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MarlinFirmware/Marlin/stepper_indirection.cpp
Scott Lahteine 4067d15c92 Cleanup, extend TMC2130 implementation
2017-04-14 23:00:00 -05:00

339 lines
8.3 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
#if ENABLED(E4_IS_TMC)
_TMC_DEFINE(E4);
#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
#if ENABLED(E4_IS_TMC)
_TMC_INIT(E4);
#endif
}
#endif // HAVE_TMCDRIVER
//
// TMC2130 Driver objects and inits
//
#if ENABLED(HAVE_TMC2130)
#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##_CS_PIN)
// 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
#if ENABLED(E4_IS_TMC2130)
_TMC2130_DEFINE(E4);
#endif
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
// 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(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);
#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, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2130_init() {
constexpr uint16_t steps_per_mm[] = DEFAULT_AXIS_STEPS_PER_UNIT;
#if ENABLED(X_IS_TMC2130)
_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, steps_per_mm[X_AXIS]);
#endif
#if ENABLED(Y_IS_TMC2130)
_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, steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Z_IS_TMC2130)
_TMC2130_INIT( Z, steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(Z2_IS_TMC2130)
_TMC2130_INIT(Z2, steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(E0_IS_TMC2130)
_TMC2130_INIT(E0, steps_per_mm[E_AXIS]);
#endif
#if ENABLED(E1_IS_TMC2130)
{ constexpr int extruder = 1; _TMC2130_INIT(E1, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E2_IS_TMC2130)
{ constexpr int extruder = 2; _TMC2130_INIT(E2, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E3_IS_TMC2130)
{ constexpr int extruder = 3; _TMC2130_INIT(E3, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E4_IS_TMC2130)
{ constexpr int extruder = 4; _TMC2130_INIT(E4, steps_per_mm[E_AXIS_N]); }
#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
#if ENABLED(E4_IS_L6470)
_L6470_DEFINE(E4);
#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
#if ENABLED(E4_IS_L6470)
_L6470_INIT(E4);
#endif
}
#endif // HAVE_L6470DRIVER
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