From 5fff8d148bd50bf2791ee809932dfad6d2a480b1 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 25 Sep 2016 06:32:58 -0500
Subject: [PATCH] Clean up digital pots and microsteps
---
Marlin/Conditionals_post.h | 5 +-
Marlin/Marlin_main.cpp | 21 +--
Marlin/stepper.cpp | 276 ++++++++++++++++++++-----------------
Marlin/stepper.h | 18 ++-
4 files changed, 178 insertions(+), 142 deletions(-)
diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h
index 1b5e4188ec9..d23c82299e3 100644
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@@ -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))
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 1b3550d48cf..ced90647226 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -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
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index f0c4f27fe9e..06183a7f5fe 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -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;
+#endif
+
+#if HAS_MICROSTEPS
+
+ /**
+ * Software-controlled Microstepping
+ */
+
+ 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
+ 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]);
- #endif
-}
+ }
-/**
- * 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;
+ #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_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_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));
+ #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
- case 4: digitalWrite(E1_MS1_PIN, ms1); break;
+ SERIAL_PROTOCOLPGM("E1: ");
+ SERIAL_PROTOCOL(READ(E1_MS1_PIN));
+ SERIAL_PROTOCOLLN(READ(E1_MS2_PIN));
#endif
}
- 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_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
-}
+#endif // HAS_MICROSTEPS
#if ENABLED(LIN_ADVANCE)
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 995aaea82c8..a1c62fe9416 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -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
};