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Code Issues Releases Wiki Activity

Cleanup, extend TMC2130 implementation

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This commit is contained in:
Scott Lahteine 2017-04-14 22:44:08 -05:00
parent d60c02c5b1
commit 4067d15c92
4 changed files with 275 additions and 86 deletions

62
Marlin/stepper_indirection.cpp
View file

@ -129,8 +129,9 @@
#include <SPI.h>
#include <TMC2130Stepper.h>
#include "enum.h"
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT)
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
// Stepper objects of TMC2130 steppers used
#if ENABLED(X_IS_TMC2130)
@ -169,61 +170,74 @@
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
void tmc2130_init(TMC2130Stepper &st, const uint16_t max_current, const uint16_t microsteps) {
// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const uint32_t spmm) {
st.begin();
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.off_time(8);
st.blank_time(36);
st.off_time(5); // Only enables the driver if used with stealthChop
st.interpolate(INTERPOLATE);
st.power_down_delay(128); // ~2s until driver lowers to hold current
st.hysterisis_start(0); // HSTRT = 1
st.hysterisis_low(1); // HEND = -2
st.diag1_active_high(1); // For sensorless homing
#if ENABLED(STEALTHCHOP)
st.stealth_freq(1); // f_pwm = 2/683 f_clk
st.stealth_autoscale(1);
st.stealth_gradient(5);
st.stealth_amplitude(255);
st.stealthChop(1);
#endif
#if ENABLED(SENSORLESS_HOMING)
st.coolstep_min_speed(1048575);
st.sg_stall_value(STALL_THRESHOLD);
st.sg_filter(1);
st.diag1_stall(1);
st.diag1_active_high(1);
#if ENABLED(HYBRID_THRESHOLD)
st.stealth_max_speed(12650000UL*st.microsteps()/(256*thrs*spmm));
#endif
#elif ENABLED(SENSORLESS_HOMING)
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
#endif
}
#define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS)
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2130_init() {
delay(500); // Let power stabilize before configuring the steppers
constexpr uint16_t steps_per_mm[] = DEFAULT_AXIS_STEPS_PER_UNIT;
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT(X);
_TMC2130_INIT( X, steps_per_mm[X_AXIS]);
#if ENABLED(SENSORLESS_HOMING)
stepperX.sg_stall_value(X_HOMING_SENSITIVITY);
#endif
#endif
#if ENABLED(X2_IS_TMC2130)
_TMC2130_INIT(X2);
_TMC2130_INIT(X2, steps_per_mm[X_AXIS]);
#endif
#if ENABLED(Y_IS_TMC2130)
_TMC2130_INIT(Y);
_TMC2130_INIT( Y, steps_per_mm[Y_AXIS]);
#if ENABLED(SENSORLESS_HOMING)
stepperY.sg_stall_value(Y_HOMING_SENSITIVITY);
#endif
#endif
#if ENABLED(Y2_IS_TMC2130)
_TMC2130_INIT(Y2);
_TMC2130_INIT(Y2, steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Z_IS_TMC2130)
_TMC2130_INIT(Z);
_TMC2130_INIT( Z, steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(Z2_IS_TMC2130)
_TMC2130_INIT(Z2);
_TMC2130_INIT(Z2, steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(E0_IS_TMC2130)
_TMC2130_INIT(E0);
_TMC2130_INIT(E0, steps_per_mm[E_AXIS]);
#endif
#if ENABLED(E1_IS_TMC2130)
_TMC2130_INIT(E1);
{ constexpr int extruder = 1; _TMC2130_INIT(E1, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E2_IS_TMC2130)
_TMC2130_INIT(E2);
{ constexpr int extruder = 2; _TMC2130_INIT(E2, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E3_IS_TMC2130)
_TMC2130_INIT(E3);
{ constexpr int extruder = 3; _TMC2130_INIT(E3, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E4_IS_TMC2130)
_TMC2130_INIT(E4);
{ constexpr int extruder = 4; _TMC2130_INIT(E4, steps_per_mm[E_AXIS_N]); }
#endif
TMC2130_ADV()