DEFINE(E0);
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#endif
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#if AXIS_DRIVER_TYPE(E1, TMC26X)
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_TMC26X_DEFINE(E1);
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#endif
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#if AXIS_DRIVER_TYPE(E2, TMC26X)
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_TMC26X_DEFINE(E2);
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#endif
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#if AXIS_DRIVER_TYPE(E3, TMC26X)
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_TMC26X_DEFINE(E3);
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#endif
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#if AXIS_DRIVER_TYPE(E4, TMC26X)
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_TMC26X_DEFINE(E4);
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#endif
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#define _TMC26X_INIT(A) do{ \
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stepper##A.setMicrosteps(A##_MICROSTEPS); \
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stepper##A.start(); \
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}while(0)
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void tmc26x_init_to_defaults() {
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#if AXIS_DRIVER_TYPE(X, TMC26X)
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_TMC26X_INIT(X);
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#endif
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#if AXIS_DRIVER_TYPE(X2, TMC26X)
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_TMC26X_INIT(X2);
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#endif
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#if AXIS_DRIVER_TYPE(Y, TMC26X)
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_TMC26X_INIT(Y);
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#endif
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#if AXIS_DRIVER_TYPE(Y2, TMC26X)
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_TMC26X_INIT(Y2);
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#endif
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#if AXIS_DRIVER_TYPE(Z, TMC26X)
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_TMC26X_INIT(Z);
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#endif
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#if AXIS_DRIVER_TYPE(Z2, TMC26X)
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_TMC26X_INIT(Z2);
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#endif
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#if AXIS_DRIVER_TYPE(E0, TMC26X)
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_TMC26X_INIT(E0);
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#endif
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#if AXIS_DRIVER_TYPE(E1, TMC26X)
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_TMC26X_INIT(E1);
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#endif
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#if AXIS_DRIVER_TYPE(E2, TMC26X)
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_TMC26X_INIT(E2);
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#endif
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#if AXIS_DRIVER_TYPE(E3, TMC26X)
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_TMC26X_INIT(E3);
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#endif
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#if AXIS_DRIVER_TYPE(E4, TMC26X)
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_TMC26X_INIT(E4);
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#endif
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}
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#endif // TMC26X
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//
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// TMC2130 Driver objects and inits
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//
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#if HAS_DRIVER(TMC2130)
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#include <SPI.h>
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#include <TMC2130Stepper.h>
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#include "planner.h"
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#include "enum.h"
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#if TMC2130STEPPER_VERSION < 0x020201
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#error "Update TMC2130Stepper library to 2.2.1 or newer."
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#endif
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#if ENABLED(TMC_USE_SW_SPI)
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#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
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#else
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#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
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#endif
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// Stepper objects of TMC2130 steppers used
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#if AXIS_DRIVER_TYPE(X, TMC2130)
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_TMC2130_DEFINE(X);
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#endif
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#if AXIS_DRIVER_TYPE(X2, TMC2130)
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_TMC2130_DEFINE(X2);
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#endif
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#if AXIS_DRIVER_TYPE(Y, TMC2130)
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_TMC2130_DEFINE(Y);
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#endif
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#if AXIS_DRIVER_TYPE(Y2, TMC2130)
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_TMC2130_DEFINE(Y2);
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#endif
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#if AXIS_DRIVER_TYPE(Z, TMC2130)
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_TMC2130_DEFINE(Z);
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#endif
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#if AXIS_DRIVER_TYPE(Z2, TMC2130)
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_TMC2130_DEFINE(Z2);
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#endif
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#if AXIS_DRIVER_TYPE(E0, TMC2130)
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_TMC2130_DEFINE(E0);
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#endif
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#if AXIS_DRIVER_TYPE(E1, TMC2130)
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_TMC2130_DEFINE(E1);
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#endif
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#if AXIS_DRIVER_TYPE(E2, TMC2130)
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_TMC2130_DEFINE(E2);
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#endif
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#if AXIS_DRIVER_TYPE(E3, TMC2130)
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_TMC2130_DEFINE(E3);
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#endif
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#if AXIS_DRIVER_TYPE(E4, TMC2130)
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_TMC2130_DEFINE(E4);
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#endif
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// Use internal reference voltage for current calculations. This is the default.
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// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
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// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
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void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
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#if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
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UNUSED(thrs);
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UNUSED(spmm);
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#endif
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st.begin();
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st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.blank_time(24);
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st.off_time(5); // Only enables the driver if used with stealthChop
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st.interpolate(INTERPOLATE);
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st.power_down_delay(128); // ~2s until driver lowers to hold current
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st.hysteresis_start(3);
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st.hysteresis_end(2);
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#if ENABLED(STEALTHCHOP)
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st.stealth_freq(1); // f_pwm = 2/683 f_clk
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st.stealth_autoscale(1);
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st.stealth_gradient(5);
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st.stealth_amplitude(255);
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st.stealthChop(1);
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#if ENABLED(HYBRID_THRESHOLD)
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st.stealth_max_speed(12650000UL*microsteps/(256*thrs*spmm));
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#endif
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#endif
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st.GSTAT(); // Clear GSTAT
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}
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#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
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void tmc2130_init_to_defaults() {
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#if AXIS_DRIVER_TYPE(X, TMC2130)
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_TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if AXIS_DRIVER_TYPE(X2, TMC2130)
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_TMC2130_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if AXIS_DRIVER_TYPE(Y, TMC2130)
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_TMC2130_INIT( Y, planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if AXIS_DRIVER_TYPE(Y2, TMC2130)
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_TMC2130_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if AXIS_DRIVER_TYPE(Z, TMC2130)
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_TMC2130_INIT( Z, planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if AXIS_DRIVER_TYPE(Z2, TMC2130)
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_TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if AXIS_DRIVER_TYPE(E0, TMC2130)
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_TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
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#endif
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#if AXIS_DRIVER_TYPE(E1, TMC2130)
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{ constexpr int extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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#if AXIS_DRIVER_TYPE(E2, TMC2130)
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{ constexpr int extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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#if AXIS_DRIVER_TYPE(E3, TMC2130)
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{ constexpr int extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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#if AXIS_DRIVER_TYPE(E4, TMC2130)
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{ constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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#if ENABLED(SENSORLESS_HOMING)
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#define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
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#if X_SENSORLESS
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#if AXIS_DRIVER_TYPE(X, TMC2130)
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stepperX.sgt(X_HOMING_SENSITIVITY);
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#endif
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#if AXIS_DRIVER_TYPE(X2, TMC2130)
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stepperX2.sgt(X_HOMING_SENSITIVITY);
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#endif
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#endif
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#if Y_SENSORLESS
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#if AXIS_DRIVER_TYPE(Y, TMC2130)
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stepperY.sgt(Y_HOMING_SENSITIVITY);
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#endif
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#if AXIS_DRIVER_TYPE(Y2, TMC2130)
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stepperY2.sgt(Y_HOMING_SENSITIVITY);
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#endif
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#endif
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#if Z_SENSORLESS
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#if AXIS_DRIVER_TYPE(Z, TMC2130)
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stepperZ.sgt(Z_HOMING_SENSITIVITY);
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#endif
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#if AXIS_DRIVER_TYPE(Z2, TMC2130)
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stepperZ2.sgt(Z_HOMING_SENSITIVITY);
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#endif
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#endif
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#endif
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}
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#endif // TMC2130
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//
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// TMC2208 Driver objects and inits
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//
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#if HAS_DRIVER(TMC2208)
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#undef HardwareSerial_h // undo Marlin trickery
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#include <SoftwareSerial.h>
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#include <HardwareSerial.h>
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#include <TMC2208Stepper.h>
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#include "planner.h"
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#if TMC2208STEPPER_VERSION < 0x000101
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#error "Update TMC2208Stepper library to 0.1.1 or newer."
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#endif
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#define _TMC2208_DEFINE_HARDWARE(ST) TMC2208Stepper stepper##ST(&ST##_HARDWARE_SERIAL)
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#define _TMC2208_DEFINE_SOFTWARE(ST) TMC2208Stepper stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_SERIAL_RX_PIN > -1)
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// Stepper objects of TMC2208 steppers used
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#if AXIS_DRIVER_TYPE(X, TMC2208)
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#ifdef X_HARDWARE_SERIAL
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_TMC2208_DEFINE_HARDWARE(X);
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#else
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_TMC2208_DEFINE_SOFTWARE(X);
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#endif
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#endif
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#if AXIS_DRIVER_TYPE(X2, TMC2208)
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#ifdef X2_HARDWARE_SERIAL
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_TMC2208_DEFINE_HARDWARE(X2);
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#else
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_TMC2208_DEFINE_SOFTWARE(X2);
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#endif
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#endif
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#if AXIS_DRIVER_TYPE(Y, TMC2208)
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#ifdef Y_HARDWARE_SERIAL
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_TMC2208_DEFINE_HARDWARE(Y);
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#else
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_TMC2208_DEFINE_SOFTWARE(Y);
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#endif
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#endif
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317 |
#if AXIS_DRIVER_TYPE(Y2, TMC2208)
|
|
|
318 |
#ifdef Y2_HARDWARE_SERIAL
|
|
|
319 |
_TMC2208_DEFINE_HARDWARE(Y2);
|
|
|
320 |
#else
|
|
|
321 |
_TMC2208_DEFINE_SOFTWARE(Y2);
|
|
|
322 |
#endif
|
|
|
323 |
#endif
|
|
|
324 |
#if AXIS_DRIVER_TYPE(Z, TMC2208)
|
|
|
325 |
#ifdef Z_HARDWARE_SERIAL
|
|
|
326 |
_TMC2208_DEFINE_HARDWARE(Z);
|
|
|
327 |
#else
|
|
|
328 |
_TMC2208_DEFINE_SOFTWARE(Z);
|
|
|
329 |
#endif
|
|
|
330 |
#endif
|
|
|
331 |
#if AXIS_DRIVER_TYPE(Z2, TMC2208)
|
|
|
332 |
#ifdef Z2_HARDWARE_SERIAL
|
|
|
333 |
_TMC2208_DEFINE_HARDWARE(Z2);
|
|
|
334 |
#else
|
|
|
335 |
_TMC2208_DEFINE_SOFTWARE(Z2);
|
|
|
336 |
#endif
|
|
|
337 |
#endif
|
|
|
338 |
#if AXIS_DRIVER_TYPE(E0, TMC2208)
|
|
|
339 |
#ifdef E0_HARDWARE_SERIAL
|
|
|
340 |
_TMC2208_DEFINE_HARDWARE(E0);
|
|
|
341 |
#else
|
|
|
342 |
_TMC2208_DEFINE_SOFTWARE(E0);
|
|
|
343 |
#endif
|
|
|
344 |
#endif
|
|
|
345 |
#if AXIS_DRIVER_TYPE(E1, TMC2208)
|
|
|
346 |
#ifdef E1_HARDWARE_SERIAL
|
|
|
347 |
_TMC2208_DEFINE_HARDWARE(E1);
|
|
|
348 |
#else
|
|
|
349 |
_TMC2208_DEFINE_SOFTWARE(E1);
|
|
|
350 |
#endif
|
|
|
351 |
#endif
|
|
|
352 |
#if AXIS_DRIVER_TYPE(E2, TMC2208)
|
|
|
353 |
#ifdef E2_HARDWARE_SERIAL
|
|
|
354 |
_TMC2208_DEFINE_HARDWARE(E2);
|
|
|
355 |
#else
|
|
|
356 |
_TMC2208_DEFINE_SOFTWARE(E2);
|
|
|
357 |
#endif
|
|
|
358 |
#endif
|
|
|
359 |
#if AXIS_DRIVER_TYPE(E3, TMC2208)
|
|
|
360 |
#ifdef E3_HARDWARE_SERIAL
|
|
|
361 |
_TMC2208_DEFINE_HARDWARE(E3);
|
|
|
362 |
#else
|
|
|
363 |
_TMC2208_DEFINE_SOFTWARE(E3);
|
|
|
364 |
#endif
|
|
|
365 |
#endif
|
|
|
366 |
#if AXIS_DRIVER_TYPE(E4, TMC2208)
|
|
|
367 |
#ifdef E4_HARDWARE_SERIAL
|
|
|
368 |
_TMC2208_DEFINE_HARDWARE(E4);
|
|
|
369 |
#else
|
|
|
370 |
_TMC2208_DEFINE_SOFTWARE(E4);
|
|
|
371 |
#endif
|
|
|
372 |
#endif
|
|
|
373 |
|
|
|
374 |
void tmc2208_serial_begin() {
|
|
|
375 |
#if AXIS_DRIVER_TYPE(X, TMC2208)
|
|
|
376 |
#ifdef X_HARDWARE_SERIAL
|
|
|
377 |
X_HARDWARE_SERIAL.begin(115200);
|
|
|
378 |
#else
|
|
|
379 |
stepperX.beginSerial(115200);
|
|
|
380 |
#endif
|
|
|
381 |
#endif
|
|
|
382 |
#if AXIS_DRIVER_TYPE(X2, TMC2208)
|
|
|
383 |
#ifdef X2_HARDWARE_SERIAL
|
|
|
384 |
X2_HARDWARE_SERIAL.begin(115200);
|
|
|
385 |
#else
|
|
|
386 |
stepperX2.beginSerial(115200);
|
|
|
387 |
#endif
|
|
|
388 |
#endif
|
|
|
389 |
#if AXIS_DRIVER_TYPE(Y, TMC2208)
|
|
|
390 |
#ifdef Y_HARDWARE_SERIAL
|
|
|
391 |
Y_HARDWARE_SERIAL.begin(115200);
|
|
|
392 |
#else
|
|
|
393 |
stepperY.beginSerial(115200);
|
|
|
394 |
#endif
|
|
|
395 |
#endif
|
|
|
396 |
#if AXIS_DRIVER_TYPE(Y2, TMC2208)
|
|
|
397 |
#ifdef Y2_HARDWARE_SERIAL
|
|
|
398 |
Y2_HARDWARE_SERIAL.begin(115200);
|
|
|
399 |
#else
|
|
|
400 |
stepperY2.beginSerial(115200);
|
|
|
401 |
#endif
|
|
|
402 |
#endif
|
|
|
403 |
#if AXIS_DRIVER_TYPE(Z, TMC2208)
|
|
|
404 |
#ifdef Z_HARDWARE_SERIAL
|
|
|
405 |
Z_HARDWARE_SERIAL.begin(115200);
|
|
|
406 |
#else
|
|
|
407 |
stepperZ.beginSerial(115200);
|
|
|
408 |
#endif
|
|
|
409 |
#endif
|
|
|
410 |
#if AXIS_DRIVER_TYPE(Z2, TMC2208)
|
|
|
411 |
#ifdef Z2_HARDWARE_SERIAL
|
|
|
412 |
Z2_HARDWARE_SERIAL.begin(115200);
|
|
|
413 |
#else
|
|
|
414 |
stepperZ2.beginSerial(115200);
|
|
|
415 |
#endif
|
|
|
416 |
#endif
|
|
|
417 |
#if AXIS_DRIVER_TYPE(E0, TMC2208)
|
|
|
418 |
#ifdef E0_HARDWARE_SERIAL
|
|
|
419 |
E0_HARDWARE_SERIAL.begin(115200);
|
|
|
420 |
#else
|
|
|
421 |
stepperE0.beginSerial(115200);
|
|
|
422 |
#endif
|
|
|
423 |
#endif
|
|
|
424 |
#if AXIS_DRIVER_TYPE(E1, TMC2208)
|
|
|
425 |
#ifdef E1_HARDWARE_SERIAL
|
|
|
426 |
E1_HARDWARE_SERIAL.begin(115200);
|
|
|
427 |
#else
|
|
|
428 |
stepperE1.beginSerial(115200);
|
|
|
429 |
#endif
|
|
|
430 |
#endif
|
|
|
431 |
#if AXIS_DRIVER_TYPE(E2, TMC2208)
|
|
|
432 |
#ifdef E2_HARDWARE_SERIAL
|
|
|
433 |
E2_HARDWARE_SERIAL.begin(115200);
|
|
|
434 |
#else
|
|
|
435 |
stepperE2.beginSerial(115200);
|
|
|
436 |
#endif
|
|
|
437 |
#endif
|
|
|
438 |
#if AXIS_DRIVER_TYPE(E3, TMC2208)
|
|
|
439 |
#ifdef E3_HARDWARE_SERIAL
|
|
|
440 |
E3_HARDWARE_SERIAL.begin(115200);
|
|
|
441 |
#else
|
|
|
442 |
stepperE3.beginSerial(115200);
|
|
|
443 |
#endif
|
|
|
444 |
#endif
|
|
|
445 |
#if AXIS_DRIVER_TYPE(E4, TMC2208)
|
|
|
446 |
#ifdef E4_HARDWARE_SERIAL
|
|
|
447 |
E4_HARDWARE_SERIAL.begin(115200);
|
|
|
448 |
#else
|
|
|
449 |
stepperE4.beginSerial(115200);
|
|
|
450 |
#endif
|
|
|
451 |
#endif
|
|
|
452 |
}
|
|
|
453 |
|
|
|
454 |
// Use internal reference voltage for current calculations. This is the default.
|
|
|
455 |
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
|
|
|
456 |
void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
|
|
|
457 |
st.pdn_disable(true); // Use UART
|
|
|
458 |
st.mstep_reg_select(true); // Select microsteps with UART
|
|
|
459 |
st.I_scale_analog(false);
|
|
|
460 |
st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
|
|
|
461 |
st.microsteps(microsteps);
|
|
|
462 |
st.blank_time(24);
|
|
|
463 |
st.toff(5);
|
|
|
464 |
st.intpol(INTERPOLATE);
|
|
|
465 |
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
466 |
st.hysteresis_start(3);
|
|
|
467 |
st.hysteresis_end(2);
|
|
|
468 |
#if ENABLED(STEALTHCHOP)
|
|
|
469 |
st.pwm_lim(12);
|
|
|
470 |
st.pwm_reg(8);
|
|
|
471 |
st.pwm_autograd(1);
|
|
|
472 |
st.pwm_autoscale(1);
|
|
|
473 |
st.pwm_freq(1);
|
|
|
474 |
st.pwm_grad(14);
|
|
|
475 |
st.pwm_ofs(36);
|
|
|
476 |
st.en_spreadCycle(false);
|
|
|
477 |
#if ENABLED(HYBRID_THRESHOLD)
|
|
|
478 |
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
|
|
|
479 |
#else
|
|
|
480 |
UNUSED(thrs);
|
|
|
481 |
UNUSED(spmm);
|
|
|
482 |
#endif
|
|
|
483 |
#else
|
|
|
484 |
st.en_spreadCycle(true);
|
|
|
485 |
#endif
|
|
|
486 |
st.GSTAT(0b111); // Clear
|
|
|
487 |
delay(200);
|
|
|
488 |
}
|
|
|
489 |
|
|
|
490 |
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
|
|
|
491 |
|
|
|
492 |
void tmc2208_init_to_defaults() {
|
|
|
493 |
#if AXIS_DRIVER_TYPE(X, TMC2208)
|
|
|
494 |
_TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
|
|
|
495 |
#endif
|
|
|
496 |
#if AXIS_DRIVER_TYPE(X2, TMC2208)
|
|
|
497 |
_TMC2208_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
|
|
|
498 |
#endif
|
|
|
499 |
#if AXIS_DRIVER_TYPE(Y, TMC2208)
|
|
|
500 |
_TMC2208_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
|
|
|
501 |
#endif
|
|
|
502 |
#if AXIS_DRIVER_TYPE(Y2, TMC2208)
|
|
|
503 |
_TMC2208_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
|
|
|
504 |
#endif
|
|
|
505 |
#if AXIS_DRIVER_TYPE(Z, TMC2208)
|
|
|
506 |
_TMC2208_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
507 |
#endif
|
|
|
508 |
#if AXIS_DRIVER_TYPE(Z2, TMC2208)
|
|
|
509 |
_TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
|
|
|
510 |
#endif
|
|
|
511 |
#if AXIS_DRIVER_TYPE(E0, TMC2208)
|
|
|
512 |
_TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
|
|
|
513 |
#endif
|
|
|
514 |
#if AXIS_DRIVER_TYPE(E1, TMC2208)
|
|
|
515 |
{ constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
|
|
|
516 |
#endif
|
|
|
517 |
#if AXIS_DRIVER_TYPE(E2, TMC2208)
|
|
|
518 |
{ constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
|
|
|
519 |
#endif
|
|
|
520 |
#if AXIS_DRIVER_TYPE(E3, TMC2208)
|
|
|
521 |
{ constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
|
|
|
522 |
#endif
|
|
|
523 |
#if AXIS_DRIVER_TYPE(E4, TMC2208)
|
|
|
524 |
{ constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
|
|
|
525 |
#endif
|
|
|
526 |
}
|
|
|
527 |
#endif // TMC2208
|
|
|
528 |
|
|
|
529 |
void restore_stepper_drivers() {
|
|
|
530 |
#if AXIS_IS_TMC(X)
|
|
|
531 |
stepperX.push();
|
|
|
532 |
#endif
|
|
|
533 |
#if AXIS_IS_TMC(X2)
|
|
|
534 |
stepperX2.push();
|
|
|
535 |
#endif
|
|
|
536 |
#if AXIS_IS_TMC(Y)
|
|
|
537 |
stepperY.push();
|
|
|
538 |
#endif
|
|
|
539 |
#if AXIS_IS_TMC(Y2)
|
|
|
540 |
stepperY2.push();
|
|
|
541 |
#endif
|
|
|
542 |
#if AXIS_IS_TMC(Z)
|
|
|
543 |
stepperZ.push();
|
|
|
544 |
#endif
|
|
|
545 |
#if AXIS_IS_TMC(Z2)
|
|
|
546 |
stepperZ2.push();
|
|
|
547 |
#endif
|
|
|
548 |
#if AXIS_IS_TMC(E0)
|
|
|
549 |
stepperE0.push();
|
|
|
550 |
#endif
|
|
|
551 |
#if AXIS_IS_TMC(E1)
|
|
|
552 |
stepperE1.push();
|
|
|
553 |
#endif
|
|
|
554 |
#if AXIS_IS_TMC(E2)
|
|
|
555 |
stepperE2.push();
|
|
|
556 |
#endif
|
|
|
557 |
#if AXIS_IS_TMC(E3)
|
|
|
558 |
stepperE3.push();
|
|
|
559 |
#endif
|
|
|
560 |
#if AXIS_IS_TMC(E4)
|
|
|
561 |
stepperE4.push();
|
|
|
562 |
#endif
|
|
|
563 |
}
|
|
|
564 |
|
|
|
565 |
void reset_stepper_drivers() {
|
|
|
566 |
#if HAS_DRIVER(TMC26X)
|
|
|
567 |
tmc26x_init_to_defaults();
|
|
|
568 |
#endif
|
|
|
569 |
#if HAS_DRIVER(TMC2130)
|
|
|
570 |
delay(100);
|
|
|
571 |
tmc2130_init_to_defaults();
|
|
|
572 |
#endif
|
|
|
573 |
#if HAS_DRIVER(TMC2208)
|
|
|
574 |
delay(100);
|
|
|
575 |
tmc2208_init_to_defaults();
|
|
|
576 |
#endif
|
|
|
577 |
#ifdef TMC_ADV
|
|
|
578 |
TMC_ADV()
|
|
|
579 |
#endif
|
|
|
580 |
#if HAS_DRIVER(L6470)
|
|
|
581 |
L6470_init_to_defaults();
|
|
|
582 |
#endif
|
|
|
583 |
stepper.set_directions();
|
|
|
584 |
}
|
|
|
585 |
|
|
|
586 |
//
|
|
|
587 |
// L6470 Driver objects and inits
|
|
|
588 |
//
|
|
|
589 |
#if HAS_DRIVER(L6470)
|
|
|
590 |
|
|
|
591 |
#include <SPI.h>
|
|
|
592 |
#include <L6470.h>
|
|
|
593 |
|
|
|
594 |
#define _L6470_DEFINE(ST) L6470 stepper##ST(ST##_ENABLE_PIN)
|
|
|
595 |
|
|
|
596 |
// L6470 Stepper objects
|
|
|
597 |
#if AXIS_DRIVER_TYPE(X, L6470)
|
|
|
598 |
_L6470_DEFINE(X);
|
|
|
599 |
#endif
|
|
|
600 |
#if AXIS_DRIVER_TYPE(X2, L6470)
|
|
|
601 |
_L6470_DEFINE(X2);
|
|
|
602 |
#endif
|
|
|
603 |
#if AXIS_DRIVER_TYPE(Y, L6470)
|
|
|
604 |
_L6470_DEFINE(Y);
|
|
|
605 |
#endif
|
|
|
606 |
#if AXIS_DRIVER_TYPE(Y2, L6470)
|
|
|
607 |
_L6470_DEFINE(Y2);
|
|
|
608 |
#endif
|
|
|
609 |
#if AXIS_DRIVER_TYPE(Z, L6470)
|
|
|
610 |
_L6470_DEFINE(Z);
|
|
|
611 |
#endif
|
|
|
612 |
#if AXIS_DRIVER_TYPE(Z2, L6470)
|
|
|
613 |
_L6470_DEFINE(Z2);
|
|
|
614 |
#endif
|
|
|
615 |
#if AXIS_DRIVER_TYPE(E0, L6470)
|
|
|
616 |
_L6470_DEFINE(E0);
|
|
|
617 |
#endif
|
|
|
618 |
#if AXIS_DRIVER_TYPE(E1, L6470)
|
|
|
619 |
_L6470_DEFINE(E1);
|
|
|
620 |
#endif
|
|
|
621 |
#if AXIS_DRIVER_TYPE(E2, L6470)
|
|
|
622 |
_L6470_DEFINE(E2);
|
|
|
623 |
#endif
|
|
|
624 |
#if AXIS_DRIVER_TYPE(E3, L6470)
|
|
|
625 |
_L6470_DEFINE(E3);
|
|
|
626 |
#endif
|
|
|
627 |
#if AXIS_DRIVER_TYPE(E4, L6470)
|
|
|
628 |
_L6470_DEFINE(E4);
|
|
|
629 |
#endif
|
|
|
630 |
|
|
|
631 |
#define _L6470_INIT(A) do{ \
|
|
|
632 |
stepper##A.init(); \
|
|
|
633 |
stepper##A.softFree(); \
|
|
|
634 |
stepper##A.setMicroSteps(A##_MICROSTEPS); \
|
|
|
635 |
stepper##A.setOverCurrent(A##_OVERCURRENT); \
|
|
|
636 |
stepper##A.setStallCurrent(A##_STALLCURRENT); \
|
|
|
637 |
}while(0)
|
|
|
638 |
|
|
|
639 |
void L6470_init_to_defaults() {
|
|
|
640 |
#if AXIS_DRIVER_TYPE(X, L6470)
|
|
|
641 |
_L6470_INIT(X);
|
|
|
642 |
#endif
|
|
|
643 |
#if AXIS_DRIVER_TYPE(X2, L6470)
|
|
|
644 |
_L6470_INIT(X2);
|
|
|
645 |
#endif
|
|
|
646 |
#if AXIS_DRIVER_TYPE(Y, L6470)
|
|
|
647 |
_L6470_INIT(Y);
|
|
|
648 |
#endif
|
|
|
649 |
#if AXIS_DRIVER_TYPE(Y2, L6470)
|
|
|
650 |
_L6470_INIT(Y2);
|
|
|
651 |
#endif
|
|
|
652 |
#if AXIS_DRIVER_TYPE(Z, L6470)
|
|
|
653 |
_L6470_INIT(Z);
|
|
|
654 |
#endif
|
|
|
655 |
#if AXIS_DRIVER_TYPE(Z2, L6470)
|
|
|
656 |
_L6470_INIT(Z2);
|
|
|
657 |
#endif
|
|
|
658 |
#if AXIS_DRIVER_TYPE(E0, L6470)
|
|
|
659 |
_L6470_INIT(E0);
|
|
|
660 |
#endif
|
|
|
661 |
#if AXIS_DRIVER_TYPE(E1, L6470)
|
|
|
662 |
_L6470_INIT(E1);
|
|
|
663 |
#endif
|
|
|
664 |
#if AXIS_DRIVER_TYPE(E2, L6470)
|
|
|
665 |
_L6470_INIT(E2);
|
|
|
666 |
#endif
|
|
|
667 |
#if AXIS_DRIVER_TYPE(E3, L6470)
|
|
|
668 |
_L6470_INIT(E3);
|
|
|
669 |
#endif
|
|
|
670 |
#if AXIS_DRIVER_TYPE(E4, L6470)
|
|
|
671 |
_L6470_INIT(E4);
|
|
|
672 |
#endif
|
|
|
673 |
}
|
|
|
674 |
|
|
|
675 |
#endif // L6470
|