sravan/Marlin-Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Consolidate smart stepper driver initialization

Browse Source
This commit is contained in:
Scott Lahteine
2018-03-18 19:01:42 -05:00
parent 53362b81cc
commit 48d7036874
5 changed files with 173 additions and 146 deletions
Download Patch File Download Diff File Expand all files Collapse all files

201
Marlin/src/module/stepper_indirection.cpp
View File

@ -47,83 +47,82 @@
#include <TMC26XStepper.h>
#endif
#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#define _TMC26X_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_TMC26X)
_TMC_DEFINE(X);
_TMC26X_DEFINE(X);
#endif
#if ENABLED(X2_IS_TMC26X)
_TMC_DEFINE(X2);
_TMC26X_DEFINE(X2);
#endif
#if ENABLED(Y_IS_TMC26X)
_TMC_DEFINE(Y);
_TMC26X_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_TMC26X)
_TMC_DEFINE(Y2);
_TMC26X_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_TMC26X)
_TMC_DEFINE(Z);
_TMC26X_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_TMC26X)
_TMC_DEFINE(Z2);
_TMC26X_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_TMC26X)
_TMC_DEFINE(E0);
_TMC26X_DEFINE(E0);
#endif
#if ENABLED(E1_IS_TMC26X)
_TMC_DEFINE(E1);
_TMC26X_DEFINE(E1);
#endif
#if ENABLED(E2_IS_TMC26X)
_TMC_DEFINE(E2);
_TMC26X_DEFINE(E2);
#endif
#if ENABLED(E3_IS_TMC26X)
_TMC_DEFINE(E3);
_TMC26X_DEFINE(E3);
#endif
#if ENABLED(E4_IS_TMC26X)
_TMC_DEFINE(E4);
_TMC26X_DEFINE(E4);
#endif
#define _TMC_INIT(A) do{ \
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
void tmc26x_init() {
void tmc26x_init_to_defaults() {
#if ENABLED(X_IS_TMC26X)
_TMC_INIT(X);
_TMC26X_INIT(X);
#endif
#if ENABLED(X2_IS_TMC26X)
_TMC_INIT(X2);
_TMC26X_INIT(X2);
#endif
#if ENABLED(Y_IS_TMC26X)
_TMC_INIT(Y);
_TMC26X_INIT(Y);
#endif
#if ENABLED(Y2_IS_TMC26X)
_TMC_INIT(Y2);
_TMC26X_INIT(Y2);
#endif
#if ENABLED(Z_IS_TMC26X)
_TMC_INIT(Z);
_TMC26X_INIT(Z);
#endif
#if ENABLED(Z2_IS_TMC26X)
_TMC_INIT(Z2);
_TMC26X_INIT(Z2);
#endif
#if ENABLED(E0_IS_TMC26X)
_TMC_INIT(E0);
_TMC26X_INIT(E0);
#endif
#if ENABLED(E1_IS_TMC26X)
_TMC_INIT(E1);
_TMC26X_INIT(E1);
#endif
#if ENABLED(E2_IS_TMC26X)
_TMC_INIT(E2);
_TMC26X_INIT(E2);
#endif
#if ENABLED(E3_IS_TMC26X)
_TMC_INIT(E3);
_TMC26X_INIT(E3);
#endif
#if ENABLED(E4_IS_TMC26X)
_TMC_INIT(E4);
_TMC26X_INIT(E4);
#endif
}
#endif // HAVE_TMC26X
//
@ -180,9 +179,9 @@
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.begin();
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.off_time(5); // Only enables the driver if used with stealthChop
@ -209,9 +208,9 @@
st.GSTAT(); // Clear GSTAT
}
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2130_init() {
void tmc2130_init_to_defaults() {
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
#endif
@ -234,34 +233,45 @@
_TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if ENABLED(E1_IS_TMC2130)
_TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 1
#endif
]);
{ constexpr int extruder = 1; _TMC2130_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E2_IS_TMC2130)
_TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 2
#endif
]);
{ constexpr int extruder = 2; _TMC2130_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E3_IS_TMC2130)
_TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 3
#endif
]);
{ constexpr int extruder = 3; _TMC2130_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E4_IS_TMC2130)
_TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 4
#endif
]);
{ constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(SENSORLESS_HOMING)
#define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperX.sgt(X_HOMING_SENSITIVITY);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperZ.sgt(Z_HOMING_SENSITIVITY);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
}
#endif // HAVE_TMC2130
@ -396,11 +406,11 @@
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
void tmc2208_init(TMC2208Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.pdn_disable(true); // Use UART
st.mstep_reg_select(true); // Select microsteps with UART
st.I_scale_analog(false);
st.rms_current(st.getCurrent(), HOLD_MULTIPLIER, R_SENSE);
st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
st.microsteps(microsteps);
st.blank_time(24);
st.toff(5);
@ -430,9 +440,9 @@
delay(200);
}
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2208_init() {
void tmc2208_init_to_defaults() {
#if ENABLED(X_IS_TMC2208)
_TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
#endif
@ -455,36 +465,76 @@
_TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
#if ENABLED(E1_IS_TMC2208)
_TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 1
#endif
]);
{ constexpr int extruder = 1; _TMC2208_INIT(E1, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E2_IS_TMC2208)
_TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 2
#endif
]);
{ constexpr int extruder = 2; _TMC2208_INIT(E2, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E3_IS_TMC2208)
_TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 3
#endif
]);
{ constexpr int extruder = 3; _TMC2208_INIT(E3, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E4_IS_TMC2208)
_TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ 4
#endif
]);
{ constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
}
#endif // HAVE_TMC2208
void restore_stepper_drivers() {
#if X_IS_TRINAMIC
stepperX.push();
#endif
#if X2_IS_TRINAMIC
stepperX2.push();
#endif
#if Y_IS_TRINAMIC
stepperY.push();
#endif
#if Y2_IS_TRINAMIC
stepperY2.push();
#endif
#if Z_IS_TRINAMIC
stepperZ.push();
#endif
#if Z2_IS_TRINAMIC
stepperZ2.push();
#endif
#if E0_IS_TRINAMIC
stepperE0.push();
#endif
#if E1_IS_TRINAMIC
stepperE1.push();
#endif
#if E2_IS_TRINAMIC
stepperE2.push();
#endif
#if E3_IS_TRINAMIC
stepperE3.push();
#endif
#if E4_IS_TRINAMIC
stepperE4.push();
#endif
}
void reset_stepper_drivers() {
#if ENABLED(HAVE_TMC26X)
tmc26x_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2130)
delay(100);
tmc2130_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2208)
delay(100);
tmc2208_init_to_defaults();
#endif
#ifdef TMC_ADV
TMC_ADV()
#endif
#if ENABLED(HAVE_L6470DRIVER)
L6470_init_to_defaults();
#endif
}
//
// L6470 Driver objects and inits
//
@ -538,7 +588,7 @@
stepper##A.setStallCurrent(A##_STALLCURRENT); \
}while(0)
void L6470_init() {
void L6470_init_to_defaults() {
#if ENABLED(X_IS_L6470)
_L6470_INIT(X);
#endif
@ -575,4 +625,3 @@
}
#endif // HAVE_L6470DRIVER