/** * Marlin 3D Printer Firmware * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see <http://www.gnu.org/licenses/>. * */ /** stepper_indirection.c - stepper motor driver indirection to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation Part of Marlin Copyright (c) 2015 Dominik Wenger Marlin is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Marlin is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Marlin. If not, see <http://www.gnu.org/licenses/>. */ #include "stepper_indirection.h" #include "MarlinConfig.h" #if ENABLED(HAVE_TMCDRIVER) #include <SPI.h> #include <TMC26XStepper.h> #endif // Stepper objects of TMC steppers used #if ENABLED(X_IS_TMC) TMC26XStepper stepperX(200, X_ENABLE_PIN, X_STEP_PIN, X_DIR_PIN, X_MAX_CURRENT, X_SENSE_RESISTOR); #endif #if ENABLED(X2_IS_TMC) TMC26XStepper stepperX2(200, X2_ENABLE_PIN, X2_STEP_PIN, X2_DIR_PIN, X2_MAX_CURRENT, X2_SENSE_RESISTOR); #endif #if ENABLED(Y_IS_TMC) TMC26XStepper stepperY(200, Y_ENABLE_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_MAX_CURRENT, Y_SENSE_RESISTOR); #endif #if ENABLED(Y2_IS_TMC) TMC26XStepper stepperY2(200, Y2_ENABLE_PIN, Y2_STEP_PIN, Y2_DIR_PIN, Y2_MAX_CURRENT, Y2_SENSE_RESISTOR); #endif #if ENABLED(Z_IS_TMC) TMC26XStepper stepperZ(200, Z_ENABLE_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_MAX_CURRENT, Z_SENSE_RESISTOR); #endif #if ENABLED(Z2_IS_TMC) TMC26XStepper stepperZ2(200, Z2_ENABLE_PIN, Z2_STEP_PIN, Z2_DIR_PIN, Z2_MAX_CURRENT, Z2_SENSE_RESISTOR); #endif #if ENABLED(E0_IS_TMC) TMC26XStepper stepperE0(200, E0_ENABLE_PIN, E0_STEP_PIN, E0_DIR_PIN, E0_MAX_CURRENT, E0_SENSE_RESISTOR); #endif #if ENABLED(E1_IS_TMC) TMC26XStepper stepperE1(200, E1_ENABLE_PIN, E1_STEP_PIN, E1_DIR_PIN, E1_MAX_CURRENT, E1_SENSE_RESISTOR); #endif #if ENABLED(E2_IS_TMC) TMC26XStepper stepperE2(200, E2_ENABLE_PIN, E2_STEP_PIN, E2_DIR_PIN, E2_MAX_CURRENT, E2_SENSE_RESISTOR); #endif #if ENABLED(E3_IS_TMC) TMC26XStepper stepperE3(200, E3_ENABLE_PIN, E3_STEP_PIN, E3_DIR_PIN, E3_MAX_CURRENT, E3_SENSE_RESISTOR); #endif #if ENABLED(HAVE_TMCDRIVER) void tmc_init() { #if ENABLED(X_IS_TMC) stepperX.setMicrosteps(X_MICROSTEPS); stepperX.start(); #endif #if ENABLED(X2_IS_TMC) stepperX2.setMicrosteps(X2_MICROSTEPS); stepperX2.start(); #endif #if ENABLED(Y_IS_TMC) stepperY.setMicrosteps(Y_MICROSTEPS); stepperY.start(); #endif #if ENABLED(Y2_IS_TMC) stepperY2.setMicrosteps(Y2_MICROSTEPS); stepperY2.start(); #endif #if ENABLED(Z_IS_TMC) stepperZ.setMicrosteps(Z_MICROSTEPS); stepperZ.start(); #endif #if ENABLED(Z2_IS_TMC) stepperZ2.setMicrosteps(Z2_MICROSTEPS); stepperZ2.start(); #endif #if ENABLED(E0_IS_TMC) stepperE0.setMicrosteps(E0_MICROSTEPS); stepperE0.start(); #endif #if ENABLED(E1_IS_TMC) stepperE1.setMicrosteps(E1_MICROSTEPS); stepperE1.start(); #endif #if ENABLED(E2_IS_TMC) stepperE2.setMicrosteps(E2_MICROSTEPS); stepperE2.start(); #endif #if ENABLED(E3_IS_TMC) stepperE3.setMicrosteps(E3_MICROSTEPS); stepperE3.start(); #endif } #endif // L6470 Driver objects and inits #if ENABLED(HAVE_L6470DRIVER) #include <SPI.h> #include <L6470.h> #endif // L6470 Stepper objects #if ENABLED(X_IS_L6470) L6470 stepperX(X_ENABLE_PIN); #endif #if ENABLED(X2_IS_L6470) L6470 stepperX2(X2_ENABLE_PIN); #endif #if ENABLED(Y_IS_L6470) L6470 stepperY(Y_ENABLE_PIN); #endif #if ENABLED(Y2_IS_L6470) L6470 stepperY2(Y2_ENABLE_PIN); #endif #if ENABLED(Z_IS_L6470) L6470 stepperZ(Z_ENABLE_PIN); #endif #if ENABLED(Z2_IS_L6470) L6470 stepperZ2(Z2_ENABLE_PIN); #endif #if ENABLED(E0_IS_L6470) L6470 stepperE0(E0_ENABLE_PIN); #endif #if ENABLED(E1_IS_L6470) L6470 stepperE1(E1_ENABLE_PIN); #endif #if ENABLED(E2_IS_L6470) L6470 stepperE2(E2_ENABLE_PIN); #endif #if ENABLED(E3_IS_L6470) L6470 stepperE3(E3_ENABLE_PIN); #endif // init routine #if ENABLED(HAVE_L6470DRIVER) void L6470_init() { #if ENABLED(X_IS_L6470) stepperX.init(X_K_VAL); stepperX.softFree(); stepperX.setMicroSteps(X_MICROSTEPS); stepperX.setOverCurrent(X_OVERCURRENT); //set overcurrent protection stepperX.setStallCurrent(X_STALLCURRENT); #endif #if ENABLED(X2_IS_L6470) stepperX2.init(X2_K_VAL); stepperX2.softFree(); stepperX2.setMicroSteps(X2_MICROSTEPS); stepperX2.setOverCurrent(X2_OVERCURRENT); //set overcurrent protection stepperX2.setStallCurrent(X2_STALLCURRENT); #endif #if ENABLED(Y_IS_L6470) stepperY.init(Y_K_VAL); stepperY.softFree(); stepperY.setMicroSteps(Y_MICROSTEPS); stepperY.setOverCurrent(Y_OVERCURRENT); //set overcurrent protection stepperY.setStallCurrent(Y_STALLCURRENT); #endif #if ENABLED(Y2_IS_L6470) stepperY2.init(Y2_K_VAL); stepperY2.softFree(); stepperY2.setMicroSteps(Y2_MICROSTEPS); stepperY2.setOverCurrent(Y2_OVERCURRENT); //set overcurrent protection stepperY2.setStallCurrent(Y2_STALLCURRENT); #endif #if ENABLED(Z_IS_L6470) stepperZ.init(Z_K_VAL); stepperZ.softFree(); stepperZ.setMicroSteps(Z_MICROSTEPS); stepperZ.setOverCurrent(Z_OVERCURRENT); //set overcurrent protection stepperZ.setStallCurrent(Z_STALLCURRENT); #endif #if ENABLED(Z2_IS_L6470) stepperZ2.init(Z2_K_VAL); stepperZ2.softFree(); stepperZ2.setMicroSteps(Z2_MICROSTEPS); stepperZ2.setOverCurrent(Z2_OVERCURRENT); //set overcurrent protection stepperZ2.setStallCurrent(Z2_STALLCURRENT); #endif #if ENABLED(E0_IS_L6470) stepperE0.init(E0_K_VAL); stepperE0.softFree(); stepperE0.setMicroSteps(E0_MICROSTEPS); stepperE0.setOverCurrent(E0_OVERCURRENT); //set overcurrent protection stepperE0.setStallCurrent(E0_STALLCURRENT); #endif #if ENABLED(E1_IS_L6470) stepperE1.init(E1_K_VAL); stepperE1.softFree(); stepperE1.setMicroSteps(E1_MICROSTEPS); stepperE1.setOverCurrent(E1_OVERCURRENT); //set overcurrent protection stepperE1.setStallCurrent(E1_STALLCURRENT); #endif #if ENABLED(E2_IS_L6470) stepperE2.init(E2_K_VAL); stepperE2.softFree(); stepperE2.setMicroSteps(E2_MICROSTEPS); stepperE2.setOverCurrent(E2_OVERCURRENT); //set overcurrent protection stepperE2.setStallCurrent(E2_STALLCURRENT); #endif #if ENABLED(E3_IS_L6470) stepperE3.init(E3_K_VAL); stepperE3.softFree(); stepperE3.setMicroSteps(E3_MICROSTEPS); stepperE3.setOverCurrent(E3_OVERCURRENT); //set overcurrent protection stepperE3.setStallCurrent(E3_STALLCURRENT); #endif } #endif