307 lines
6.8 KiB
C++
307 lines
6.8 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* stepper_indirection.cpp
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*
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* Stepper motor driver indirection to allow some stepper functions to
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* be done via SPI/I2c instead of direct pin manipulation.
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*
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* Part of Marlin
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*
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* Copyright (c) 2015 Dominik Wenger
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*/
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#include "stepper_indirection.h"
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#include "MarlinConfig.h"
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//
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// TMC26X Driver objects and inits
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//
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#if ENABLED(HAVE_TMCDRIVER)
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#include <SPI.h>
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#include <TMC26XStepper.h>
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#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
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#if ENABLED(X_IS_TMC)
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_TMC_DEFINE(X);
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#endif
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#if ENABLED(X2_IS_TMC)
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_TMC_DEFINE(X2);
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#endif
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#if ENABLED(Y_IS_TMC)
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_TMC_DEFINE(Y);
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#endif
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#if ENABLED(Y2_IS_TMC)
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_TMC_DEFINE(Y2);
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#endif
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#if ENABLED(Z_IS_TMC)
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_TMC_DEFINE(Z);
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#endif
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#if ENABLED(Z2_IS_TMC)
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_TMC_DEFINE(Z2);
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#endif
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#if ENABLED(E0_IS_TMC)
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_TMC_DEFINE(E0);
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#endif
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#if ENABLED(E1_IS_TMC)
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_TMC_DEFINE(E1);
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#endif
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#if ENABLED(E2_IS_TMC)
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_TMC_DEFINE(E2);
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#endif
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#if ENABLED(E3_IS_TMC)
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_TMC_DEFINE(E3);
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#endif
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#define _TMC_INIT(A) do{ \
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stepper##A.setMicrosteps(A##_MICROSTEPS); \
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stepper##A.start(); \
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}while(0)
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void tmc_init() {
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#if ENABLED(X_IS_TMC)
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_TMC_INIT(X);
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#endif
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#if ENABLED(X2_IS_TMC)
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_TMC_INIT(X2);
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#endif
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#if ENABLED(Y_IS_TMC)
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_TMC_INIT(Y);
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#endif
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#if ENABLED(Y2_IS_TMC)
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_TMC_INIT(Y2);
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#endif
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#if ENABLED(Z_IS_TMC)
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_TMC_INIT(Z);
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#endif
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#if ENABLED(Z2_IS_TMC)
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_TMC_INIT(Z2);
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#endif
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#if ENABLED(E0_IS_TMC)
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_TMC_INIT(E0);
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#endif
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#if ENABLED(E1_IS_TMC)
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_TMC_INIT(E1);
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#endif
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#if ENABLED(E2_IS_TMC)
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_TMC_INIT(E2);
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#endif
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#if ENABLED(E3_IS_TMC)
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_TMC_INIT(E3);
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#endif
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}
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#endif // HAVE_TMCDRIVER
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//
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// TMC2130 Driver objects and inits
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//
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#if ENABLED(HAVE_TMC2130)
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#include <SPI.h>
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#include <TMC2130Stepper.h>
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#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT)
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// Stepper objects of TMC2130 steppers used
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#if ENABLED(X_IS_TMC2130)
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_TMC2130_DEFINE(X);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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_TMC2130_DEFINE(X2);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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_TMC2130_DEFINE(Y);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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_TMC2130_DEFINE(Y2);
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#endif
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#if ENABLED(Z_IS_TMC2130)
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_TMC2130_DEFINE(Z);
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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_TMC2130_DEFINE(Z2);
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#endif
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#if ENABLED(E0_IS_TMC2130)
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_TMC2130_DEFINE(E0);
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#endif
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#if ENABLED(E1_IS_TMC2130)
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_TMC2130_DEFINE(E1);
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#endif
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#if ENABLED(E2_IS_TMC2130)
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_TMC2130_DEFINE(E2);
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#endif
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#if ENABLED(E3_IS_TMC2130)
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_TMC2130_DEFINE(E3);
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#endif
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// Use internal reference voltage for current calculations. This is the default.
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// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
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void tmc2130_init(TMC2130Stepper &st, const uint16_t max_current, const uint16_t microsteps) {
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st.begin();
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st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.blank_time(24);
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st.off_time(8);
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st.interpolate(INTERPOLATE);
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#if ENABLED(STEALTHCHOP)
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st.stealthChop(1);
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#endif
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#if ENABLED(SENSORLESS_HOMING)
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st.coolstep_min_speed(1048575);
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st.sg_stall_value(STALL_THRESHOLD);
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st.sg_filter(1);
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st.diag1_stall(1);
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st.diag1_active_high(1);
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#endif
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}
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#define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS)
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void tmc2130_init() {
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delay(500); // Let power stabilize before configuring the steppers
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#if ENABLED(X_IS_TMC2130)
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_TMC2130_INIT(X);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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_TMC2130_INIT(X2);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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_TMC2130_INIT(Y);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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_TMC2130_INIT(Y2);
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#endif
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#if ENABLED(Z_IS_TMC2130)
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_TMC2130_INIT(Z);
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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_TMC2130_INIT(Z2);
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#endif
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#if ENABLED(E0_IS_TMC2130)
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_TMC2130_INIT(E0);
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#endif
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#if ENABLED(E1_IS_TMC2130)
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_TMC2130_INIT(E1);
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#endif
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#if ENABLED(E2_IS_TMC2130)
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_TMC2130_INIT(E2);
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#endif
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#if ENABLED(E3_IS_TMC2130)
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_TMC2130_INIT(E3);
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#endif
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TMC2130_ADV()
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}
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#endif // HAVE_TMC2130
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//
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// L6470 Driver objects and inits
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//
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#if ENABLED(HAVE_L6470DRIVER)
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#include <SPI.h>
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#include <L6470.h>
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#define _L6470_DEFINE(ST) L6470 stepper##ST(ST##_ENABLE_PIN)
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// L6470 Stepper objects
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#if ENABLED(X_IS_L6470)
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_L6470_DEFINE(X);
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#endif
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#if ENABLED(X2_IS_L6470)
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_L6470_DEFINE(X2);
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#endif
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#if ENABLED(Y_IS_L6470)
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_L6470_DEFINE(Y);
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#endif
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#if ENABLED(Y2_IS_L6470)
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_L6470_DEFINE(Y2);
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#endif
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#if ENABLED(Z_IS_L6470)
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_L6470_DEFINE(Z);
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#endif
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#if ENABLED(Z2_IS_L6470)
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_L6470_DEFINE(Z2);
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#endif
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#if ENABLED(E0_IS_L6470)
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_L6470_DEFINE(E0);
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#endif
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#if ENABLED(E1_IS_L6470)
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_L6470_DEFINE(E1);
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#endif
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#if ENABLED(E2_IS_L6470)
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_L6470_DEFINE(E2);
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#endif
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#if ENABLED(E3_IS_L6470)
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_L6470_DEFINE(E3);
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#endif
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#define _L6470_INIT(A) do{ \
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stepper##A.init(A##_K_VAL); \
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stepper##A.softFree(); \
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stepper##A.setMicroSteps(A##_MICROSTEPS); \
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stepper##A.setOverCurrent(A##_OVERCURRENT); \
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stepper##A.setStallCurrent(A##_STALLCURRENT); \
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} while(0)
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void L6470_init() {
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#if ENABLED(X_IS_L6470)
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_L6470_INIT(X);
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#endif
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#if ENABLED(X2_IS_L6470)
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_L6470_INIT(X2);
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#endif
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#if ENABLED(Y_IS_L6470)
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_L6470_INIT(Y);
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#endif
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#if ENABLED(Y2_IS_L6470)
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_L6470_INIT(Y2);
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#endif
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#if ENABLED(Z_IS_L6470)
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_L6470_INIT(Z);
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#endif
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#if ENABLED(Z2_IS_L6470)
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_L6470_INIT(Z2);
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#endif
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#if ENABLED(E0_IS_L6470)
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_L6470_INIT(E0);
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#endif
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#if ENABLED(E1_IS_L6470)
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_L6470_INIT(E1);
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#endif
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#if ENABLED(E2_IS_L6470)
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_L6470_INIT(E2);
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#endif
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#if ENABLED(E3_IS_L6470)
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_L6470_INIT(E3);
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#endif
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}
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#endif // HAVE_L6470DRIVER
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