diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h index eba8eb67..35ce9e39 100644 --- a/Firmware/Configuration.h +++ b/Firmware/Configuration.h @@ -264,10 +264,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define DISABLE_E false // For all extruders #define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled -#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true -#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false -#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true -#define INVERT_E0_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true +#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false +#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true +#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false #define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false #define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false @@ -421,8 +421,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of // #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously) -#define DEFAULT_XJERK 10.0 // (mm/sec) -#define DEFAULT_YJERK 10.0 // (mm/sec) +#define DEFAULT_XJERK 5.0 // (mm/sec) +#define DEFAULT_YJERK 5.0 // (mm/sec) #define DEFAULT_ZJERK 0.2 // (mm/sec) #define DEFAULT_EJERK 2.5 // (mm/sec) diff --git a/Firmware/boards.h b/Firmware/boards.h index 197093b5..c4566296 100644 --- a/Firmware/boards.h +++ b/Firmware/boards.h @@ -3,7 +3,7 @@ #define BOARD_UNKNOWN -1 - +#define BOARD_EINY_0_1a 300 // EINY 0.1a #define BOARD_RAMBO 301 // Rambo #define BOARD_RAMBO_MINI_1_3 302 // Rambo-mini 1.3 #define BOARD_RAMBO_MINI_1_0 102 // Rambo-mini 1.0 diff --git a/Firmware/pins.h b/Firmware/pins.h index 9a979fdd..21975700 100644 --- a/Firmware/pins.h +++ b/Firmware/pins.h @@ -318,6 +318,116 @@ +/***************************************************************** + * EINY Rambo Pin Assignments 0.1a + ******************************************************************/ +#if MOTHERBOARD == 300 +#define ELECTRONICS "EINY_01a" +#define KNOWN_BOARD +#ifndef __AVR_ATmega2560__ +#error Oops! Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu. +#endif + +#define LARGE_FLASH true +#define HAVE_TMC2130_DRIVERS + +#define X_STEP_PIN 37 +#define X_DIR_PIN 49 +#define X_MIN_PIN 12 +#define X_MAX_PIN 30 +#define X_ENABLE_PIN 29 +#define X_MS1_PIN -1 +#define X_MS2_PIN -1 +#define X_TMC2130_CS 41 + +#define Y_STEP_PIN 36 +#define Y_DIR_PIN 48 +#define Y_MIN_PIN 11 +#define Y_MAX_PIN 24 +#define Y_ENABLE_PIN 28 +#define Y_MS1_PIN -1 +#define Y_MS2_PIN -1 +#define Y_TMC2130_CS 39 + +#define Z_STEP_PIN 35 +#define Z_DIR_PIN 47 +#define Z_MIN_PIN 10 +#define Z_MAX_PIN 23 +#define Z_ENABLE_PIN 27 +#define Z_MS1_PIN -1 +#define Z_MS2_PIN -1 +#define Z_TMC2130_CS 67 + +#define HEATER_BED_PIN 4 +#define TEMP_BED_PIN 2 + +#define HEATER_0_PIN 3 +#define TEMP_0_PIN 0 + +#define HEATER_1_PIN 7 +#define TEMP_1_PIN 1 + +#ifdef BARICUDA +#define HEATER_2_PIN 6 +#else +#define HEATER_2_PIN -1 +#endif + +#define TEMP_2_PIN -1 + +#define E0_STEP_PIN 34 +#define E0_DIR_PIN 43 +#define E0_ENABLE_PIN 26 +#define E0_MS1_PIN -1 +#define E0_MS2_PIN -1 +#define E0_TMC2130_CS 66 + +#define MOTOR_CURRENT_PWM_XY_PIN 46 +#define MOTOR_CURRENT_PWM_Z_PIN 45 +#define MOTOR_CURRENT_PWM_E_PIN 44 +//Motor current PWM conversion, PWM value = MotorCurrentSetting * 255 / range +#define MOTOR_CURRENT_PWM_RANGE 2000 +#define DEFAULT_PWM_MOTOR_CURRENT {1300, 1300, 1300} +//#define DEFAULT_PWM_MOTOR_CURRENT {1100, 1100, 1300} +#define SDPOWER -1 +#define SDSS 53 +#define LED_PIN 13 +#define FAN_PIN 6 +#define FAN_1_PIN -1 +#define PS_ON_PIN -1 +#define KILL_PIN -1 // 80 with Smart Controller LCD +#define SUICIDE_PIN -1 // PIN that has to be turned on right after start, to keep power flowing. + +#ifdef ULTRA_LCD + +#define KILL_PIN 32 + +#ifdef NEWPANEL + +#define BEEPER 84 // Beeper on AUX-4 +#define LCD_PINS_RS 82 +#define LCD_PINS_ENABLE 18 +#define LCD_PINS_D4 19 +#define LCD_PINS_D5 70 +#define LCD_PINS_D6 85 +#define LCD_PINS_D7 71 + +//buttons are directly attached using AUX-2 +#define BTN_EN1 72 +#define BTN_EN2 14 +#define BTN_ENC 9 // the click + +#define SDCARDDETECT 15 + +#endif //NEWPANEL +#endif //ULTRA_LCD + + +#endif + + + + #ifndef KNOWN_BOARD #error Unknown MOTHERBOARD value in configuration.h diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 919c5591..c54848b9 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -32,7 +32,9 @@ #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 #include #endif - +#ifdef HAVE_TMC2130_DRIVERS +#include +#endif //=========================================================================== //=============================public variables ============================ @@ -630,9 +632,158 @@ ISR(TIMER1_COMPA_vect) } } } +#ifdef HAVE_TMC2130_DRIVERS + void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4) + { + uint32_t val32; + uint8_t val0; + uint8_t val1; + uint8_t val2; + uint8_t val3; + uint8_t val4; + + //datagram1 - write + SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3)); + digitalWrite(chipselect,LOW); + SPI.transfer(address+0x80); + SPI.transfer(wval1); + SPI.transfer(wval2); + SPI.transfer(wval3); + SPI.transfer(wval4); + digitalWrite(chipselect, HIGH); + SPI.endTransaction(); + + //datagram2 - response + SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3)); + digitalWrite(chipselect,LOW); + val0 = SPI.transfer(0); + val1 = SPI.transfer(0); + val2 = SPI.transfer(0); + val3 = SPI.transfer(0); + val4 = SPI.transfer(0); + digitalWrite(chipselect, HIGH); + SPI.endTransaction(); + + MYSERIAL.print("WriteRead 0x"); + MYSERIAL.print(address,HEX); + MYSERIAL.print(" Status:"); + MYSERIAL.print(val0 & 0b00000111,BIN); + MYSERIAL.print(" "); + MYSERIAL.print(val1,BIN); + MYSERIAL.print(" "); + MYSERIAL.print(val2,BIN); + MYSERIAL.print(" "); + MYSERIAL.print(val3,BIN); + MYSERIAL.print(" "); + MYSERIAL.print(val4,BIN); + + val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4; + MYSERIAL.print(" 0x"); + MYSERIAL.println(val32,HEX); + } + + uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address){ + + + //datagram1 - write + SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3)); + digitalWrite(chipselect,LOW); + SPI.transfer(address); + SPI.transfer(0x00); + SPI.transfer(0x00); + SPI.transfer(0x00); + SPI.transfer(0x00); + digitalWrite(chipselect, HIGH); + SPI.endTransaction(); + + uint8_t val0; + + //datagram2 - response + SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3)); + digitalWrite(chipselect,LOW); + val0 = SPI.transfer(0); + digitalWrite(chipselect, HIGH); + SPI.endTransaction(); + + return val0; + + + } + + void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16) + { + uint8_t mres=0b0100; + if(microstep_resolution == 256) mres = 0b0000; + if(microstep_resolution == 128) mres = 0b0001; + if(microstep_resolution == 64) mres = 0b0010; + if(microstep_resolution == 32) mres = 0b0011; + if(microstep_resolution == 16) mres = 0b0100; + if(microstep_resolution == 8) mres = 0b0101; + if(microstep_resolution == 4) mres = 0b0110; + if(microstep_resolution == 2) mres = 0b0111; + if(microstep_resolution == 1) mres = 0b1000; + + mres |= extrapolate256 << 4; //bit28 intpol + + //tmc2130_write(cs,0x6C,mres,0x01,0x00,0xD3); + tmc2130_write(cs,0x6C,mres,0x01,0x00,0xC3); + } + + void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale = PWM_AUTOSCALE, uint8_t PWMfreq = PWM_FREQ, uint8_t PWMgrad = PWM_GRAD, uint8_t PWMampl = PWM_AMPL) + { + tmc2130_write(cs,0x70,0x00,(PWMautoScale+PWMfreq),PWMgrad,PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq + } + + void tmc2130_PWMthreshold(uint8_t cs) + { + tmc2130_write(cs,0x13,0x00,0x00,0x00,0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically + } + +#endif //HAVE_TMC2130_DRIVERS + + void tmc2130_init() + { +#ifdef HAVE_TMC2130_DRIVERS + uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS }; + uint8_t current[4] = { 31, 31, 31, 31 }; + + WRITE(X_TMC2130_CS, HIGH); + WRITE(Y_TMC2130_CS, HIGH); + WRITE(Z_TMC2130_CS, HIGH); + WRITE(E0_TMC2130_CS, HIGH); + SET_OUTPUT(X_TMC2130_CS); + SET_OUTPUT(Y_TMC2130_CS); + SET_OUTPUT(Z_TMC2130_CS); + SET_OUTPUT(E0_TMC2130_CS); + + SPI.begin(); + + for(int i=0;i<4;i++) + { + //tmc2130_write(cs[i],0x6C,0b10100,01,00,0xC5); + tmc2130_chopconf(cs[i],1,16); + tmc2130_write(cs[i],0x10,0,15,current[i],current[i]); //0x10 IHOLD_IRUN + //tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF + tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF - activate stealthChop + //tmc2130_write(cs[i],0x11,0,0,0,0xA); + + // Uncomment lines below to use a different configuration (pwm_autoscale = 0) for XY axes + // if(i==0 || i==1) + // tmc2130_PWMconf(cs[i],PWM_AUTOSCALE_XY,PWM_FREQ_XY,PWM_GRAD_XY,PWM_AMPL_XY); //address=0x70 PWM_CONF //reset default=0x00050480 + // else + tmc2130_PWMconf(cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480 + tmc2130_PWMthreshold(cs[i]); + } + tmc2130_chopconf(cs[3],0,256); +#endif + } + + + void st_init() { + tmc2130_init(); //Initialize TMC2130 drivers digipot_init(); //Initialize Digipot Motor Current microstep_init(); //Initialize Microstepping Pins