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MarlinFirmware/Marlin/stepper_indirection.cpp
Scott Lahteine 45f949d833 TMC2130 Library: @teemuatlut replaces @makertum
2017-03-07 04:22:06 -06:00

307 lines
6.8 KiB
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/**
* 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.cpp
*
* 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
*/
#include "stepper_indirection.h"
#include "MarlinConfig.h"
//
// TMC26X Driver objects and inits
//
#if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h>
#include <TMC26XStepper.h>
#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#if ENABLED(X_IS_TMC)
_TMC_DEFINE(X);
#endif
#if ENABLED(X2_IS_TMC)
_TMC_DEFINE(X2);
#endif
#if ENABLED(Y_IS_TMC)
_TMC_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_TMC)
_TMC_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_TMC)
_TMC_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_TMC)
_TMC_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_TMC)
_TMC_DEFINE(E0);
#endif
#if ENABLED(E1_IS_TMC)
_TMC_DEFINE(E1);
#endif
#if ENABLED(E2_IS_TMC)
_TMC_DEFINE(E2);
#endif
#if ENABLED(E3_IS_TMC)
_TMC_DEFINE(E3);
#endif
#define _TMC_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
void tmc_init() {
#if ENABLED(X_IS_TMC)
_TMC_INIT(X);
#endif
#if ENABLED(X2_IS_TMC)
_TMC_INIT(X2);
#endif
#if ENABLED(Y_IS_TMC)
_TMC_INIT(Y);
#endif
#if ENABLED(Y2_IS_TMC)
_TMC_INIT(Y2);
#endif
#if ENABLED(Z_IS_TMC)
_TMC_INIT(Z);
#endif
#if ENABLED(Z2_IS_TMC)
_TMC_INIT(Z2);
#endif
#if ENABLED(E0_IS_TMC)
_TMC_INIT(E0);
#endif
#if ENABLED(E1_IS_TMC)
_TMC_INIT(E1);
#endif
#if ENABLED(E2_IS_TMC)
_TMC_INIT(E2);
#endif
#if ENABLED(E3_IS_TMC)
_TMC_INIT(E3);
#endif
}
#endif // HAVE_TMCDRIVER
//
// TMC2130 Driver objects and inits
//
#if ENABLED(HAVE_TMC2130)
#include <SPI.h>
#include <TMC2130Stepper.h>
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT)
// Stepper objects of TMC2130 steppers used
#if ENABLED(X_IS_TMC2130)
_TMC2130_DEFINE(X);
#endif
#if ENABLED(X2_IS_TMC2130)
_TMC2130_DEFINE(X2);
#endif
#if ENABLED(Y_IS_TMC2130)
_TMC2130_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
_TMC2130_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_TMC2130)
_TMC2130_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_TMC2130)
_TMC2130_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_TMC2130)
_TMC2130_DEFINE(E0);
#endif
#if ENABLED(E1_IS_TMC2130)
_TMC2130_DEFINE(E1);
#endif
#if ENABLED(E2_IS_TMC2130)
_TMC2130_DEFINE(E2);
#endif
#if ENABLED(E3_IS_TMC2130)
_TMC2130_DEFINE(E3);
#endif
// 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) {
st.begin();
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.off_time(8);
st.interpolate(INTERPOLATE);
#if ENABLED(STEALTHCHOP)
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);
#endif
}
#define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS)
void tmc2130_init() {
delay(500); // Let power stabilize before configuring the steppers
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT(X);
#endif
#if ENABLED(X2_IS_TMC2130)
_TMC2130_INIT(X2);
#endif
#if ENABLED(Y_IS_TMC2130)
_TMC2130_INIT(Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
_TMC2130_INIT(Y2);
#endif
#if ENABLED(Z_IS_TMC2130)
_TMC2130_INIT(Z);
#endif
#if ENABLED(Z2_IS_TMC2130)
_TMC2130_INIT(Z2);
#endif
#if ENABLED(E0_IS_TMC2130)
_TMC2130_INIT(E0);
#endif
#if ENABLED(E1_IS_TMC2130)
_TMC2130_INIT(E1);
#endif
#if ENABLED(E2_IS_TMC2130)
_TMC2130_INIT(E2);
#endif
#if ENABLED(E3_IS_TMC2130)
_TMC2130_INIT(E3);
#endif
TMC2130_ADV()
}
#endif // HAVE_TMC2130
//
// L6470 Driver objects and inits
//
#if ENABLED(HAVE_L6470DRIVER)
#include <SPI.h>
#include <L6470.h>
#define _L6470_DEFINE(ST) L6470 stepper##ST(ST##_ENABLE_PIN)
// L6470 Stepper objects
#if ENABLED(X_IS_L6470)
_L6470_DEFINE(X);
#endif
#if ENABLED(X2_IS_L6470)
_L6470_DEFINE(X2);
#endif
#if ENABLED(Y_IS_L6470)
_L6470_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_L6470)
_L6470_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_L6470)
_L6470_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_L6470)
_L6470_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_L6470)
_L6470_DEFINE(E0);
#endif
#if ENABLED(E1_IS_L6470)
_L6470_DEFINE(E1);
#endif
#if ENABLED(E2_IS_L6470)
_L6470_DEFINE(E2);
#endif
#if ENABLED(E3_IS_L6470)
_L6470_DEFINE(E3);
#endif
#define _L6470_INIT(A) do{ \
stepper##A.init(A##_K_VAL); \
stepper##A.softFree(); \
stepper##A.setMicroSteps(A##_MICROSTEPS); \
stepper##A.setOverCurrent(A##_OVERCURRENT); \
stepper##A.setStallCurrent(A##_STALLCURRENT); \
} while(0)
void L6470_init() {
#if ENABLED(X_IS_L6470)
_L6470_INIT(X);
#endif
#if ENABLED(X2_IS_L6470)
_L6470_INIT(X2);
#endif
#if ENABLED(Y_IS_L6470)
_L6470_INIT(Y);
#endif
#if ENABLED(Y2_IS_L6470)
_L6470_INIT(Y2);
#endif
#if ENABLED(Z_IS_L6470)
_L6470_INIT(Z);
#endif
#if ENABLED(Z2_IS_L6470)
_L6470_INIT(Z2);
#endif
#if ENABLED(E0_IS_L6470)
_L6470_INIT(E0);
#endif
#if ENABLED(E1_IS_L6470)
_L6470_INIT(E1);
#endif
#if ENABLED(E2_IS_L6470)
_L6470_INIT(E2);
#endif
#if ENABLED(E3_IS_L6470)
_L6470_INIT(E3);
#endif
}
#endif // HAVE_L6470DRIVER
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