545 lines
14 KiB
C++
545 lines
14 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 "../inc/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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#if defined(STM32F7)
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#include "../HAL/HAL_STM32F7/TMC2660.h"
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#else
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#include <TMC26XStepper.h>
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#endif
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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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#if ENABLED(E4_IS_TMC)
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_TMC_DEFINE(E4);
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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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#if ENABLED(E4_IS_TMC)
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_TMC_INIT(E4);
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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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#include "planner.h"
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#include "../core/enum.h"
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#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
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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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#if ENABLED(E4_IS_TMC2130)
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_TMC2130_DEFINE(E4);
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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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// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
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void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
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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(5); // Only enables the driver if used with stealthChop
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st.interpolate(INTERPOLATE);
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st.power_down_delay(128); // ~2s until driver lowers to hold current
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st.hysterisis_start(3);
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st.hysterisis_end(2);
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st.diag1_active_high(1); // For sensorless homing
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#if ENABLED(STEALTHCHOP)
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st.stealth_freq(1); // f_pwm = 2/683 f_clk
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st.stealth_autoscale(1);
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st.stealth_gradient(5);
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st.stealth_amplitude(255);
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st.stealthChop(1);
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#if ENABLED(HYBRID_THRESHOLD)
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st.stealth_max_speed(12650000UL*microsteps/(256*thrs*spmm));
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#else
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UNUSED(thrs);
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UNUSED(spmm);
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#endif
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#elif ENABLED(SENSORLESS_HOMING)
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st.coolstep_min_speed(1024UL * 1024UL - 1UL);
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#endif
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st.GSTAT(); // Clear GSTAT
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}
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#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
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void tmc2130_init() {
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#if ENABLED(X_IS_TMC2130)
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_TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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_TMC2130_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if ENABLED(Y_IS_TMC2130)
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_TMC2130_INIT( Y, planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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_TMC2130_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if ENABLED(Z_IS_TMC2130)
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_TMC2130_INIT( Z, planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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_TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if ENABLED(E0_IS_TMC2130)
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_TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
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#endif
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#if ENABLED(E1_IS_TMC2130)
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{ constexpr int extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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#if ENABLED(E2_IS_TMC2130)
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{ constexpr int extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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#if ENABLED(E3_IS_TMC2130)
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{ constexpr int extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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#if ENABLED(E4_IS_TMC2130)
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{ constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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}
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#endif // HAVE_TMC2130
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//
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// TMC2208 Driver objects and inits
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//
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#if ENABLED(HAVE_TMC2208)
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#include <SoftwareSerial.h>
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#include <HardwareSerial.h>
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#include <TMC2208Stepper.h>
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#include "planner.h"
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#define _TMC2208_DEFINE_HARDWARE(ST) TMC2208Stepper stepper##ST(&ST##_HARDWARE_SERIAL)
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#define _TMC2208_DEFINE_SOFTWARE(ST) SoftwareSerial stepper##ST##_serial = SoftwareSerial(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN); \
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TMC2208Stepper stepper##ST(&stepper##ST##_serial, ST##_SERIAL_RX_PIN > -1)
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// Stepper objects of TMC2208 steppers used
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#if ENABLED(X_IS_TMC2208)
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#if defined(X_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(X);
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#else
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_TMC2208_DEFINE_SOFTWARE(X);
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#endif
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#endif
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#if ENABLED(X2_IS_TMC2208)
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#if defined(X2_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(X2);
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#else
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_TMC2208_DEFINE_SOFTWARE(X2);
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#endif
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#endif
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#if ENABLED(Y_IS_TMC2208)
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#if defined(Y_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(Y);
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#else
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_TMC2208_DEFINE_SOFTWARE(Y);
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#endif
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#endif
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#if ENABLED(Y2_IS_TMC2208)
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#if defined(Y2_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(Y2);
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#else
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_TMC2208_DEFINE_SOFTWARE(Y2);
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#endif
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#endif
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#if ENABLED(Z_IS_TMC2208)
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#if defined(Z_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(Z);
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#else
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_TMC2208_DEFINE_SOFTWARE(Z);
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#endif
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#endif
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#if ENABLED(Z2_IS_TMC2208)
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#if defined(Z2_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(Z2);
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#else
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_TMC2208_DEFINE_SOFTWARE(Z2);
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#endif
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#endif
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#if ENABLED(E0_IS_TMC2208)
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#if defined(E0_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(E0);
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#else
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_TMC2208_DEFINE_SOFTWARE(E0);
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#endif
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#endif
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#if ENABLED(E1_IS_TMC2208)
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#if defined(E1_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(E1);
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#else
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_TMC2208_DEFINE_SOFTWARE(E1);
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#endif
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#endif
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#if ENABLED(E2_IS_TMC2208)
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#if defined(E2_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(E2);
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#else
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_TMC2208_DEFINE_SOFTWARE(E2);
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#endif
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#endif
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#if ENABLED(E3_IS_TMC2208)
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#if defined(E3_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(E3);
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#else
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_TMC2208_DEFINE_SOFTWARE(E3);
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#endif
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#endif
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#if ENABLED(E4_IS_TMC2208)
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#if defined(E4_HARDWARE_SERIAL)
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_TMC2208_DEFINE_HARDWARE(E4);
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#else
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_TMC2208_DEFINE_SOFTWARE(E4);
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#endif
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#endif
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void tmc2208_serial_begin() {
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#if ENABLED(X_IS_TMC2208) && defined(X_HARDWARE_SERIAL)
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X_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(X2_IS_TMC2208) && defined(X2_HARDWARE_SERIAL)
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X2_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(Y_IS_TMC2208) && defined(Y_HARDWARE_SERIAL)
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Y_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(Y2_IS_TMC2208) && defined(Y2_HARDWARE_SERIAL)
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Y2_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(Z_IS_TMC2208) && defined(Z_HARDWARE_SERIAL)
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Z_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(Z2_IS_TMC2208) && defined(Z2_HARDWARE_SERIAL)
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Z2_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(E0_IS_TMC2208) && defined(E0_HARDWARE_SERIAL)
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E0_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(E1_IS_TMC2208) && defined(E1_HARDWARE_SERIAL)
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E1_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(E2_IS_TMC2208) && defined(E2_HARDWARE_SERIAL)
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E2_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(E3_IS_TMC2208) && defined(E3_HARDWARE_SERIAL)
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E3_HARDWARE_SERIAL.begin(250000);
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#endif
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#if ENABLED(E4_IS_TMC2208) && defined(E4_HARDWARE_SERIAL)
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E4_HARDWARE_SERIAL.begin(250000);
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#endif
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}
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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 tmc2208_init(TMC2208Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
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st.pdn_disable(true); // Use UART
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st.mstep_reg_select(true); // Select microsteps with UART
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st.I_scale_analog(false);
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st.rms_current(st.getCurrent(), HOLD_MULTIPLIER, R_SENSE);
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st.microsteps(microsteps);
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st.blank_time(24);
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st.toff(5);
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st.intpol(INTERPOLATE);
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st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
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st.hysterisis_start(3);
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st.hysterisis_end(2);
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#if ENABLED(STEALTHCHOP)
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st.pwm_lim(12);
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st.pwm_reg(8);
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st.pwm_autograd(1);
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st.pwm_autoscale(1);
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st.pwm_freq(1);
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st.pwm_grad(14);
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st.pwm_ofs(36);
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st.en_spreadCycle(false);
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#if ENABLED(HYBRID_THRESHOLD)
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st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
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#else
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UNUSED(thrs);
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UNUSED(spmm);
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#endif
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#else
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st.en_spreadCycle(true);
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#endif
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st.GSTAT(0b111); // Clear
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delay(200);
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}
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#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
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void tmc2208_init() {
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#if ENABLED(X_IS_TMC2208)
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_TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if ENABLED(X2_IS_TMC2208)
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_TMC2208_INIT(X2, planner.axis_steps_per_mm[X_AXIS]);
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#endif
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#if ENABLED(Y_IS_TMC2208)
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_TMC2208_INIT(Y, planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if ENABLED(Y2_IS_TMC2208)
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_TMC2208_INIT(Y2, planner.axis_steps_per_mm[Y_AXIS]);
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#endif
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#if ENABLED(Z_IS_TMC2208)
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_TMC2208_INIT(Z, planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if ENABLED(Z2_IS_TMC2208)
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_TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
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#endif
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#if ENABLED(E0_IS_TMC2208)
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_TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
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#endif
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#if ENABLED(E1_IS_TMC2208)
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{ constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
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#endif
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#if ENABLED(E2_IS_TMC2208)
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{ constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
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|
#endif
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#if ENABLED(E3_IS_TMC2208)
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{ constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
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|
#endif
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#if ENABLED(E4_IS_TMC2208)
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|
{ constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
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|
#endif
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|
}
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|
#endif // HAVE_TMC2208
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|
|
|
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//
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|
// L6470 Driver objects and inits
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|
//
|
|
#if ENABLED(HAVE_L6470DRIVER)
|
|
|
|
#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_DEFINE(X);
|
|
#endif
|
|
#if ENABLED(X2_IS_L6470)
|
|
_L6470_DEFINE(X2);
|
|
#endif
|
|
#if ENABLED(Y_IS_L6470)
|
|
_L6470_DEFINE(Y);
|
|
#endif
|
|
#if ENABLED(Y2_IS_L6470)
|
|
_L6470_DEFINE(Y2);
|
|
#endif
|
|
#if ENABLED(Z_IS_L6470)
|
|
_L6470_DEFINE(Z);
|
|
#endif
|
|
#if ENABLED(Z2_IS_L6470)
|
|
_L6470_DEFINE(Z2);
|
|
#endif
|
|
#if ENABLED(E0_IS_L6470)
|
|
_L6470_DEFINE(E0);
|
|
#endif
|
|
#if ENABLED(E1_IS_L6470)
|
|
_L6470_DEFINE(E1);
|
|
#endif
|
|
#if ENABLED(E2_IS_L6470)
|
|
_L6470_DEFINE(E2);
|
|
#endif
|
|
#if ENABLED(E3_IS_L6470)
|
|
_L6470_DEFINE(E3);
|
|
#endif
|
|
#if ENABLED(E4_IS_L6470)
|
|
_L6470_DEFINE(E4);
|
|
#endif
|
|
|
|
#define _L6470_INIT(A) do{ \
|
|
stepper##A.init(); \
|
|
stepper##A.softFree(); \
|
|
stepper##A.setMicroSteps(A##_MICROSTEPS); \
|
|
stepper##A.setOverCurrent(A##_OVERCURRENT); \
|
|
stepper##A.setStallCurrent(A##_STALLCURRENT); \
|
|
}while(0)
|
|
|
|
void L6470_init() {
|
|
#if ENABLED(X_IS_L6470)
|
|
_L6470_INIT(X);
|
|
#endif
|
|
#if ENABLED(X2_IS_L6470)
|
|
_L6470_INIT(X2);
|
|
#endif
|
|
#if ENABLED(Y_IS_L6470)
|
|
_L6470_INIT(Y);
|
|
#endif
|
|
#if ENABLED(Y2_IS_L6470)
|
|
_L6470_INIT(Y2);
|
|
#endif
|
|
#if ENABLED(Z_IS_L6470)
|
|
_L6470_INIT(Z);
|
|
#endif
|
|
#if ENABLED(Z2_IS_L6470)
|
|
_L6470_INIT(Z2);
|
|
#endif
|
|
#if ENABLED(E0_IS_L6470)
|
|
_L6470_INIT(E0);
|
|
#endif
|
|
#if ENABLED(E1_IS_L6470)
|
|
_L6470_INIT(E1);
|
|
#endif
|
|
#if ENABLED(E2_IS_L6470)
|
|
_L6470_INIT(E2);
|
|
#endif
|
|
#if ENABLED(E3_IS_L6470)
|
|
_L6470_INIT(E3);
|
|
#endif
|
|
#if ENABLED(E4_IS_L6470)
|
|
_L6470_INIT(E4);
|
|
#endif
|
|
}
|
|
|
|
#endif // HAVE_L6470DRIVER
|
|
|