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MarlinFirmware/Marlin/src/module/stepper_indirection.cpp

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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 "../inc/MarlinConfig.h"
#include "stepper.h"
#if HAS_DRIVER(L6470)
#include "L6470/L6470_Marlin.h"
#endif
//
// TMC26X Driver objects and inits
//
#if HAS_DRIVER(TMC26X)
#include <SPI.h>
#ifdef STM32F7
#include "../HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_CS_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_DEFINE(E5);
#endif
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
void tmc26x_init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_INIT(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_INIT(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_INIT(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_INIT(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_INIT(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_INIT(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_INIT(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_INIT(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_INIT(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_INIT(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_INIT(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_INIT(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_INIT(E5);
#endif
}
#endif // TMC26X
#if HAS_TRINAMIC
enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#define _TMC_INIT(ST, SPMM_INDEX, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, planner.settings.axis_steps_per_mm[SPMM_INDEX], stealthchop_by_axis[STEALTH_INDEX])
#endif
//
// TMC2130 Driver objects and inits
//
#if HAS_DRIVER(TMC2130)
#include <SPI.h>
#include "planner.h"
#include "../core/enum.h"
#if ENABLED(TMC_USE_SW_SPI)
#define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
#else
#define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
#endif
// Stepper objects of TMC2130 steppers used
#if AXIS_DRIVER_TYPE_X(TMC2130)
TMC2130_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC2130)
TMC2130_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC2130)
TMC2130_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC2130)
TMC2130_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC2130)
TMC2130_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC2130)
TMC2130_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC2130)
TMC2130_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC2130)
TMC2130_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC2130)
TMC2130_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC2130)
TMC2130_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC2130)
TMC2130_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC2130)
TMC2130_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC2130)
TMC2130_DEFINE(E5);
#endif
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
st.begin();
CHOPCONF_t chopconf{0};
chopconf.tbl = 1;
chopconf.toff = chopper_timing.toff;
chopconf.intpol = INTERPOLATE;
chopconf.hend = chopper_timing.hend + 3;
chopconf.hstrt = chopper_timing.hstrt - 1;
st.CHOPCONF(chopconf.sr);
st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
st.en_pwm_mode(stealth);
st.stored.stealthChop_enabled = stealth;
PWMCONF_t pwmconf{0};
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
pwmconf.pwm_autoscale = true;
pwmconf.pwm_grad = 5;
pwmconf.pwm_ampl = 180;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
UNUSED(thrs);
UNUSED(spmm);
#endif
st.GSTAT(); // Clear GSTAT
}
#endif // TMC2130
//
// TMC2160 Driver objects and inits
//
#if HAS_DRIVER(TMC2160)
#include <SPI.h>
#include "planner.h"
#include "../core/enum.h"
#if ENABLED(TMC_USE_SW_SPI)
#define _TMC2160_DEFINE(ST, L) TMCMarlin<TMC2160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#define TMC2160_DEFINE(ST) _TMC2160_DEFINE(ST, TMC_##ST##_LABEL)
#else
#define _TMC2160_DEFINE(ST, L) TMCMarlin<TMC2160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#define TMC2160_DEFINE(ST) _TMC2160_DEFINE(ST, TMC_##ST##_LABEL)
#endif
// Stepper objects of TMC2160 steppers used
#if AXIS_DRIVER_TYPE(X, TMC2160)
TMC2160_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC2160)
TMC2160_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE(Y, TMC2160)
TMC2160_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC2160)
TMC2160_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE(Z, TMC2160)
TMC2160_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC2160)
TMC2160_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2160)
TMC2160_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2160)
TMC2160_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE(E1, TMC2160)
TMC2160_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE(E2, TMC2160)
TMC2160_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE(E3, TMC2160)
TMC2160_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE(E4, TMC2160)
TMC2160_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE(E5, TMC2160)
TMC2160_DEFINE(E5);
#endif
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
st.begin();
static constexpr int8_t timings[] = CHOPPER_TIMING; // Default 4, -2, 1
CHOPCONF_t chopconf{0};
chopconf.tbl = 1;
chopconf.toff = timings[0];
chopconf.intpol = INTERPOLATE;
chopconf.hend = timings[1] + 3;
chopconf.hstrt = timings[2] - 1;
st.CHOPCONF(chopconf.sr);
st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
st.TCOOLTHRS(0xFFFFF);
#if ENABLED(ADAPTIVE_CURRENT)
COOLCONF_t coolconf{0};
coolconf.semin = INCREASE_CURRENT_THRS;
coolconf.semax = REDUCE_CURRENT_THRS;
st.COOLCONF(coolconf.sr);
#endif
st.en_pwm_mode(stealth);
PWMCONF_t pwmconf{0};
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
pwmconf.pwm_autoscale = true;
pwmconf.pwm_grad = 5;
pwmconf.pwm_ampl = 180;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
UNUSED(thrs);
UNUSED(spmm);
#endif
st.GSTAT(); // Clear GSTAT
}
#endif // TMC2160
//
// TMC2208 Driver objects and inits
//
#if HAS_DRIVER(TMC2208)
#include <HardwareSerial.h>
#include "planner.h"
#define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE)
#define TMC2208_DEFINE_HARDWARE(ST) _TMC2208_DEFINE_HARDWARE(ST, TMC_##ST##_LABEL)
#define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SERIAL_RX_PIN > -1)
#define TMC2208_DEFINE_SOFTWARE(ST) _TMC2208_DEFINE_SOFTWARE(ST, TMC_##ST##_LABEL)
// Stepper objects of TMC2208 steppers used
#if AXIS_DRIVER_TYPE_X(TMC2208)
#ifdef X_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(X);
#else
TMC2208_DEFINE_SOFTWARE(X);
#endif
#endif
#if AXIS_DRIVER_TYPE_X2(TMC2208)
#ifdef X2_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(X2);
#else
TMC2208_DEFINE_SOFTWARE(X2);
#endif
#endif
#if AXIS_DRIVER_TYPE_Y(TMC2208)
#ifdef Y_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(Y);
#else
TMC2208_DEFINE_SOFTWARE(Y);
#endif
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC2208)
#ifdef Y2_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(Y2);
#else
TMC2208_DEFINE_SOFTWARE(Y2);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z(TMC2208)
#ifdef Z_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(Z);
#else
TMC2208_DEFINE_SOFTWARE(Z);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC2208)
#ifdef Z2_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(Z2);
#else
TMC2208_DEFINE_SOFTWARE(Z2);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC2208)
#ifdef Z3_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(Z3);
#else
TMC2208_DEFINE_SOFTWARE(Z3);
#endif
#endif
#if AXIS_DRIVER_TYPE_E0(TMC2208)
#ifdef E0_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(E0);
#else
TMC2208_DEFINE_SOFTWARE(E0);
#endif
#endif
#if AXIS_DRIVER_TYPE_E1(TMC2208)
#ifdef E1_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(E1);
#else
TMC2208_DEFINE_SOFTWARE(E1);
#endif
#endif
#if AXIS_DRIVER_TYPE_E2(TMC2208)
#ifdef E2_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(E2);
#else
TMC2208_DEFINE_SOFTWARE(E2);
#endif
#endif
#if AXIS_DRIVER_TYPE_E3(TMC2208)
#ifdef E3_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(E3);
#else
TMC2208_DEFINE_SOFTWARE(E3);
#endif
#endif
#if AXIS_DRIVER_TYPE_E4(TMC2208)
#ifdef E4_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(E4);
#else
TMC2208_DEFINE_SOFTWARE(E4);
#endif
#endif
#if AXIS_DRIVER_TYPE_E5(TMC2208)
#ifdef E5_HARDWARE_SERIAL
TMC2208_DEFINE_HARDWARE(E5);
#else
TMC2208_DEFINE_SOFTWARE(E5);
#endif
#endif
void tmc2208_serial_begin() {
#if AXIS_DRIVER_TYPE_X(TMC2208)
#ifdef X_HARDWARE_SERIAL
X_HARDWARE_SERIAL.begin(115200);
#else
stepperX.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_X2(TMC2208)
#ifdef X2_HARDWARE_SERIAL
X2_HARDWARE_SERIAL.begin(115200);
#else
stepperX2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Y(TMC2208)
#ifdef Y_HARDWARE_SERIAL
Y_HARDWARE_SERIAL.begin(115200);
#else
stepperY.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC2208)
#ifdef Y2_HARDWARE_SERIAL
Y2_HARDWARE_SERIAL.begin(115200);
#else
stepperY2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z(TMC2208)
#ifdef Z_HARDWARE_SERIAL
Z_HARDWARE_SERIAL.begin(115200);
#else
stepperZ.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC2208)
#ifdef Z2_HARDWARE_SERIAL
Z2_HARDWARE_SERIAL.begin(115200);
#else
stepperZ2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC2208)
#ifdef Z3_HARDWARE_SERIAL
Z3_HARDWARE_SERIAL.begin(115200);
#else
stepperZ3.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E0(TMC2208)
#ifdef E0_HARDWARE_SERIAL
E0_HARDWARE_SERIAL.begin(115200);
#else
stepperE0.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E1(TMC2208)
#ifdef E1_HARDWARE_SERIAL
E1_HARDWARE_SERIAL.begin(115200);
#else
stepperE1.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E2(TMC2208)
#ifdef E2_HARDWARE_SERIAL
E2_HARDWARE_SERIAL.begin(115200);
#else
stepperE2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E3(TMC2208)
#ifdef E3_HARDWARE_SERIAL
E3_HARDWARE_SERIAL.begin(115200);
#else
stepperE3.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E4(TMC2208)
#ifdef E4_HARDWARE_SERIAL
E4_HARDWARE_SERIAL.begin(115200);
#else
stepperE4.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E5(TMC2208)
#ifdef E5_HARDWARE_SERIAL
E5_HARDWARE_SERIAL.begin(115200);
#else
stepperE5.beginSerial(115200);
#endif
#endif
}
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
TMC2208_n::GCONF_t gconf{0};
gconf.pdn_disable = true; // Use UART
gconf.mstep_reg_select = true; // Select microsteps with UART
gconf.i_scale_analog = false;
gconf.en_spreadcycle = !stealth;
st.GCONF(gconf.sr);
st.stored.stealthChop_enabled = stealth;
TMC2208_n::CHOPCONF_t chopconf{0};
chopconf.tbl = 0b01; // blank_time = 24
chopconf.toff = chopper_timing.toff;
chopconf.intpol = INTERPOLATE;
chopconf.hend = chopper_timing.hend + 3;
chopconf.hstrt = chopper_timing.hstrt - 1;
st.CHOPCONF(chopconf.sr);
st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
TMC2208_n::PWMCONF_t pwmconf{0};
pwmconf.pwm_lim = 12;
pwmconf.pwm_reg = 8;
pwmconf.pwm_autograd = true;
pwmconf.pwm_autoscale = true;
pwmconf.pwm_freq = 0b01;
pwmconf.pwm_grad = 14;
pwmconf.pwm_ofs = 36;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
UNUSED(thrs);
UNUSED(spmm);
#endif
st.GSTAT(0b111); // Clear
delay(200);
}
#endif // TMC2208
//
// TMC2660 Driver objects and inits
//
#if HAS_DRIVER(TMC2660)
#include <SPI.h>
#include "planner.h"
#include "../core/enum.h"
#if ENABLED(TMC_USE_SW_SPI)
#define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#define TMC2660_DEFINE(ST) _TMC2660_DEFINE(ST, TMC_##ST##_LABEL)
#else
#define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#define TMC2660_DEFINE(ST) _TMC2660_DEFINE(ST, TMC_##ST##_LABEL)
#endif
// Stepper objects of TMC2660 steppers used
#if AXIS_DRIVER_TYPE_X(TMC2660)
TMC2660_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC2660)
TMC2660_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC2660)
TMC2660_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC2660)
TMC2660_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC2660)
TMC2660_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC2660)
TMC2660_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC2660)
TMC2660_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC2660)
TMC2660_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC2660)
TMC2660_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC2660)
TMC2660_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC2660)
TMC2660_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC2660)
TMC2660_DEFINE(E5);
#endif
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const float, const bool) {
st.begin();
TMC2660_n::CHOPCONF_t chopconf{0};
chopconf.tbl = 1;
chopconf.toff = chopper_timing.toff;
chopconf.hend = chopper_timing.hend + 3;
chopconf.hstrt = chopper_timing.hstrt - 1;
st.CHOPCONF(chopconf.sr);
st.rms_current(mA);
st.microsteps(microsteps);
st.intpol(INTERPOLATE);
st.diss2g(true); // Disable short to ground protection. Too many false readings?
#if ENABLED(TMC_DEBUG)
st.rdsel(0b01);
#endif
}
#endif // TMC2660
//
// TMC5130 Driver objects and inits
//
#if HAS_DRIVER(TMC5130)
#include <SPI.h>
#include "planner.h"
#include "../core/enum.h"
#if ENABLED(TMC_USE_SW_SPI)
#define _TMC5130_DEFINE(ST, L) TMCMarlin<TMC5130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#define TMC5130_DEFINE(ST) _TMC5130_DEFINE(ST, TMC_##ST##_LABEL)
#else
#define _TMC5130_DEFINE(ST, L) TMCMarlin<TMC5130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#define TMC5130_DEFINE(ST) _TMC5130_DEFINE(ST, TMC_##ST##_LABEL)
#endif
// Stepper objects of TMC5130 steppers used
#if AXIS_DRIVER_TYPE_X(TMC5130)
TMC5130_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC5130)
TMC5130_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC5130)
TMC5130_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC5130)
TMC5130_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC5130)
TMC5130_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC5130)
TMC5130_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC5130)
TMC5130_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC5130)
TMC5130_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC5130)
TMC5130_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC5130)
TMC5130_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC5130)
TMC5130_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC5130)
TMC5130_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC5130)
TMC5130_DEFINE(E5);
#endif
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
st.begin();
CHOPCONF_t chopconf{0};
chopconf.tbl = 1;
chopconf.toff = chopper_timing.toff;
chopconf.intpol = INTERPOLATE;
chopconf.hend = chopper_timing.hend + 3;
chopconf.hstrt = chopper_timing.hstrt - 1;
st.CHOPCONF(chopconf.sr);
st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
st.en_pwm_mode(stealth);
st.stored.stealthChop_enabled = stealth;
PWMCONF_t pwmconf{0};
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
pwmconf.pwm_autoscale = true;
pwmconf.pwm_grad = 5;
pwmconf.pwm_ampl = 180;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
UNUSED(thrs);
UNUSED(spmm);
#endif
st.GSTAT(); // Clear GSTAT
}
#endif // TMC5130
//
// TMC5160 Driver objects and inits
//
#if HAS_DRIVER(TMC5160)
#include <SPI.h>
#include "planner.h"
#include "../core/enum.h"
#if ENABLED(TMC_USE_SW_SPI)
#define _TMC5160_DEFINE(ST, L) TMCMarlin<TMC5160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#define TMC5160_DEFINE(ST) _TMC5160_DEFINE(ST, TMC_##ST##_LABEL)
#else
#define _TMC5160_DEFINE(ST, L) TMCMarlin<TMC5160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#define TMC5160_DEFINE(ST) _TMC5160_DEFINE(ST, TMC_##ST##_LABEL)
#endif
// Stepper objects of TMC5160 steppers used
#if AXIS_DRIVER_TYPE(X, TMC5160)
TMC5160_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE(X2, TMC5160)
TMC5160_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE(Y, TMC5160)
TMC5160_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE(Y2, TMC5160)
TMC5160_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE(Z, TMC5160)
TMC5160_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE(Z2, TMC5160)
TMC5160_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC5160)
TMC5160_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC5160)
TMC5160_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE(E1, TMC5160)
TMC5160_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE(E2, TMC5160)
TMC5160_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE(E3, TMC5160)
TMC5160_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE(E4, TMC5160)
TMC5160_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE(E5, TMC5160)
TMC5160_DEFINE(E5);
#endif
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
st.begin();
int8_t timings[] = CHOPPER_TIMING; // Default 4, -2, 1
CHOPCONF_t chopconf{0};
chopconf.tbl = 1;
chopconf.toff = timings[0];
chopconf.intpol = INTERPOLATE;
chopconf.hend = timings[1] + 3;
chopconf.hstrt = timings[2] - 1;
st.CHOPCONF(chopconf.sr);
st.rms_current(mA, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.iholddelay(10);
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
#if ENABLED(ADAPTIVE_CURRENT)
COOLCONF_t coolconf{0};
coolconf.semin = INCREASE_CURRENT_THRS;
coolconf.semax = REDUCE_CURRENT_THRS;
st.COOLCONF(coolconf.sr);
#endif
st.en_pwm_mode(stealth);
PWMCONF_t pwmconf{0};
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
pwmconf.pwm_autoscale = true;
pwmconf.pwm_grad = 5;
pwmconf.pwm_ampl = 180;
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
#else
UNUSED(thrs);
UNUSED(spmm);
#endif
st.GSTAT(); // Clear GSTAT
}
#endif // TMC5160
void restore_stepper_drivers() {
#if AXIS_IS_TMC(X)
stepperX.push();
#endif
#if AXIS_IS_TMC(X2)
stepperX2.push();
#endif
#if AXIS_IS_TMC(Y)
stepperY.push();
#endif
#if AXIS_IS_TMC(Y2)
stepperY2.push();
#endif
#if AXIS_IS_TMC(Z)
stepperZ.push();
#endif
#if AXIS_IS_TMC(Z2)
stepperZ2.push();
#endif
#if AXIS_IS_TMC(Z3)
stepperZ3.push();
#endif
#if AXIS_IS_TMC(E0)
stepperE0.push();
#endif
#if AXIS_IS_TMC(E1)
stepperE1.push();
#endif
#if AXIS_IS_TMC(E2)
stepperE2.push();
#endif
#if AXIS_IS_TMC(E3)
stepperE3.push();
#endif
#if AXIS_IS_TMC(E4)
stepperE4.push();
#endif
#if AXIS_IS_TMC(E5)
stepperE5.push();
#endif
}
void reset_stepper_drivers() {
#if HAS_DRIVER(TMC26X)
tmc26x_init_to_defaults();
#endif
#if HAS_DRIVER(L6470)
L6470.init_to_defaults();
#endif
#if HAS_TRINAMIC
static constexpr bool stealthchop_by_axis[] = {
#if ENABLED(STEALTHCHOP_XY)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_Z)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_E)
true
#else
false
#endif
};
#endif
#if AXIS_IS_TMC(X)
_TMC_INIT(X, X_AXIS, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(X2)
_TMC_INIT(X2, X_AXIS, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Y)
_TMC_INIT(Y, Y_AXIS, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Y2)
_TMC_INIT(Y2, Y_AXIS, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Z)
_TMC_INIT(Z, Z_AXIS, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(Z2)
_TMC_INIT(Z2, Z_AXIS, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(Z3)
_TMC_INIT(Z3, Z_AXIS, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(E0)
_TMC_INIT(E0, E_AXIS, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E1)
_TMC_INIT(E1, E_AXIS_N(1), STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E2)
_TMC_INIT(E2, E_AXIS_N(2), STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E3)
_TMC_INIT(E3, E_AXIS_N(3), STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E4)
_TMC_INIT(E4, E_AXIS_N(4), STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E5)
_TMC_INIT(E5, E_AXIS_N(5), STEALTH_AXIS_E);
#endif
#if USE_SENSORLESS
#if X_SENSORLESS
#if AXIS_HAS_STALLGUARD(X)
stepperX.sgt(X_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(X2)
stepperX2.sgt(X_STALL_SENSITIVITY);
#endif
#endif
#if Y_SENSORLESS
#if AXIS_HAS_STALLGUARD(Y)
stepperY.sgt(Y_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
stepperY2.sgt(Y_STALL_SENSITIVITY);
#endif
#endif
#if Z_SENSORLESS
#if AXIS_HAS_STALLGUARD(Z)
stepperZ.sgt(Z_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
stepperZ2.sgt(Z_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(Z3)
stepperZ3.sgt(Z_STALL_SENSITIVITY);
#endif
#endif
#endif
#ifdef TMC_ADV
TMC_ADV()
#endif
#if HAS_TRINAMIC
stepper.set_directions();
#endif
}
//
// L6470 Driver objects and inits
//
#if HAS_DRIVER(L6470)
// create stepper objects
#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
// L6470 Stepper objects
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_DEFINE(E5);
#endif
// not using L6470 library's init command because it
// briefly sends power to the steppers
#define _L6470_INIT_CHIP(Q) do{ \
stepper##Q.resetDev(); \
stepper##Q.softFree(); \
stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1 \
| CONFIG_PWM_MUL_2 \
| CONFIG_SR_290V_us \
| CONFIG_OC_SD_DISABLE \
| CONFIG_VS_COMP_DISABLE \
| CONFIG_SW_HARD_STOP \
| CONFIG_INT_16MHZ); \
stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF); \
stepper##Q.setMicroSteps(Q##_MICROSTEPS); \
stepper##Q.setOverCurrent(Q##_OVERCURRENT); \
stepper##Q.setStallCurrent(Q##_STALLCURRENT); \
stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE); \
stepper##Q.SetParam(L6470_ABS_POS, 0); \
stepper##Q.getStatus(); \
}while(0)
void L6470_Marlin::init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_INIT_CHIP(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_INIT_CHIP(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_INIT_CHIP(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_INIT_CHIP(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_INIT_CHIP(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_INIT_CHIP(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_INIT_CHIP(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_INIT_CHIP(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_INIT_CHIP(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_INIT_CHIP(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_INIT_CHIP(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_INIT_CHIP(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_INIT_CHIP(E5);
#endif
}
#endif // L6470
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