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MarlinFirmware/Marlin/stepper_indirection.cpp
Scott Lahteine 42de5b0310 More Trinamic cleanup
2018-05-10 00:10:08 -05:00

632 lines
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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_TMC26X)
#include <SPI.h>
#include <TMC26XStepper.h>
#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_CS_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#if ENABLED(X_IS_TMC26X)
_TMC26X_DEFINE(X);
#endif
#if ENABLED(X2_IS_TMC26X)
_TMC26X_DEFINE(X2);
#endif
#if ENABLED(Y_IS_TMC26X)
_TMC26X_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_TMC26X)
_TMC26X_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_TMC26X)
_TMC26X_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_TMC26X)
_TMC26X_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_TMC26X)
_TMC26X_DEFINE(E0);
#endif
#if ENABLED(E1_IS_TMC26X)
_TMC26X_DEFINE(E1);
#endif
#if ENABLED(E2_IS_TMC26X)
_TMC26X_DEFINE(E2);
#endif
#if ENABLED(E3_IS_TMC26X)
_TMC26X_DEFINE(E3);
#endif
#if ENABLED(E4_IS_TMC26X)
_TMC26X_DEFINE(E4);
#endif
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
void tmc26x_init_to_defaults() {
#if ENABLED(X_IS_TMC26X)
_TMC26X_INIT(X);
#endif
#if ENABLED(X2_IS_TMC26X)
_TMC26X_INIT(X2);
#endif
#if ENABLED(Y_IS_TMC26X)
_TMC26X_INIT(Y);
#endif
#if ENABLED(Y2_IS_TMC26X)
_TMC26X_INIT(Y2);
#endif
#if ENABLED(Z_IS_TMC26X)
_TMC26X_INIT(Z);
#endif
#if ENABLED(Z2_IS_TMC26X)
_TMC26X_INIT(Z2);
#endif
#if ENABLED(E0_IS_TMC26X)
_TMC26X_INIT(E0);
#endif
#if ENABLED(E1_IS_TMC26X)
_TMC26X_INIT(E1);
#endif
#if ENABLED(E2_IS_TMC26X)
_TMC26X_INIT(E2);
#endif
#if ENABLED(E3_IS_TMC26X)
_TMC26X_INIT(E3);
#endif
#if ENABLED(E4_IS_TMC26X)
_TMC26X_INIT(E4);
#endif
}
#endif // HAVE_TMC26X
//
// TMC2130 Driver objects and inits
//
#if ENABLED(HAVE_TMC2130)
#include <SPI.h>
#include <TMC2130Stepper.h>
#include "planner.h"
#include "enum.h"
#if TMC2130STEPPER_VERSION < 0x020201
#error "Update TMC2130Stepper library to 2.2.1 or newer."
#endif
#if ENABLED(TMC_USE_SW_SPI)
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#else
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
#endif
// 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 mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
#if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
UNUSED(thrs);
UNUSED(spmm);
#endif
st.begin();
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
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.hysteresis_start(3);
st.hysteresis_end(2);
#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*microsteps/(256*thrs*spmm));
#endif
#elif ENABLED(SENSORLESS_HOMING)
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
#endif
st.GSTAT(); // Clear GSTAT
}
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2130_init_to_defaults() {
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if ENABLED(X2_IS_TMC2130)
_TMC2130_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if ENABLED(Y_IS_TMC2130)
_TMC2130_INIT( Y, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Y2_IS_TMC2130)
_TMC2130_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Z_IS_TMC2130)
_TMC2130_INIT( Z, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(Z2_IS_TMC2130)
_TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(E0_IS_TMC2130)
_TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if ENABLED(E1_IS_TMC2130)
{ constexpr int extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E2_IS_TMC2130)
{ constexpr int extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E3_IS_TMC2130)
{ constexpr int extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E4_IS_TMC2130)
{ constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(SENSORLESS_HOMING)
#define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperX.sgt(X_HOMING_SENSITIVITY);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperZ.sgt(Z_HOMING_SENSITIVITY);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
}
#endif // HAVE_TMC2130
//
// TMC2208 Driver objects and inits
//
#if ENABLED(HAVE_TMC2208)
#undef HardwareSerial_h // undo Marlin trickery
#include <SoftwareSerial.h>
#include <HardwareSerial.h>
#include <TMC2208Stepper.h>
#include "planner.h"
#if TMC2208STEPPER_VERSION < 0x000101
#error "Update TMC2208Stepper library to 0.1.1 or newer."
#endif
#define _TMC2208_DEFINE_HARDWARE(ST) TMC2208Stepper stepper##ST(&ST##_HARDWARE_SERIAL)
#define _TMC2208_DEFINE_SOFTWARE(ST) SoftwareSerial ST##_HARDWARE_SERIAL = SoftwareSerial(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN); \
TMC2208Stepper stepper##ST(&ST##_HARDWARE_SERIAL, ST##_SERIAL_RX_PIN > -1)
// Stepper objects of TMC2208 steppers used
#if ENABLED(X_IS_TMC2208)
#ifdef X_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(X);
#else
_TMC2208_DEFINE_SOFTWARE(X);
#endif
#endif
#if ENABLED(X2_IS_TMC2208)
#ifdef X2_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(X2);
#else
_TMC2208_DEFINE_SOFTWARE(X2);
#endif
#endif
#if ENABLED(Y_IS_TMC2208)
#ifdef Y_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Y);
#else
_TMC2208_DEFINE_SOFTWARE(Y);
#endif
#endif
#if ENABLED(Y2_IS_TMC2208)
#ifdef Y2_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Y2);
#else
_TMC2208_DEFINE_SOFTWARE(Y2);
#endif
#endif
#if ENABLED(Z_IS_TMC2208)
#ifdef Z_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Z);
#else
_TMC2208_DEFINE_SOFTWARE(Z);
#endif
#endif
#if ENABLED(Z2_IS_TMC2208)
#ifdef Z2_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Z2);
#else
_TMC2208_DEFINE_SOFTWARE(Z2);
#endif
#endif
#if ENABLED(E0_IS_TMC2208)
#ifdef E0_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E0);
#else
_TMC2208_DEFINE_SOFTWARE(E0);
#endif
#endif
#if ENABLED(E1_IS_TMC2208)
#ifdef E1_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E1);
#else
_TMC2208_DEFINE_SOFTWARE(E1);
#endif
#endif
#if ENABLED(E2_IS_TMC2208)
#ifdef E2_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E2);
#else
_TMC2208_DEFINE_SOFTWARE(E2);
#endif
#endif
#if ENABLED(E3_IS_TMC2208)
#ifdef E3_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E3);
#else
_TMC2208_DEFINE_SOFTWARE(E3);
#endif
#endif
#if ENABLED(E4_IS_TMC2208)
#ifdef E4_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E4);
#else
_TMC2208_DEFINE_SOFTWARE(E4);
#endif
#endif
void tmc2208_serial_begin() {
#if ENABLED(X_IS_TMC2208)
X_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(X2_IS_TMC2208)
X2_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(Y_IS_TMC2208)
Y_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(Y2_IS_TMC2208)
Y2_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(Z_IS_TMC2208)
Z_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(Z2_IS_TMC2208)
Z2_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(E0_IS_TMC2208)
E0_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(E1_IS_TMC2208)
E1_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(E2_IS_TMC2208)
E2_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(E3_IS_TMC2208)
E3_HARDWARE_SERIAL.begin(115200);
#endif
#if ENABLED(E4_IS_TMC2208)
E4_HARDWARE_SERIAL.begin(115200);
#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 tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.pdn_disable(true); // Use UART
st.mstep_reg_select(true); // Select microsteps with UART
st.I_scale_analog(false);
st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
st.microsteps(microsteps);
st.blank_time(24);
st.toff(5);
st.intpol(INTERPOLATE);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
st.hysteresis_start(3);
st.hysteresis_end(2);
#if ENABLED(STEALTHCHOP)
st.pwm_lim(12);
st.pwm_reg(8);
st.pwm_autograd(1);
st.pwm_autoscale(1);
st.pwm_freq(1);
st.pwm_grad(14);
st.pwm_ofs(36);
st.en_spreadCycle(false);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
UNUSED(thrs);
UNUSED(spmm);
#endif
#else
st.en_spreadCycle(true);
#endif
st.GSTAT(0b111); // Clear
delay(200);
}
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2208_init_to_defaults() {
#if ENABLED(X_IS_TMC2208)
_TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if ENABLED(X2_IS_TMC2208)
_TMC2208_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
#endif
#if ENABLED(Y_IS_TMC2208)
_TMC2208_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Y2_IS_TMC2208)
_TMC2208_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Z_IS_TMC2208)
_TMC2208_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(Z2_IS_TMC2208)
_TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(E0_IS_TMC2208)
_TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if ENABLED(E1_IS_TMC2208)
{ constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E2_IS_TMC2208)
{ constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E3_IS_TMC2208)
{ constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E4_IS_TMC2208)
{ constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
}
#endif // HAVE_TMC2208
void restore_stepper_drivers() {
#if X_IS_TRINAMIC
stepperX.push();
#endif
#if X2_IS_TRINAMIC
stepperX2.push();
#endif
#if Y_IS_TRINAMIC
stepperY.push();
#endif
#if Y2_IS_TRINAMIC
stepperY2.push();
#endif
#if Z_IS_TRINAMIC
stepperZ.push();
#endif
#if Z2_IS_TRINAMIC
stepperZ2.push();
#endif
#if E0_IS_TRINAMIC
stepperE0.push();
#endif
#if E1_IS_TRINAMIC
stepperE1.push();
#endif
#if E2_IS_TRINAMIC
stepperE2.push();
#endif
#if E3_IS_TRINAMIC
stepperE3.push();
#endif
#if E4_IS_TRINAMIC
stepperE4.push();
#endif
}
void reset_stepper_drivers() {
#if ENABLED(HAVE_TMC26X)
tmc26x_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2130)
tmc2130_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2208)
tmc2208_init_to_defaults();
#endif
#ifdef TMC_ADV
TMC_ADV()
#endif
#if ENABLED(HAVE_L6470DRIVER)
L6470_init_to_defaults();
#endif
}
//
// 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(); \
stepper##A.softFree(); \
stepper##A.setMicroSteps(A##_MICROSTEPS); \
stepper##A.setOverCurrent(A##_OVERCURRENT); \
stepper##A.setStallCurrent(A##_STALLCURRENT); \
}while(0)
void L6470_init_to_defaults() {
#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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