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TMC2130 Library: @teemuatlut replaces @makertum

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This commit is contained in:
Scott Lahteine 2017-03-06 23:00:43 -06:00
parent 33f8a8a344
commit 45f949d833
8 changed files with 570 additions and 679 deletions
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8
.travis.yml
View file

@ -47,8 +47,8 @@ install:
# - sudo mv TMC26XStepper /usr/local/share/arduino/libraries/TMC26XStepper
#
# Install: TMC2130 Stepper Motor Controller library
- git clone https://github.com/MarlinFirmware/Trinamic_TMC2130.git
- sudo mv Trinamic_TMC2130/Trinamic_TMC2130 /usr/local/share/arduino/libraries/Trinamic_TMC2130
- git clone https://github.com/teemuatlut/TMC2130Stepper.git
- sudo mv TMC2130Stepper /usr/local/share/arduino/libraries/TMC2130Stepper
#
before_script:
#
@ -396,7 +396,9 @@ script:
# TMC2130 Config
#
- restore_configs
- opt_enable_adv HAVE_TMC2130DRIVER X_IS_TMC2130 Y_IS_TMC2130 Z_IS_TMC2130 E0_IS_TMC2130
- opt_enable_adv HAVE_TMC2130 X_IS_TMC2130 Y_IS_TMC2130 Z_IS_TMC2130
- build_marlin
- opt_enable_adv AUTOMATIC_CURRENT_CONTROL STEALTHCHOP
- build_marlin
#
# tvrrug Config need to check board type for sanguino atmega644p

247
Marlin/Configuration_adv.h
View file

@ -761,14 +761,15 @@
// even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
#endif
/******************************************************************************\
* enable this section if you have TMC26X motor drivers.
* you need to import the TMC26XStepper library into the Arduino IDE for this
******************************************************************************/
// @section tmc
/**
* Enable this section if you have TMC26X motor drivers.
* You will need to import the TMC26XStepper library into the Arduino IDE for this
* (https://github.com/trinamic/TMC26XStepper.git)
*/
//#define HAVE_TMCDRIVER
#if ENABLED(HAVE_TMCDRIVER)
//#define X_IS_TMC
@ -826,23 +827,31 @@
// @section TMC2130
/**
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
*
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
* (https://github.com/makertum/Trinamic_TMC2130).
* You'll also need the TMC2130Stepper Arduino library
* (https://github.com/teemuatlut/TMC2130Stepper).
*
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
* the hardware SPI interface on your board and define the required CS pins
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
*/
//#define HAVE_TMC2130
//#define HAVE_TMC2130DRIVER
#if ENABLED(HAVE_TMC2130)
#define STEALTHCHOP
#if ENABLED(HAVE_TMC2130DRIVER)
//#define TMC2130_ADVANCED_CONFIGURATION
/**
* Let Marlin automatically control stepper current.
* This is still an experimental feature.
* Increase current every 5s by CURRENT_STEP until stepper temperature prewarn gets triggered,
* then decrease current by CURRENT_STEP until temperature prewarn is cleared.
* Adjusting starts from X/Y/Z/E_MAX_CURRENT but will not increase over AUTO_ADJUST_MAX
*/
//#define AUTOMATIC_CURRENT_CONTROL
#define CURRENT_STEP 50 // [mA]
#define AUTO_ADJUST_MAX 1300 // [mA], 1300mA_rms = 1840mA_peak
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
//#define X_IS_TMC2130
@ -856,182 +865,68 @@
//#define E2_IS_TMC2130
//#define E3_IS_TMC2130
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
/**
* Stepper driver settings
*/
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
// All settings here have the same (sometimes cryptic) names as in the datasheet.
//
// The following, uncommented settings are only suggestion.
#define R_SENSE 0.11 // R_sense resistor for SilentStepStick2130
#define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current
#define INTERPOLATE 1 // Interpolate X/Y/Z_MICROSTEPS to 256
/* GENERAL CONFIGURATION */
#define X_MAX_CURRENT 1000 // rms current in mA
#define X_MICROSTEPS 16 // FULLSTEP..256
#define X_CHIP_SELECT 40 // Pin
//#define GLOBAL_EN_PWM_MODE 0
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
#define Y_MAX_CURRENT 1000
#define Y_MICROSTEPS 16
#define Y_CHIP_SELECT 42
/* VELOCITY-DEPENDENT DRIVE FEATURES */
#define Z_MAX_CURRENT 1000
#define Z_MICROSTEPS 16
#define Z_CHIP_SELECT 65
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
//#define X2_MAX_CURRENT 1000
//#define X2_MICROSTEPS 16
//#define X2_CHIP_SELECT -1
/* SPI MODE CONFIGURATION */
//#define Y2_MAX_CURRENT 1000
//#define Y2_MICROSTEPS 16
//#define Y2_CHIP_SELECT -1
//#define GLOBAL_XDIRECT 0
//#define Z2_MAX_CURRENT 1000
//#define Z2_MICROSTEPS 16
//#define Z2_CHIP_SELECT -1
/* DCSTEP MINIMUM VELOCITY */
//#define E0_MAX_CURRENT 1000
//#define E0_MICROSTEPS 16
//#define E0_CHIP_SELECT -1
//#define GLOBAL_VDCMIN 0
//#define E1_MAX_CURRENT 1000
//#define E1_MICROSTEPS 16
//#define E1_CHIP_SELECT -1
/* MOTOR DRIVER CONFIGURATION*/
//#define E2_MAX_CURRENT 1000
//#define E2_MICROSTEPS 16
//#define E2_CHIP_SELECT -1
//#define GLOBAL_DEDGE 0
//#define GLOBAL_DISS2G 0
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
#define GLOBAL_MRES 16 // number of microsteps
#define GLOBAL_SYNC 1 // [0-15]
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
//#define GLOBAL_RNDTF 0
//#define GLOBAL_DISFDCC 0
//#define GLOBAL_FD 0
//#define GLOBAL_HEND 0
//#define GLOBAL_HSTRT 0
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
//#define E3_MAX_CURRENT 1000
//#define E3_MICROSTEPS 16
//#define E3_CHIP_SELECT -1
//#define GLOBAL_SFILT 0
//#define GLOBAL_SGT 0
//#define GLOBAL_SEIMIN 0
//#define GLOBAL_SEDN 0
//#define GLOBAL_SEMAX 0
//#define GLOBAL_SEUP 0
//#define GLOBAL_SEMIN 0
/**
* You can set your own advanced settings by filling in predefined functions.
* A list of available functions can be found on the library github page
* https://github.com/teemuatlut/TMC2130Stepper
*
* Example:
* #define TMC2130_ADV() { \
* stepperX.diag0_temp_prewarn(1); \
* stepperX.interpolate(0); \
* }
*/
#define TMC2130_ADV() { }
//#define GLOBAL_DC_TIME 0
//#define GLOBAL_DC_SG 0
//#define GLOBAL_FREEWHEEL 0
//#define GLOBAL_PWM_SYMMETRIC 0
//#define GLOBAL_PWM_AUTOSCALE 0
//#define GLOBAL_PWM_FREQ 0
//#define GLOBAL_PWM_GRAD 0
//#define GLOBAL_PWM_AMPL 0
//#define GLOBAL_ENCM_CTRL 0
#else
#define X_IHOLD 31 // [0-31] 0: min, 31: max
#define X_IRUN 31 // [0-31] 0: min, 31: max
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
#define X_MRES 16 // number of microsteps
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
#define X2_IHOLD 31
#define X2_IRUN 31
#define X2_IHOLDDELAY 15
#define X2_I_SCALE_ANALOG 1
#define X2_MRES 16
#define X2_TBL 1
#define X2_TOFF 8
#define Y_IHOLD 31
#define Y_IRUN 31
#define Y_IHOLDDELAY 15
#define Y_I_SCALE_ANALOG 1
#define Y_MRES 16
#define Y_TBL 1
#define Y_TOFF 8
#define Y2_IHOLD 31
#define Y2_IRUN 31
#define Y2_IHOLDDELAY 15
#define Y2_I_SCALE_ANALOG 1
#define Y2_MRES 16
#define Y2_TBL 1
#define Y2_TOFF 8
#define Z_IHOLD 31
#define Z_IRUN 31
#define Z_IHOLDDELAY 15
#define Z_I_SCALE_ANALOG 1
#define Z_MRES 16
#define Z_TBL 1
#define Z_TOFF 8
#define Z2_IHOLD 31
#define Z2_IRUN 31
#define Z2_IHOLDDELAY 15
#define Z2_I_SCALE_ANALOG 1
#define Z2_MRES 16
#define Z2_TBL 1
#define Z2_TOFF 8
#define E0_IHOLD 31
#define E0_IRUN 31
#define E0_IHOLDDELAY 15
#define E0_I_SCALE_ANALOG 1
#define E0_MRES 16
#define E0_TBL 1
#define E0_TOFF 8
#define E1_IHOLD 31
#define E1_IRUN 31
#define E1_IHOLDDELAY 15
#define E1_I_SCALE_ANALOG 1
#define E1_MRES 16
#define E1_TBL 1
#define E1_TOFF 8
#define E2_IHOLD 31
#define E2_IRUN 31
#define E2_IHOLDDELAY 15
#define E2_I_SCALE_ANALOG 1
#define E2_MRES 16
#define E2_TBL 1
#define E2_TOFF 8
#define E3_IHOLD 31
#define E3_IRUN 31
#define E3_IHOLDDELAY 15
#define E3_I_SCALE_ANALOG 1
#define E3_MRES 16
#define E3_TBL 1
#define E3_TOFF 8
#endif // TMC2130_ADVANCED_CONFIGURATION
#endif // HAVE_TMC2130DRIVER
// @section L6470
#endif // ENABLED(HAVE_TMC2130)
/**
* Enable this section if you have L6470 motor drivers.
@ -1039,6 +934,8 @@
* (https://github.com/ameyer/Arduino-L6470)
*/
// @section l6470
//#define HAVE_L6470DRIVER
#if ENABLED(HAVE_L6470DRIVER)

4
Marlin/Marlin.ino
View file

@ -61,9 +61,9 @@
#include <TMC26XStepper.h>
#endif
#if ENABLED(HAVE_TMC2130DRIVER)
#if ENABLED(HAVE_TMC2130)
#include <SPI.h>
#include <Trinamic_TMC2130.h>
#include <TMC2130Stepper.h>
#endif
#if ENABLED(HAVE_L6470DRIVER)

236
Marlin/Marlin_main.cpp
View file

@ -189,10 +189,13 @@
* M666 - Set delta endstop adjustment. (Requires DELTA)
* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
* M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
* M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
* M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
* M350 - Set microstepping mode. (Requires digital microstepping pins.)
* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
*
@ -6127,58 +6130,6 @@ inline void gcode_M120() { endstops.enable_globally(true); }
*/
inline void gcode_M121() { endstops.enable_globally(false); }
#if ENABLED(HAVE_TMC2130DRIVER)
/**
* M122: Output Trinamic TMC2130 status to serial output. Very bad formatting.
*/
static void tmc2130_report(Trinamic_TMC2130 &stepr, const char *name) {
stepr.read_STAT();
SERIAL_PROTOCOL(name);
SERIAL_PROTOCOL(": ");
stepr.isReset() ? SERIAL_PROTOCOLPGM("RESET ") : SERIAL_PROTOCOLPGM("----- ");
stepr.isError() ? SERIAL_PROTOCOLPGM("ERROR ") : SERIAL_PROTOCOLPGM("----- ");
stepr.isStallguard() ? SERIAL_PROTOCOLPGM("SLGRD ") : SERIAL_PROTOCOLPGM("----- ");
stepr.isStandstill() ? SERIAL_PROTOCOLPGM("STILL ") : SERIAL_PROTOCOLPGM("----- ");
SERIAL_PROTOCOLLN(stepr.debug());
}
inline void gcode_M122() {
SERIAL_PROTOCOLLNPGM("Reporting TMC2130 status");
#if ENABLED(X_IS_TMC2130)
tmc2130_report(stepperX, "X");
#endif
#if ENABLED(X2_IS_TMC2130)
tmc2130_report(stepperX2, "X2");
#endif
#if ENABLED(Y_IS_TMC2130)
tmc2130_report(stepperY, "Y");
#endif
#if ENABLED(Y2_IS_TMC2130)
tmc2130_report(stepperY2, "Y2");
#endif
#if ENABLED(Z_IS_TMC2130)
tmc2130_report(stepperZ, "Z");
#endif
#if ENABLED(Z2_IS_TMC2130)
tmc2130_report(stepperZ2, "Z2");
#endif
#if ENABLED(E0_IS_TMC2130)
tmc2130_report(stepperE0, "E0");
#endif
#if ENABLED(E1_IS_TMC2130)
tmc2130_report(stepperE1, "E1");
#endif
#if ENABLED(E2_IS_TMC2130)
tmc2130_report(stepperE2, "E2");
#endif
#if ENABLED(E3_IS_TMC2130)
tmc2130_report(stepperE3, "E3");
#endif
}
#endif // HAVE_TMC2130DRIVER
#if ENABLED(BLINKM) || ENABLED(RGB_LED)
void set_led_color(const uint8_t r, const uint8_t g, const uint8_t b) {
@ -7610,7 +7561,7 @@ inline void gcode_M503() {
SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
}
#endif // M605
#endif // DUAL_NOZZLE_DUPLICATION_MODE
#if ENABLED(LIN_ADVANCE)
/**
@ -7637,7 +7588,99 @@ inline void gcode_M503() {
if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Automatic");
}
}
#endif
#endif // LIN_ADVANCE
#if ENABLED(HAVE_TMC2130)
static void tmc2130_print_current(const int mA, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" axis driver current: ");
SERIAL_ECHOLN(mA);
}
static void tmc2130_set_current(const int mA, TMC2130Stepper &st, const char name) {
tmc2130_print_current(mA, name);
st.setCurrent(mA, 0.11, 0.5);
}
static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
tmc2130_print_current(st.getCurrent(), name);
}
static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
}
static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
st.clear_otpw();
SERIAL_CHAR(name);
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
/**
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
*
* Report driver currents when no axis specified
*/
inline void gcode_M906() {
uint16_t values[NUM_AXIS];
LOOP_XYZE(i)
values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
#if ENABLED(X_IS_TMC2130)
if (values[X_AXIS]) tmc2130_set_current(values[X_AXIS], stepperX, 'X');
else tmc2130_get_current(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
if (values[Y_AXIS]) tmc2130_set_current(values[Y_AXIS], stepperY, 'Y');
else tmc2130_get_current(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
if (values[Z_AXIS]) tmc2130_set_current(values[Z_AXIS], stepperZ, 'Z');
else tmc2130_get_current(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
if (values[E_AXIS]) tmc2130_set_current(values[E_AXIS], stepperE0, 'E');
else tmc2130_get_current(stepperE0, 'E');
#endif
}
/**
* M911: Report TMC2130 stepper driver overtemperature pre-warn flag
* The flag is held by the library and persist until manually cleared by M912
*/
inline void gcode_M911() {
#if ENABLED(X_IS_TMC2130)
tmc2130_report_otpw(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
tmc2130_report_otpw(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
tmc2130_report_otpw(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
tmc2130_report_otpw(stepperE0, 'E');
#endif
}
/**
* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
*/
inline void gcode_M912() {
#if ENABLED(X_IS_TMC2130)
if (code_seen('X')) tmc2130_clear_otpw(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
if (code_seen('Y')) tmc2130_clear_otpw(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
if (code_seen('Z')) tmc2130_clear_otpw(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
if (code_seen('E')) tmc2130_clear_otpw(stepperE0, 'E');
#endif
}
#endif // HAVE_TMC2130
/**
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
@ -8600,12 +8643,6 @@ void process_next_command() {
gcode_M121();
break;
#if ENABLED(HAVE_TMC2130DRIVER)
case 122: // M122: Diagnose, used to debug TMC2130
gcode_M122();
break;
#endif
#if ENABLED(ULTIPANEL)
case 145: // M145: Set material heatup parameters
@ -8882,6 +8919,12 @@ void process_next_command() {
break;
#endif
#if ENABLED(HAVE_TMC2130)
case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
gcode_M906();
break;
#endif
case 907: // M907: Set digital trimpot motor current using axis codes.
gcode_M907();
break;
@ -8906,6 +8949,16 @@ void process_next_command() {
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
#if ENABLED(HAVE_TMC2130)
case 911: // M911: Report TMC2130 prewarn triggered flags
gcode_M911();
break;
case 912: // M911: Clear TMC2130 prewarn triggered flags
gcode_M912();
break;
#endif
#if HAS_MICROSTEPS
case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
@ -10169,6 +10222,65 @@ void disable_all_steppers() {
disable_e3();
}
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
void automatic_current_control(const TMC2130Stepper &st) {
#if CURRENT_STEP > 0
const bool is_otpw = st.checkOT(), // Check otpw even if we don't adjust. Allows for flag inspection.
is_otpw_triggered = st.getOTPW();
if (!is_otpw && !is_otpw_triggered) {
// OTPW bit not triggered yet -> Increase current
const uint16_t current = st.getCurrent() + CURRENT_STEP;
if (current <= AUTO_ADJUST_MAX) st.SilentStepStick2130(current);
}
else if (is_otpw && is_otpw_triggered) {
// OTPW bit triggered, triggered flag raised -> Decrease current
st.SilentStepStick2130((float)st.getCurrent() - CURRENT_STEP);
}
// OTPW bit cleared (we've cooled down), triggered flag still raised until manually cleared -> Do nothing, we're good
#endif
}
void checkOverTemp() {
static millis_t next_cOT = 0;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 5000;
#if ENABLED(X_IS_TMC2130)
automatic_current_control(stepperX);
#endif
#if ENABLED(Y_IS_TMC2130)
automatic_current_control(stepperY);
#endif
#if ENABLED(Z_IS_TMC2130)
automatic_current_control(stepperZ);
#endif
#if ENABLED(X2_IS_TMC2130)
automatic_current_control(stepperX2);
#endif
#if ENABLED(Y2_IS_TMC2130)
automatic_current_control(stepperY2);
#endif
#if ENABLED(Z2_IS_TMC2130)
automatic_current_control(stepperZ2);
#endif
#if ENABLED(E0_IS_TMC2130)
automatic_current_control(stepperE0);
#endif
#if ENABLED(E1_IS_TMC2130)
automatic_current_control(stepperE1);
#endif
#if ENABLED(E2_IS_TMC2130)
automatic_current_control(stepperE2);
#endif
#if ENABLED(E3_IS_TMC2130)
automatic_current_control(stepperE3);
#endif
}
}
#endif // AUTOMATIC_CURRENT_CONTROL
/**
* Manage several activities:
* - Check for Filament Runout
@ -10360,6 +10472,10 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
handle_status_leds();
#endif
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
checkOverTemp();
#endif
planner.check_axes_activity();
}

226
Marlin/configuration_store.cpp
View file

@ -36,13 +36,13 @@
*
*/
#define EEPROM_VERSION "V29"
#define EEPROM_VERSION "V30"
// Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100
/**
* V29 EEPROM Layout:
* V30 EEPROM Layout:
*
* 100 Version (char x4)
* 104 EEPROM Checksum (uint16_t)
@ -128,8 +128,20 @@
* 509 M200 D volumetric_enabled (bool)
* 510 M200 T D filament_size (float x4) (T0..3)
*
* 526 Minimum end-point
* 1847 (526 + 36 + 9 + 288 + 988) Maximum end-point
* TMC2130: 20 bytes
* 526 M906 X TMC2130 X-stepper current (uint16_t)
* 528 M906 Y TMC2130 Y-stepper current (uint16_t)
* 530 M906 Z TMC2130 Z-stepper current (uint16_t)
* 532 M906 X2 TMC2130 X2-stepper current (uint16_t)
* 534 M906 Y2 TMC2130 Y2-stepper current (uint16_t)
* 536 M906 Z2 TMC2130 Z2-stepper current (uint16_t)
* 538 M906 E0 TMC2130 E0-stepper current (uint16_t)
* 540 M906 E1 TMC2130 E1-stepper current (uint16_t)
* 542 M906 E2 TMC2130 E2-stepper current (uint16_t)
* 544 M906 E3 TMC2130 E3-stepper current (uint16_t)
*
* 546 Minimum end-point
* 1867 (546 + 36 + 9 + 288 + 988) Maximum end-point
*
*/
#include "Marlin.h"
@ -144,6 +156,10 @@
#include "mesh_bed_leveling.h"
#endif
#if ENABLED(HAVE_TMC2130)
#include "stepper_indirection.h"
#endif
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
extern void bed_level_virt_interpolate();
#endif
@ -432,10 +448,78 @@ void Config_Postprocess() {
EEPROM_WRITE(dummy);
}
// Save TCM2130 Configuration, and placeholder values
uint16_t val;
#if ENABLED(HAVE_TMC2130)
#if ENABLED(X_IS_TMC2130)
val = stepperX.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(Y_IS_TMC2130)
val = stepperY.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(Z_IS_TMC2130)
val = stepperZ.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(X2_IS_TMC2130)
val = stepperX2.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(Y2_IS_TMC2130)
val = stepperY2.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(Z2_IS_TMC2130)
val = stepperZ2.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(E0_IS_TMC2130)
val = stepperE0.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(E1_IS_TMC2130)
val = stepperE1.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(E2_IS_TMC2130)
val = stepperE2.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#if ENABLED(E3_IS_TMC2130)
val = stepperE3.getCurrent();
#else
val = 0;
#endif
EEPROM_WRITE(val);
#else
val = 0;
for (uint8_t q = 0; q < 10; ++q) EEPROM_WRITE(val);
#endif
if (!eeprom_write_error) {
uint16_t final_checksum = eeprom_checksum,
eeprom_size = eeprom_index;
const uint16_t final_checksum = eeprom_checksum,
eeprom_size = eeprom_index;
// Write the EEPROM header
eeprom_index = EEPROM_OFFSET;
@ -684,6 +768,52 @@ void Config_Postprocess() {
if (q < COUNT(filament_size)) filament_size[q] = dummy;
}
uint16_t val;
#if ENABLED(HAVE_TMC2130)
EEPROM_READ(val);
#if ENABLED(X_IS_TMC2130)
stepperX.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(Y_IS_TMC2130)
stepperY.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(Z_IS_TMC2130)
stepperZ.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(X2_IS_TMC2130)
stepperX2.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(Y2_IS_TMC2130)
stepperY2.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(E0_IS_TMC2130)
stepperE0.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(E1_IS_TMC2130)
stepperE1.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(E2_IS_TMC2130)
stepperE2.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
EEPROM_READ(val);
#if ENABLED(E3_IS_TMC2130)
stepperE3.setCurrent(val, R_SENSE, HOLD_MULTIPLIER);
#endif
#else
for (uint8_t q = 0; q < 10; q++) EEPROM_READ(val);
#endif
if (eeprom_checksum == stored_checksum) {
if (eeprom_read_error)
Config_ResetDefault();
@ -852,6 +982,39 @@ void Config_ResetDefault() {
#endif
);
#if ENABLED(HAVE_TMC2130)
#if ENABLED(X_IS_TMC2130)
stepperX.setCurrent(X_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(Y_IS_TMC2130)
stepperY.setCurrent(Y_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(Z_IS_TMC2130)
stepperZ.setCurrent(Z_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.setCurrent(X2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.setCurrent(Y2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.setCurrent(Z2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(E0_IS_TMC2130)
stepperE0.setCurrent(E0_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(E1_IS_TMC2130)
stepperE1.setCurrent(E1_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(E2_IS_TMC2130)
stepperE2.setCurrent(E2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(E3_IS_TMC2130)
stepperE3.setCurrent(E3_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#endif
Config_Postprocess();
SERIAL_ECHO_START;
@ -1184,14 +1347,57 @@ void Config_ResetDefault() {
* Auto Bed Leveling
*/
#if HAS_BED_PROBE
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Z-Probe Offset (mm):");
}
CONFIG_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("Z-Probe Offset (mm):");
CONFIG_ECHO_START;
}
SERIAL_ECHOPAIR(" M851 Z", zprobe_zoffset);
SERIAL_EOL;
#endif
/**
* TMC2130 stepper driver current
*/
#if ENABLED(HAVE_TMC2130)
CONFIG_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("Stepper driver current:");
CONFIG_ECHO_START;
}
SERIAL_ECHO(" M906");
#if ENABLED(X_IS_TMC2130)
SERIAL_ECHOPAIR(" X", stepperX.getCurrent());
#endif
#if ENABLED(Y_IS_TMC2130)
SERIAL_ECHOPAIR(" Y", stepperY.getCurrent());
#endif
#if ENABLED(Z_IS_TMC2130)
SERIAL_ECHOPAIR(" Z", stepperZ.getCurrent());
#endif
#if ENABLED(X2_IS_TMC2130)
SERIAL_ECHOPAIR(" X2", stepperX2.getCurrent());
#endif
#if ENABLED(Y2_IS_TMC2130)
SERIAL_ECHOPAIR(" Y2", stepperY2.getCurrent());
#endif
#if ENABLED(Z2_IS_TMC2130)
SERIAL_ECHOPAIR(" Z2", stepperZ2.getCurrent());
#endif
#if ENABLED(E0_IS_TMC2130)
SERIAL_ECHOPAIR(" E0", stepperE0.getCurrent());
#endif
#if ENABLED(E1_IS_TMC2130)
SERIAL_ECHOPAIR(" E1", stepperE1.getCurrent());
#endif
#if ENABLED(E2_IS_TMC2130)
SERIAL_ECHOPAIR(" E2", stepperE2.getCurrent());
#endif
#if ENABLED(E3_IS_TMC2130)
SERIAL_ECHOPAIR(" E3", stepperE3.getCurrent());
#endif
SERIAL_EOL;
#endif
}
#endif // !DISABLE_M503

2
Marlin/stepper.cpp
View file

@ -894,7 +894,7 @@ void Stepper::init() {
#endif
// Init TMC2130 Steppers
#if ENABLED(HAVE_TMC2130DRIVER)
#if ENABLED(HAVE_TMC2130)
tmc2130_init();
#endif

480
Marlin/stepper_indirection.cpp
View file

@ -21,25 +21,15 @@
*/
/**
stepper_indirection.c - 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
Marlin 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.
Marlin 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 Marlin. 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"
@ -53,41 +43,43 @@
#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)
TMC26XStepper stepperX(200, X_ENABLE_PIN, X_STEP_PIN, X_DIR_PIN, X_MAX_CURRENT, X_SENSE_RESISTOR);
_TMC_DEFINE(X);
#endif
#if ENABLED(X2_IS_TMC)
TMC26XStepper stepperX2(200, X2_ENABLE_PIN, X2_STEP_PIN, X2_DIR_PIN, X2_MAX_CURRENT, X2_SENSE_RESISTOR);
_TMC_DEFINE(X2);
#endif
#if ENABLED(Y_IS_TMC)
TMC26XStepper stepperY(200, Y_ENABLE_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_MAX_CURRENT, Y_SENSE_RESISTOR);
_TMC_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_TMC)
TMC26XStepper stepperY2(200, Y2_ENABLE_PIN, Y2_STEP_PIN, Y2_DIR_PIN, Y2_MAX_CURRENT, Y2_SENSE_RESISTOR);
_TMC_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_TMC)
TMC26XStepper stepperZ(200, Z_ENABLE_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_MAX_CURRENT, Z_SENSE_RESISTOR);
_TMC_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_TMC)
TMC26XStepper stepperZ2(200, Z2_ENABLE_PIN, Z2_STEP_PIN, Z2_DIR_PIN, Z2_MAX_CURRENT, Z2_SENSE_RESISTOR);
_TMC_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_TMC)
TMC26XStepper stepperE0(200, E0_ENABLE_PIN, E0_STEP_PIN, E0_DIR_PIN, E0_MAX_CURRENT, E0_SENSE_RESISTOR);
_TMC_DEFINE(E0);
#endif
#if ENABLED(E1_IS_TMC)
TMC26XStepper stepperE1(200, E1_ENABLE_PIN, E1_STEP_PIN, E1_DIR_PIN, E1_MAX_CURRENT, E1_SENSE_RESISTOR);
_TMC_DEFINE(E1);
#endif
#if ENABLED(E2_IS_TMC)
TMC26XStepper stepperE2(200, E2_ENABLE_PIN, E2_STEP_PIN, E2_DIR_PIN, E2_MAX_CURRENT, E2_SENSE_RESISTOR);
_TMC_DEFINE(E2);
#endif
#if ENABLED(E3_IS_TMC)
TMC26XStepper stepperE3(200, E3_ENABLE_PIN, E3_STEP_PIN, E3_DIR_PIN, E3_MAX_CURRENT, E3_SENSE_RESISTOR);
_TMC_DEFINE(E3);
#endif
#define _TMC_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
} while(0)
}while(0)
void tmc_init() {
#if ENABLED(X_IS_TMC)
@ -127,394 +119,70 @@
//
// TMC2130 Driver objects and inits
//
#if ENABLED(HAVE_TMC2130DRIVER)
#if ENABLED(HAVE_TMC2130)
#include <SPI.h>
#include <Trinamic_TMC2130.h>
#include <TMC2130Stepper.h>
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT)
#ifdef GLOBAL_I_SCALE_ANALOG
#define _2130_set_I_scale_analog(A) stepper##A.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG)
#else
#define _2130_set_I_scale_analog(A) NOOP
#endif
#ifdef GLOBAL_INTERNAL_RSENSE
#define _2130_set_internal_Rsense(A) stepper##A.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE)
#else
#define _2130_set_internal_Rsense(A) NOOP
#endif
#ifdef GLOBAL_EN_PWM_MODE
#define _2130_set_en_pwm_mode(A) stepper##A.set_en_pwm_mode(GLOBAL_EN_PWM_MODE)
#else
#define _2130_set_en_pwm_mode(A) NOOP
#endif
#ifdef GLOBAL_ENC_COMMUTATION
#define _2130_set_enc_commutation(A) stepper##A.set_enc_commutation(GLOBAL_ENC_COMMUTATION)
#else
#define _2130_set_enc_commutation(A) NOOP
#endif
#ifdef GLOBAL_SHAFT
#define _2130_set_shaft(A) stepper##A.set_shaft(GLOBAL_SHAFT)
#else
#define _2130_set_shaft(A) NOOP
#endif
#ifdef GLOBAL_DIAG0_ERROR
#define _2130_set_diag0_error(A) stepper##A.set_diag0_error(GLOBAL_DIAG0_ERROR)
#else
#define _2130_set_diag0_error(A) NOOP
#endif
#ifdef GLOBAL_DIAG0_OTPW
#define _2130_set_diag0_otpw(A) stepper##A.set_diag0_otpw(GLOBAL_DIAG0_OTPW)
#else
#define _2130_set_diag0_otpw(A) NOOP
#endif
#ifdef GLOBAL_DIAG0_STALL
#define _2130_set_diag0_stall(A) stepper##A.set_diag0_stall(GLOBAL_DIAG0_STALL)
#else
#define _2130_set_diag0_stall(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_STALL
#define _2130_set_diag1_stall(A) stepper##A.set_diag1_stall(GLOBAL_DIAG1_STALL)
#else
#define _2130_set_diag1_stall(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_INDEX
#define _2130_set_diag1_index(A) stepper##A.set_diag1_index(GLOBAL_DIAG1_INDEX)
#else
#define _2130_set_diag1_index(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_ONSTATE
#define _2130_set_diag1_onstate(A) stepper##A.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE)
#else
#define _2130_set_diag1_onstate(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_ONSTATE
#define _2130_set_diag1_steps_skipped(A) stepper##A.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE)
#else
#define _2130_set_diag1_steps_skipped(A) NOOP
#endif
#ifdef GLOBAL_DIAG0_INT_PUSHPULL
#define _2130_set_diag0_int_pushpull(A) stepper##A.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL)
#else
#define _2130_set_diag0_int_pushpull(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_INT_PUSHPULL
#define _2130_set_diag1_int_pushpull(A) stepper##A.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL)
#else
#define _2130_set_diag1_int_pushpull(A) NOOP
#endif
#ifdef GLOBAL_SMALL_HYSTERESIS
#define _2130_set_small_hysteresis(A) stepper##A.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS)
#else
#define _2130_set_small_hysteresis(A) NOOP
#endif
#ifdef GLOBAL_STOP_ENABLE
#define _2130_set_stop_enable(A) stepper##A.set_stop_enable(GLOBAL_STOP_ENABLE)
#else
#define _2130_set_stop_enable(A) NOOP
#endif
#ifdef GLOBAL_DIRECT_MODE
#define _2130_set_direct_mode(A) stepper##A.set_direct_mode(GLOBAL_DIRECT_MODE)
#else
#define _2130_set_direct_mode(A) NOOP
#endif
#if defined(GLOBAL_IHOLD) && defined(GLOBAL_IRUN) && defined(GLOBAL_IHOLDDELAY)
#define _2130_set_IHOLD_IRUN(A) stepper##A.set_IHOLD_IRUN(GLOBAL_IHOLD, GLOBAL_IRUN, GLOBAL_IHOLDDELAY)
#else
#define _2130_set_IHOLD_IRUN(A) NOOP
#endif
#ifdef GLOBAL_TPOWERDOWN
#define _2130_set_TPOWERDOWN(A) stepper##A.set_TPOWERDOWN(GLOBAL_TPOWERDOWN)
#else
#define _2130_set_TPOWERDOWN(A) NOOP
#endif
#ifdef GLOBAL_TPWMTHRS
#define _2130_set_TPWMTHRS(A) stepper##A.set_TPWMTHRS(GLOBAL_TPWMTHRS)
#else
#define _2130_set_TPWMTHRS(A) NOOP
#endif
#ifdef GLOBAL_TCOOLTHRS
#define _2130_set_TCOOLTHRS(A) stepper##A.set_TCOOLTHRS(GLOBAL_TCOOLTHRS)
#else
#define _2130_set_TCOOLTHRS(A) NOOP
#endif
#ifdef GLOBAL_THIGH
#define _2130_set_THIGH(A) stepper##A.set_THIGH(GLOBAL_THIGH)
#else
#define _2130_set_THIGH(A) NOOP
#endif
#ifdef GLOBAL_XDIRECT
#define _2130_set_XDIRECT(A) stepper##A.set_XDIRECT(GLOBAL_XDIRECT)
#else
#define _2130_set_XDIRECT(A) NOOP
#endif
#ifdef GLOBAL_VDCMIN
#define _2130_set_VDCMIN(A) stepper##A.set_VDCMIN(GLOBAL_VDCMIN)
#else
#define _2130_set_VDCMIN(A) NOOP
#endif
#ifdef GLOBAL_DEDGE
#define _2130_set_dedge(A) stepper##A.set_dedge(GLOBAL_DEDGE)
#else
#define _2130_set_dedge(A) NOOP
#endif
#ifdef GLOBAL_DISS2G
#define _2130_set_diss2g(A) stepper##A.set_diss2g(GLOBAL_DISS2G)
#else
#define _2130_set_diss2g(A) NOOP
#endif
#ifdef GLOBAL_INTPOL
#define _2130_set_intpol(A) stepper##A.set_intpol(GLOBAL_INTPOL)
#else
#define _2130_set_intpol(A) NOOP
#endif
#ifdef GLOBAL_MRES
#define _2130_set_mres(A) stepper##A.set_mres(GLOBAL_MRES)
#else
#define _2130_set_mres(A) NOOP
#endif
#ifdef GLOBAL_SYNC
#define _2130_set_sync(A) stepper##A.set_sync(GLOBAL_SYNC)
#else
#define _2130_set_sync(A) NOOP
#endif
#ifdef GLOBAL_VHIGHCHM
#define _2130_set_vhighchm(A) stepper##A.set_vhighchm(GLOBAL_VHIGHCHM)
#else
#define _2130_set_vhighchm(A) NOOP
#endif
#ifdef GLOBAL_VHIGHFS
#define _2130_set_vhighfs(A) stepper##A.set_vhighfs(GLOBAL_VHIGHFS)
#else
#define _2130_set_vhighfs(A) NOOP
#endif
#ifdef GLOBAL_VSENSE
#define _2130_set_vsense(A) stepper##A.set_vsense(GLOBAL_VSENSE)
#else
#define _2130_set_vsense(A) NOOP
#endif
#ifdef GLOBAL_TBL
#define _2130_set_tbl(A) stepper##A.set_tbl(GLOBAL_TBL)
#else
#define _2130_set_tbl(A) NOOP
#endif
#ifdef GLOBAL_CHM
#define _2130_set_chm(A) stepper##A.set_chm(GLOBAL_CHM)
#else
#define _2130_set_chm(A) NOOP
#endif
#ifdef GLOBAL_RNDTF
#define _2130_set_rndtf(A) stepper##A.set_rndtf(GLOBAL_RNDTF)
#else
#define _2130_set_rndtf(A) NOOP
#endif
#ifdef GLOBAL_DISFDCC
#define _2130_set_disfdcc(A) stepper##A.set_disfdcc(GLOBAL_DISFDCC)
#else
#define _2130_set_disfdcc(A) NOOP
#endif
#ifdef GLOBAL_FD
#define _2130_set_fd(A) stepper##A.set_fd(GLOBAL_FD)
#else
#define _2130_set_fd(A) NOOP
#endif
#ifdef GLOBAL_HEND
#define _2130_set_hend(A) stepper##A.set_hend(GLOBAL_HEND)
#else
#define _2130_set_hend(A) NOOP
#endif
#ifdef GLOBAL_HSTRT
#define _2130_set_hstrt(A) stepper##A.set_hstrt(GLOBAL_HSTRT)
#else
#define _2130_set_hstrt(A) NOOP
#endif
#ifdef GLOBAL_TOFF
#define _2130_set_toff(A) stepper##A.set_toff(GLOBAL_TOFF)
#else
#define _2130_set_toff(A) NOOP
#endif
#ifdef GLOBAL_SFILT
#define _2130_set_sfilt(A) stepper##A.set_sfilt(GLOBAL_SFILT)
#else
#define _2130_set_sfilt(A) NOOP
#endif
#ifdef GLOBAL_SGT
#define _2130_set_sgt(A) stepper##A.set_sgt(GLOBAL_SGT)
#else
#define _2130_set_sgt(A) NOOP
#endif
#ifdef GLOBAL_SEIMIN
#define _2130_set_seimin(A) stepper##A.set_seimin(GLOBAL_SEIMIN)
#else
#define _2130_set_seimin(A) NOOP
#endif
#ifdef GLOBAL_SEDN
#define _2130_set_sedn(A) stepper##A.set_sedn(GLOBAL_SEDN)
#else
#define _2130_set_sedn(A) NOOP
#endif
#ifdef GLOBAL_SEMAX
#define _2130_set_semax(A) stepper##A.set_semax(GLOBAL_SEMAX)
#else
#define _2130_set_semax(A) NOOP
#endif
#ifdef GLOBAL_SEUP
#define _2130_set_seup(A) stepper##A.set_seup(GLOBAL_SEUP)
#else
#define _2130_set_seup(A) NOOP
#endif
#ifdef GLOBAL_SEMIN
#define _2130_set_semin(A) stepper##A.set_semin(GLOBAL_SEMIN)
#else
#define _2130_set_semin(A) NOOP
#endif
#if defined(GLOBAL_DC_TIME) && defined(GLOBAL_DC_SG)
#define _2130_set_DCCTRL(A) stepper##A.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG)
#else
#define _2130_set_DCCTRL(A) NOOP
#endif
#ifdef GLOBAL_FREEWHEEL
#define _2130_set_freewheel(A) stepper##A.set_freewheel(GLOBAL_FREEWHEEL)
#else
#define _2130_set_freewheel(A) NOOP
#endif
#ifdef GLOBAL_PWM_SYMMETRIC
#define _2130_set_pwm_symmetric(A) stepper##A.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC)
#else
#define _2130_set_pwm_symmetric(A) NOOP
#endif
#ifdef GLOBAL_PWM_AUTOSCALE
#define _2130_set_pwm_autoscale(A) stepper##A.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE)
#else
#define _2130_set_pwm_autoscale(A) NOOP
#endif
#ifdef GLOBAL_PWM_FREQ
#define _2130_set_pwm_freq(A) stepper##A.set_pwm_freq(GLOBAL_PWM_FREQ)
#else
#define _2130_set_pwm_freq(A) NOOP
#endif
#ifdef GLOBAL_PWM_GRAD
#define _2130_set_PWM_GRAD(A) stepper##A.set_PWM_GRAD(GLOBAL_PWM_GRAD)
#else
#define _2130_set_PWM_GRAD(A) NOOP
#endif
#ifdef GLOBAL_PWM_AMPL
#define _2130_set_PWM_AMPL(A) stepper##A.set_PWM_AMPL(GLOBAL_PWM_AMPL)
#else
#define _2130_set_PWM_AMPL(A) NOOP
#endif
#ifdef GLOBAL_ENCM_CTRL
#define _2130_set_ENCM_CTRL(A) stepper##A.set_ENCM_CTRL(GLOBAL_ENCM_CTRL)
#else
#define _2130_set_ENCM_CTRL(A) NOOP
#endif
#define _TMC2130_INIT(A) do{ \
stepper##A.init(); \
_2130_set_I_scale_analog(A); \
_2130_set_internal_Rsense(A); \
_2130_set_en_pwm_mode(A); \
_2130_set_enc_commutation(A); \
_2130_set_shaft(A); \
_2130_set_diag0_error(A); \
_2130_set_diag0_otpw(A); \
_2130_set_diag0_stall(A); \
_2130_set_diag1_stall(A); \
_2130_set_diag1_index(A); \
_2130_set_diag1_onstate(A); \
_2130_set_diag1_steps_skipped(A); \
_2130_set_diag0_int_pushpull(A); \
_2130_set_diag1_int_pushpull(A); \
_2130_set_small_hysteresis(A); \
_2130_set_stop_enable(A); \
_2130_set_direct_mode(A); \
_2130_set_IHOLD_IRUN(A); \
_2130_set_TPOWERDOWN(A); \
_2130_set_TPWMTHRS(A); \
_2130_set_TCOOLTHRS(A); \
_2130_set_THIGH(A); \
_2130_set_XDIRECT(A); \
_2130_set_VDCMIN(A); \
_2130_set_dedge(A); \
_2130_set_diss2g(A); \
_2130_set_intpol(A); \
_2130_set_mres(A); \
_2130_set_sync(A); \
_2130_set_vhighchm(A); \
_2130_set_vhighfs(A); \
_2130_set_vsense(A); \
_2130_set_tbl(A); \
_2130_set_chm(A); \
_2130_set_rndtf(A); \
_2130_set_disfdcc(A); \
_2130_set_fd(A); \
_2130_set_hend(A); \
_2130_set_hstrt(A); \
_2130_set_toff(A); \
_2130_set_sfilt(A); \
_2130_set_sgt(A); \
_2130_set_seimin(A); \
_2130_set_sedn(A); \
_2130_set_semax(A); \
_2130_set_seup(A); \
_2130_set_semin(A); \
_2130_set_DCCTRL(A); \
_2130_set_freewheel(A); \
_2130_set_pwm_symmetric(A); \
_2130_set_pwm_autoscale(A); \
_2130_set_pwm_freq(A); \
_2130_set_PWM_GRAD(A); \
_2130_set_PWM_AMPL(A); \
_2130_set_ENCM_CTRL(A); \
} while(0)
#else // !TMC2130_ADVANCED_CONFIGURATION
#define _TMC2130_INIT(A) do{ \
stepper##A.init(); \
stepper##A.set_mres(A##_MRES); \
stepper##A.set_IHOLD_IRUN(A##_IHOLD, A##_IRUN, A##_IHOLDDELAY); \
stepper##A.set_I_scale_analog(A##_I_SCALE_ANALOG); \
stepper##A.set_tbl(A##_TBL); \
stepper##A.set_toff(A##_TOFF); \
} while(0)
#endif // TMC2130_ADVANCED_CONFIGURATION
// Stepper objects of TMC2310 steppers used
// Stepper objects of TMC2130 steppers used
#if ENABLED(X_IS_TMC2130)
Trinamic_TMC2130 stepperX(X_CS_PIN);
_TMC2130_DEFINE(X);
#endif
#if ENABLED(X2_IS_TMC2130)
Trinamic_TMC2130 stepperX2(X2_CS_PIN);
_TMC2130_DEFINE(X2);
#endif
#if ENABLED(Y_IS_TMC2130)
Trinamic_TMC2130 stepperY(Y_CS_PIN);
_TMC2130_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
Trinamic_TMC2130 stepperY2(Y2_CS_PINR);
_TMC2130_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_TMC2130)
Trinamic_TMC2130 stepperZ(Z_CS_PIN);
_TMC2130_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_TMC2130)
Trinamic_TMC2130 stepperZ2(Z2_CS_PIN);
_TMC2130_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_TMC2130)
Trinamic_TMC2130 stepperE0(E0_CS_PIN);
_TMC2130_DEFINE(E0);
#endif
#if ENABLED(E1_IS_TMC2130)
Trinamic_TMC2130 stepperE1(E1_CS_PIN);
_TMC2130_DEFINE(E1);
#endif
#if ENABLED(E2_IS_TMC2130)
Trinamic_TMC2130 stepperE2(E2_CS_PIN);
_TMC2130_DEFINE(E2);
#endif
#if ENABLED(E3_IS_TMC2130)
Trinamic_TMC2130 stepperE3(E3_CS_PIN);
_TMC2130_DEFINE(E3);
#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 tmc2130_init(TMC2130Stepper &st, const uint16_t max_current, const uint16_t microsteps) {
st.begin();
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.off_time(8);
st.interpolate(INTERPOLATE);
#if ENABLED(STEALTHCHOP)
st.stealthChop(1);
#endif
#if ENABLED(SENSORLESS_HOMING)
st.coolstep_min_speed(1048575);
st.sg_stall_value(STALL_THRESHOLD);
st.sg_filter(1);
st.diag1_stall(1);
st.diag1_active_high(1);
#endif
}
#define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS)
void tmc2130_init() {
delay(500); // Let power stabilize before configuring the steppers
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT(X);
#endif
@ -545,9 +213,11 @@
#if ENABLED(E3_IS_TMC2130)
_TMC2130_INIT(E3);
#endif
}
#endif // HAVE_TMC2130DRIVER
TMC2130_ADV()
}
#endif // HAVE_TMC2130
//
// L6470 Driver objects and inits
@ -557,36 +227,38 @@
#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 stepperX(X_ENABLE_PIN);
_L6470_DEFINE(X);
#endif
#if ENABLED(X2_IS_L6470)
L6470 stepperX2(X2_ENABLE_PIN);
_L6470_DEFINE(X2);
#endif
#if ENABLED(Y_IS_L6470)
L6470 stepperY(Y_ENABLE_PIN);
_L6470_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_L6470)
L6470 stepperY2(Y2_ENABLE_PIN);
_L6470_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_L6470)
L6470 stepperZ(Z_ENABLE_PIN);
_L6470_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_L6470)
L6470 stepperZ2(Z2_ENABLE_PIN);
_L6470_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_L6470)
L6470 stepperE0(E0_ENABLE_PIN);
_L6470_DEFINE(E0);
#endif
#if ENABLED(E1_IS_L6470)
L6470 stepperE1(E1_ENABLE_PIN);
_L6470_DEFINE(E1);
#endif
#if ENABLED(E2_IS_L6470)
L6470 stepperE2(E2_ENABLE_PIN);
_L6470_DEFINE(E2);
#endif
#if ENABLED(E3_IS_L6470)
L6470 stepperE3(E3_ENABLE_PIN);
_L6470_DEFINE(E3);
#endif
#define _L6470_INIT(A) do{ \

46
Marlin/stepper_indirection.h
View file

@ -53,10 +53,8 @@
void tmc_init();
#endif
// TMC130 drivers have STEP/DIR/ENABLE on normal pins
#if ENABLED(HAVE_TMC2130DRIVER)
#include <SPI.h>
#include <Trinamic_TMC2130.h>
#if ENABLED(HAVE_TMC2130)
#include <TMC2130Stepper.h>
void tmc2130_init();
#endif
@ -83,8 +81,8 @@
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#define X_ENABLE_READ stepperX.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(X_IS_TMC2130)
extern Trinamic_TMC2130 stepperX;
#if ENABLED(HAVE_TMC2130) && ENABLED(X_IS_TMC2130)
extern TMC2130Stepper stepperX;
#endif
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
@ -114,8 +112,8 @@
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#define Y_ENABLE_READ stepperY.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Y_IS_TMC2130)
extern Trinamic_TMC2130 stepperY;
#if ENABLED(HAVE_TMC2130) && ENABLED(Y_IS_TMC2130)
extern TMC2130Stepper stepperY;
#endif
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
@ -145,8 +143,8 @@
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#define Z_ENABLE_READ stepperZ.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Z_IS_TMC2130)
extern Trinamic_TMC2130 stepperZ;
#if ENABLED(HAVE_TMC2130) && ENABLED(Z_IS_TMC2130)
extern TMC2130Stepper stepperZ;
#endif
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
@ -177,8 +175,8 @@
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#define X2_ENABLE_READ stepperX2.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(X2_IS_TMC2130)
extern Trinamic_TMC2130 stepperX2;
#if ENABLED(HAVE_TMC2130) && ENABLED(X2_IS_TMC2130)
extern TMC2130Stepper stepperX2;
#endif
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
@ -210,8 +208,8 @@
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#define Y2_ENABLE_READ stepperY2.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Y2_IS_TMC2130)
extern Trinamic_TMC2130 stepperY2;
#if ENABLED(HAVE_TMC2130) && ENABLED(Y2_IS_TMC2130)
extern TMC2130Stepper stepperY2;
#endif
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
@ -243,8 +241,8 @@
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#define Z2_ENABLE_READ stepperZ2.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Z2_IS_TMC2130)
extern Trinamic_TMC2130 stepperZ2;
#if ENABLED(HAVE_TMC2130) && ENABLED(Z2_IS_TMC2130)
extern TMC2130Stepper stepperZ2;
#endif
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
@ -275,8 +273,8 @@
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#define E0_ENABLE_READ stepperE0.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(E0_IS_TMC2130)
extern Trinamic_TMC2130 stepperE0;
#if ENABLED(HAVE_TMC2130) && ENABLED(E0_IS_TMC2130)
extern TMC2130Stepper stepperE0;
#endif
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
@ -306,8 +304,8 @@
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#define E1_ENABLE_READ stepperE1.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(E1_IS_TMC2130)
extern Trinamic_TMC2130 stepperE1;
#if ENABLED(HAVE_TMC2130) && ENABLED(E1_IS_TMC2130)
extern TMC2130Stepper stepperE1;
#endif
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
@ -337,8 +335,8 @@
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#define E2_ENABLE_READ stepperE2.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(E2_IS_TMC2130)
extern Trinamic_TMC2130 stepperE2;
#if ENABLED(HAVE_TMC2130) && ENABLED(E2_IS_TMC2130)
extern TMC2130Stepper stepperE2;
#endif
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
@ -368,8 +366,8 @@
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#define E3_ENABLE_READ stepperE3.isEnabled()
#else
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(E3_IS_TMC2130)
extern Trinamic_TMC2130 stepperE3;
#if ENABLED(HAVE_TMC2130) && ENABLED(E3_IS_TMC2130)
extern TMC2130Stepper stepperE3;
#endif
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)