EINY implementation
This commit is contained in:
michalprusa
parent
3faef75a0d
commit
cabaec95c8
4 changed files with 269 additions and 8 deletions
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@ -264,10 +264,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
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#define DISABLE_E false // For all extruders
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#define DISABLE_E false // For all extruders
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#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
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#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
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#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
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#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
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#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false
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#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true
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#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_E0_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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@ -421,8 +421,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
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// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
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// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
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// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
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// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
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#define DEFAULT_XJERK 10.0 // (mm/sec)
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#define DEFAULT_XJERK 5.0 // (mm/sec)
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#define DEFAULT_YJERK 10.0 // (mm/sec)
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#define DEFAULT_YJERK 5.0 // (mm/sec)
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#define DEFAULT_ZJERK 0.2 // (mm/sec)
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#define DEFAULT_ZJERK 0.2 // (mm/sec)
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#define DEFAULT_EJERK 2.5 // (mm/sec)
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#define DEFAULT_EJERK 2.5 // (mm/sec)
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@ -3,7 +3,7 @@
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#define BOARD_UNKNOWN -1
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#define BOARD_UNKNOWN -1
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#define BOARD_EINY_0_1a 300 // EINY 0.1a
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#define BOARD_RAMBO 301 // Rambo
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#define BOARD_RAMBO 301 // Rambo
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#define BOARD_RAMBO_MINI_1_3 302 // Rambo-mini 1.3
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#define BOARD_RAMBO_MINI_1_3 302 // Rambo-mini 1.3
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#define BOARD_RAMBO_MINI_1_0 102 // Rambo-mini 1.0
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#define BOARD_RAMBO_MINI_1_0 102 // Rambo-mini 1.0
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110
Firmware/pins.h
110
Firmware/pins.h
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@ -318,6 +318,116 @@
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/*****************************************************************
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* EINY Rambo Pin Assignments 0.1a
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******************************************************************/
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#if MOTHERBOARD == 300
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#define ELECTRONICS "EINY_01a"
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#define KNOWN_BOARD
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#ifndef __AVR_ATmega2560__
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#error Oops! Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
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#endif
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#define LARGE_FLASH true
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#define HAVE_TMC2130_DRIVERS
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#define X_STEP_PIN 37
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#define X_DIR_PIN 49
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#define X_MIN_PIN 12
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#define X_MAX_PIN 30
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#define X_ENABLE_PIN 29
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#define X_MS1_PIN -1
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#define X_MS2_PIN -1
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#define X_TMC2130_CS 41
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#define Y_STEP_PIN 36
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#define Y_DIR_PIN 48
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#define Y_MIN_PIN 11
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#define Y_MAX_PIN 24
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#define Y_ENABLE_PIN 28
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#define Y_MS1_PIN -1
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#define Y_MS2_PIN -1
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#define Y_TMC2130_CS 39
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#define Z_STEP_PIN 35
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#define Z_DIR_PIN 47
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#define Z_MIN_PIN 10
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#define Z_MAX_PIN 23
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#define Z_ENABLE_PIN 27
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#define Z_MS1_PIN -1
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#define Z_MS2_PIN -1
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#define Z_TMC2130_CS 67
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#define HEATER_BED_PIN 4
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#define TEMP_BED_PIN 2
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#define HEATER_0_PIN 3
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#define TEMP_0_PIN 0
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#define HEATER_1_PIN 7
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#define TEMP_1_PIN 1
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#ifdef BARICUDA
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#define HEATER_2_PIN 6
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#else
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#define HEATER_2_PIN -1
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#endif
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#define TEMP_2_PIN -1
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#define E0_STEP_PIN 34
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#define E0_DIR_PIN 43
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#define E0_ENABLE_PIN 26
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#define E0_MS1_PIN -1
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#define E0_MS2_PIN -1
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#define E0_TMC2130_CS 66
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#define MOTOR_CURRENT_PWM_XY_PIN 46
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#define MOTOR_CURRENT_PWM_Z_PIN 45
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#define MOTOR_CURRENT_PWM_E_PIN 44
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//Motor current PWM conversion, PWM value = MotorCurrentSetting * 255 / range
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#define MOTOR_CURRENT_PWM_RANGE 2000
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#define DEFAULT_PWM_MOTOR_CURRENT {1300, 1300, 1300}
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//#define DEFAULT_PWM_MOTOR_CURRENT {1100, 1100, 1300}
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#define SDPOWER -1
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#define SDSS 53
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#define LED_PIN 13
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#define FAN_PIN 6
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#define FAN_1_PIN -1
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#define PS_ON_PIN -1
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#define KILL_PIN -1 // 80 with Smart Controller LCD
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#define SUICIDE_PIN -1 // PIN that has to be turned on right after start, to keep power flowing.
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#ifdef ULTRA_LCD
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#define KILL_PIN 32
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#ifdef NEWPANEL
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#define BEEPER 84 // Beeper on AUX-4
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#define LCD_PINS_RS 82
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#define LCD_PINS_ENABLE 18
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#define LCD_PINS_D4 19
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#define LCD_PINS_D5 70
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#define LCD_PINS_D6 85
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#define LCD_PINS_D7 71
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//buttons are directly attached using AUX-2
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#define BTN_EN1 72
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#define BTN_EN2 14
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#define BTN_ENC 9 // the click
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#define SDCARDDETECT 15
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#endif //NEWPANEL
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#endif //ULTRA_LCD
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#endif
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#ifndef KNOWN_BOARD
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#ifndef KNOWN_BOARD
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#error Unknown MOTHERBOARD value in configuration.h
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#error Unknown MOTHERBOARD value in configuration.h
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@ -32,7 +32,9 @@
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#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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#include <SPI.h>
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#include <SPI.h>
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#endif
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#endif
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#ifdef HAVE_TMC2130_DRIVERS
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#include <SPI.h>
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#endif
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//===========================================================================
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//===========================================================================
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//=============================public variables ============================
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//=============================public variables ============================
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@ -630,9 +632,158 @@ ISR(TIMER1_COMPA_vect)
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}
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}
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}
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}
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}
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}
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#ifdef HAVE_TMC2130_DRIVERS
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void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
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{
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uint32_t val32;
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uint8_t val0;
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uint8_t val1;
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uint8_t val2;
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uint8_t val3;
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uint8_t val4;
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//datagram1 - write
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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SPI.transfer(address+0x80);
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SPI.transfer(wval1);
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SPI.transfer(wval2);
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SPI.transfer(wval3);
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SPI.transfer(wval4);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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//datagram2 - response
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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val0 = SPI.transfer(0);
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val1 = SPI.transfer(0);
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val2 = SPI.transfer(0);
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val3 = SPI.transfer(0);
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val4 = SPI.transfer(0);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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MYSERIAL.print("WriteRead 0x");
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MYSERIAL.print(address,HEX);
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MYSERIAL.print(" Status:");
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MYSERIAL.print(val0 & 0b00000111,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val1,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val2,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val3,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val4,BIN);
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val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
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MYSERIAL.print(" 0x");
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MYSERIAL.println(val32,HEX);
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}
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uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address){
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//datagram1 - write
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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SPI.transfer(address);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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uint8_t val0;
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//datagram2 - response
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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val0 = SPI.transfer(0);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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return val0;
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}
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void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16)
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{
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uint8_t mres=0b0100;
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if(microstep_resolution == 256) mres = 0b0000;
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if(microstep_resolution == 128) mres = 0b0001;
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if(microstep_resolution == 64) mres = 0b0010;
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if(microstep_resolution == 32) mres = 0b0011;
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if(microstep_resolution == 16) mres = 0b0100;
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if(microstep_resolution == 8) mres = 0b0101;
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if(microstep_resolution == 4) mres = 0b0110;
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if(microstep_resolution == 2) mres = 0b0111;
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if(microstep_resolution == 1) mres = 0b1000;
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mres |= extrapolate256 << 4; //bit28 intpol
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//tmc2130_write(cs,0x6C,mres,0x01,0x00,0xD3);
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tmc2130_write(cs,0x6C,mres,0x01,0x00,0xC3);
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}
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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)
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{
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tmc2130_write(cs,0x70,0x00,(PWMautoScale+PWMfreq),PWMgrad,PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
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}
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void tmc2130_PWMthreshold(uint8_t cs)
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{
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tmc2130_write(cs,0x13,0x00,0x00,0x00,0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
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}
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#endif //HAVE_TMC2130_DRIVERS
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void tmc2130_init()
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{
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#ifdef HAVE_TMC2130_DRIVERS
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uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
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uint8_t current[4] = { 31, 31, 31, 31 };
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WRITE(X_TMC2130_CS, HIGH);
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WRITE(Y_TMC2130_CS, HIGH);
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WRITE(Z_TMC2130_CS, HIGH);
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WRITE(E0_TMC2130_CS, HIGH);
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SET_OUTPUT(X_TMC2130_CS);
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SET_OUTPUT(Y_TMC2130_CS);
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SET_OUTPUT(Z_TMC2130_CS);
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SET_OUTPUT(E0_TMC2130_CS);
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SPI.begin();
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for(int i=0;i<4;i++)
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{
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//tmc2130_write(cs[i],0x6C,0b10100,01,00,0xC5);
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tmc2130_chopconf(cs[i],1,16);
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tmc2130_write(cs[i],0x10,0,15,current[i],current[i]); //0x10 IHOLD_IRUN
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//tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF
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tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF - activate stealthChop
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//tmc2130_write(cs[i],0x11,0,0,0,0xA);
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// Uncomment lines below to use a different configuration (pwm_autoscale = 0) for XY axes
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// if(i==0 || i==1)
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// tmc2130_PWMconf(cs[i],PWM_AUTOSCALE_XY,PWM_FREQ_XY,PWM_GRAD_XY,PWM_AMPL_XY); //address=0x70 PWM_CONF //reset default=0x00050480
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// else
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tmc2130_PWMconf(cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
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tmc2130_PWMthreshold(cs[i]);
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}
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tmc2130_chopconf(cs[3],0,256);
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#endif
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}
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void st_init()
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void st_init()
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{
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{
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tmc2130_init(); //Initialize TMC2130 drivers
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digipot_init(); //Initialize Digipot Motor Current
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digipot_init(); //Initialize Digipot Motor Current
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microstep_init(); //Initialize Microstepping Pins
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microstep_init(); //Initialize Microstepping Pins
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