813 lines
21 KiB
C++
813 lines
21 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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/trinamic.cpp
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* Stepper driver indirection for Trinamic
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_TRINAMIC
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#include "trinamic.h"
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#include "../stepper.h"
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#include <HardwareSerial.h>
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#include <SPI.h>
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enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
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#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX])
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// IC = TMC model number
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// ST = Stepper object letter
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// L = Label characters
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// AI = Axis Enum Index
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// SWHW = SW/SH UART selection
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#if ENABLED(TMC_USE_SW_SPI)
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#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK, ST##_CHAIN_POS)
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#else
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#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), ST##_CHAIN_POS)
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#endif
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#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, float(ST##_RSENSE), ST##_SLAVE_ADDRESS)
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#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, float(ST##_RSENSE), ST##_SLAVE_ADDRESS, ST##_SERIAL_RX_PIN > -1)
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#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
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#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
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#define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
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#define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
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#if ENABLED(DISTINCT_E_FACTORS) && E_STEPPERS > 1
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#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI)
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#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E##AI)
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#else
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#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E)
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#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E)
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#endif
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// Stepper objects of TMC2130/TMC2160/TMC2660/TMC5130/TMC5160 steppers used
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#if AXIS_HAS_SPI(X)
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TMC_SPI_DEFINE(X, X);
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#endif
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#if AXIS_HAS_SPI(X2)
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TMC_SPI_DEFINE(X2, X);
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#endif
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#if AXIS_HAS_SPI(Y)
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TMC_SPI_DEFINE(Y, Y);
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#endif
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#if AXIS_HAS_SPI(Y2)
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TMC_SPI_DEFINE(Y2, Y);
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#endif
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#if AXIS_HAS_SPI(Z)
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TMC_SPI_DEFINE(Z, Z);
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#endif
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#if AXIS_HAS_SPI(Z2)
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TMC_SPI_DEFINE(Z2, Z);
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#endif
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#if AXIS_HAS_SPI(Z3)
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TMC_SPI_DEFINE(Z3, Z);
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#endif
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#if AXIS_HAS_SPI(Z4)
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TMC_SPI_DEFINE(Z4, Z);
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#endif
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#if AXIS_HAS_SPI(E0)
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TMC_SPI_DEFINE_E(0);
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#endif
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#if AXIS_HAS_SPI(E1)
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TMC_SPI_DEFINE_E(1);
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#endif
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#if AXIS_HAS_SPI(E2)
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TMC_SPI_DEFINE_E(2);
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#endif
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#if AXIS_HAS_SPI(E3)
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TMC_SPI_DEFINE_E(3);
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#endif
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#if AXIS_HAS_SPI(E4)
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TMC_SPI_DEFINE_E(4);
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#endif
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#if AXIS_HAS_SPI(E5)
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TMC_SPI_DEFINE_E(5);
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#endif
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#if AXIS_HAS_SPI(E6)
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TMC_SPI_DEFINE_E(6);
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#endif
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#if AXIS_HAS_SPI(E7)
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TMC_SPI_DEFINE_E(7);
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#endif
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#ifndef TMC_BAUD_RATE
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#define TMC_BAUD_RATE 115200
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#endif
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#if HAS_DRIVER(TMC2130)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth) {
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st.begin();
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 1;
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chopconf.toff = chopper_timing.toff;
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chopconf.intpol = INTERPOLATE;
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chopconf.hend = chopper_timing.hend + 3;
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chopconf.hstrt = chopper_timing.hstrt - 1;
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#if ENABLED(SQUARE_WAVE_STEPPING)
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chopconf.dedge = true;
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#endif
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st.CHOPCONF(chopconf.sr);
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st.rms_current(mA, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.iholddelay(10);
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st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
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st.en_pwm_mode(stealth);
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st.stored.stealthChop_enabled = stealth;
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PWMCONF_t pwmconf{0};
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pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
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pwmconf.pwm_autoscale = true;
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pwmconf.pwm_grad = 5;
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pwmconf.pwm_ampl = 180;
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st.PWMCONF(pwmconf.sr);
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#if ENABLED(HYBRID_THRESHOLD)
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st.set_pwm_thrs(hyb_thrs);
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#else
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UNUSED(hyb_thrs);
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#endif
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st.GSTAT(); // Clear GSTAT
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}
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#endif // TMC2130
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#if HAS_DRIVER(TMC2160)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth) {
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st.begin();
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 1;
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chopconf.toff = chopper_timing.toff;
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chopconf.intpol = INTERPOLATE;
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chopconf.hend = chopper_timing.hend + 3;
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chopconf.hstrt = chopper_timing.hstrt - 1;
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#if ENABLED(SQUARE_WAVE_STEPPING)
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chopconf.dedge = true;
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#endif
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st.CHOPCONF(chopconf.sr);
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st.rms_current(mA, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.iholddelay(10);
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st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
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st.en_pwm_mode(stealth);
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st.stored.stealthChop_enabled = stealth;
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TMC2160_n::PWMCONF_t pwmconf{0};
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pwmconf.pwm_lim = 12;
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pwmconf.pwm_reg = 8;
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pwmconf.pwm_autograd = true;
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pwmconf.pwm_autoscale = true;
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pwmconf.pwm_freq = 0b01;
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pwmconf.pwm_grad = 14;
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pwmconf.pwm_ofs = 36;
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st.PWMCONF(pwmconf.sr);
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#if ENABLED(HYBRID_THRESHOLD)
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st.set_pwm_thrs(hyb_thrs);
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#else
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UNUSED(hyb_thrs);
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#endif
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st.GSTAT(); // Clear GSTAT
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}
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#endif // TMC2160
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//
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// TMC2208/2209 Driver objects and inits
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//
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#if HAS_TMC220x
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#if AXIS_HAS_UART(X)
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#ifdef X_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, X, X);
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#else
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TMC_UART_DEFINE(SW, X, X);
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#endif
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#endif
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#if AXIS_HAS_UART(X2)
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#ifdef X2_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, X2, X);
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#else
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TMC_UART_DEFINE(SW, X2, X);
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#endif
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#endif
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#if AXIS_HAS_UART(Y)
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#ifdef Y_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Y, Y);
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#else
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TMC_UART_DEFINE(SW, Y, Y);
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#endif
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#endif
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#if AXIS_HAS_UART(Y2)
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#ifdef Y2_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Y2, Y);
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#else
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TMC_UART_DEFINE(SW, Y2, Y);
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#endif
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#endif
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#if AXIS_HAS_UART(Z)
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#ifdef Z_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Z, Z);
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#else
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TMC_UART_DEFINE(SW, Z, Z);
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#endif
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#endif
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#if AXIS_HAS_UART(Z2)
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#ifdef Z2_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Z2, Z);
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#else
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TMC_UART_DEFINE(SW, Z2, Z);
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#endif
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#endif
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#if AXIS_HAS_UART(Z3)
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#ifdef Z3_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Z3, Z);
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#else
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TMC_UART_DEFINE(SW, Z3, Z);
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#endif
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#endif
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#if AXIS_HAS_UART(Z4)
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#ifdef Z4_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Z4, Z);
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#else
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TMC_UART_DEFINE(SW, Z4, Z);
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#endif
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#endif
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#if AXIS_HAS_UART(E0)
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#ifdef E0_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 0);
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#else
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TMC_UART_DEFINE_E(SW, 0);
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#endif
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#endif
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#if AXIS_HAS_UART(E1)
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#ifdef E1_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 1);
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#else
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TMC_UART_DEFINE_E(SW, 1);
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#endif
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#endif
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#if AXIS_HAS_UART(E2)
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#ifdef E2_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 2);
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#else
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TMC_UART_DEFINE_E(SW, 2);
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#endif
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#endif
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#if AXIS_HAS_UART(E3)
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#ifdef E3_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 3);
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#else
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TMC_UART_DEFINE_E(SW, 3);
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#endif
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#endif
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#if AXIS_HAS_UART(E4)
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#ifdef E4_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 4);
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#else
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TMC_UART_DEFINE_E(SW, 4);
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#endif
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#endif
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#if AXIS_HAS_UART(E5)
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#ifdef E5_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 5);
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#else
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TMC_UART_DEFINE_E(SW, 5);
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#endif
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#endif
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#if AXIS_HAS_UART(E6)
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#ifdef E6_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 6);
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#else
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TMC_UART_DEFINE_E(SW, 6);
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#endif
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#endif
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#if AXIS_HAS_UART(E7)
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#ifdef E7_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 7);
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#else
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TMC_UART_DEFINE_E(SW, 7);
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#endif
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#endif
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void tmc_serial_begin() {
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#if AXIS_HAS_UART(X)
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#ifdef X_HARDWARE_SERIAL
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X_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperX.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(X2)
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#ifdef X2_HARDWARE_SERIAL
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X2_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperX2.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(Y)
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#ifdef Y_HARDWARE_SERIAL
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Y_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperY.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(Y2)
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#ifdef Y2_HARDWARE_SERIAL
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Y2_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperY2.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(Z)
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#ifdef Z_HARDWARE_SERIAL
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Z_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperZ.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(Z2)
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#ifdef Z2_HARDWARE_SERIAL
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Z2_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperZ2.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(Z3)
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#ifdef Z3_HARDWARE_SERIAL
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Z3_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperZ3.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(Z4)
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#ifdef Z4_HARDWARE_SERIAL
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Z4_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperZ4.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(E0)
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#ifdef E0_HARDWARE_SERIAL
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E0_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperE0.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(E1)
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#ifdef E1_HARDWARE_SERIAL
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E1_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperE1.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(E2)
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#ifdef E2_HARDWARE_SERIAL
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E2_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperE2.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(E3)
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#ifdef E3_HARDWARE_SERIAL
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E3_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperE3.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(E4)
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#ifdef E4_HARDWARE_SERIAL
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E4_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperE4.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(E5)
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#ifdef E5_HARDWARE_SERIAL
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E5_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperE5.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(E6)
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#ifdef E6_HARDWARE_SERIAL
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E6_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperE6.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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#if AXIS_HAS_UART(E7)
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#ifdef E7_HARDWARE_SERIAL
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E7_HARDWARE_SERIAL.begin(TMC_BAUD_RATE);
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#else
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stepperE7.beginSerial(TMC_BAUD_RATE);
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#endif
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#endif
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}
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#endif
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#if HAS_DRIVER(TMC2208)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth) {
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TMC2208_n::GCONF_t gconf{0};
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gconf.pdn_disable = true; // Use UART
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gconf.mstep_reg_select = true; // Select microsteps with UART
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gconf.i_scale_analog = false;
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gconf.en_spreadcycle = !stealth;
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st.GCONF(gconf.sr);
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st.stored.stealthChop_enabled = stealth;
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TMC2208_n::CHOPCONF_t chopconf{0};
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|
chopconf.tbl = 0b01; // blank_time = 24
|
|
chopconf.toff = chopper_timing.toff;
|
|
chopconf.intpol = INTERPOLATE;
|
|
chopconf.hend = chopper_timing.hend + 3;
|
|
chopconf.hstrt = chopper_timing.hstrt - 1;
|
|
#if ENABLED(SQUARE_WAVE_STEPPING)
|
|
chopconf.dedge = true;
|
|
#endif
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.rms_current(mA, HOLD_MULTIPLIER);
|
|
st.microsteps(microsteps);
|
|
st.iholddelay(10);
|
|
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
|
TMC2208_n::PWMCONF_t pwmconf{0};
|
|
pwmconf.pwm_lim = 12;
|
|
pwmconf.pwm_reg = 8;
|
|
pwmconf.pwm_autograd = true;
|
|
pwmconf.pwm_autoscale = true;
|
|
pwmconf.pwm_freq = 0b01;
|
|
pwmconf.pwm_grad = 14;
|
|
pwmconf.pwm_ofs = 36;
|
|
st.PWMCONF(pwmconf.sr);
|
|
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
|
st.set_pwm_thrs(hyb_thrs);
|
|
#else
|
|
UNUSED(hyb_thrs);
|
|
#endif
|
|
|
|
st.GSTAT(0b111); // Clear
|
|
delay(200);
|
|
}
|
|
#endif // TMC2208
|
|
|
|
#if HAS_DRIVER(TMC2209)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth) {
|
|
TMC2208_n::GCONF_t gconf{0};
|
|
gconf.pdn_disable = true; // Use UART
|
|
gconf.mstep_reg_select = true; // Select microsteps with UART
|
|
gconf.i_scale_analog = false;
|
|
gconf.en_spreadcycle = !stealth;
|
|
st.GCONF(gconf.sr);
|
|
st.stored.stealthChop_enabled = stealth;
|
|
|
|
TMC2208_n::CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 0b01; // blank_time = 24
|
|
chopconf.toff = chopper_timing.toff;
|
|
chopconf.intpol = INTERPOLATE;
|
|
chopconf.hend = chopper_timing.hend + 3;
|
|
chopconf.hstrt = chopper_timing.hstrt - 1;
|
|
#if ENABLED(SQUARE_WAVE_STEPPING)
|
|
chopconf.dedge = true;
|
|
#endif
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.rms_current(mA, HOLD_MULTIPLIER);
|
|
st.microsteps(microsteps);
|
|
st.iholddelay(10);
|
|
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
|
TMC2208_n::PWMCONF_t pwmconf{0};
|
|
pwmconf.pwm_lim = 12;
|
|
pwmconf.pwm_reg = 8;
|
|
pwmconf.pwm_autograd = true;
|
|
pwmconf.pwm_autoscale = true;
|
|
pwmconf.pwm_freq = 0b01;
|
|
pwmconf.pwm_grad = 14;
|
|
pwmconf.pwm_ofs = 36;
|
|
st.PWMCONF(pwmconf.sr);
|
|
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
|
st.set_pwm_thrs(hyb_thrs);
|
|
#else
|
|
UNUSED(hyb_thrs);
|
|
#endif
|
|
|
|
st.GSTAT(0b111); // Clear
|
|
delay(200);
|
|
}
|
|
#endif // TMC2209
|
|
|
|
#if HAS_DRIVER(TMC2660)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool) {
|
|
st.begin();
|
|
|
|
TMC2660_n::CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 1;
|
|
chopconf.toff = chopper_timing.toff;
|
|
chopconf.hend = chopper_timing.hend + 3;
|
|
chopconf.hstrt = chopper_timing.hstrt - 1;
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.sdoff(0);
|
|
st.rms_current(mA);
|
|
st.microsteps(microsteps);
|
|
#if ENABLED(SQUARE_WAVE_STEPPING)
|
|
st.dedge(true);
|
|
#endif
|
|
st.intpol(INTERPOLATE);
|
|
st.diss2g(true); // Disable short to ground protection. Too many false readings?
|
|
|
|
#if ENABLED(TMC_DEBUG)
|
|
st.rdsel(0b01);
|
|
#endif
|
|
}
|
|
#endif // TMC2660
|
|
|
|
#if HAS_DRIVER(TMC5130)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth) {
|
|
st.begin();
|
|
|
|
CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 1;
|
|
chopconf.toff = chopper_timing.toff;
|
|
chopconf.intpol = INTERPOLATE;
|
|
chopconf.hend = chopper_timing.hend + 3;
|
|
chopconf.hstrt = chopper_timing.hstrt - 1;
|
|
#if ENABLED(SQUARE_WAVE_STEPPING)
|
|
chopconf.dedge = true;
|
|
#endif
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.rms_current(mA, HOLD_MULTIPLIER);
|
|
st.microsteps(microsteps);
|
|
st.iholddelay(10);
|
|
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
|
st.en_pwm_mode(stealth);
|
|
st.stored.stealthChop_enabled = stealth;
|
|
|
|
PWMCONF_t pwmconf{0};
|
|
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
|
|
pwmconf.pwm_autoscale = true;
|
|
pwmconf.pwm_grad = 5;
|
|
pwmconf.pwm_ampl = 180;
|
|
st.PWMCONF(pwmconf.sr);
|
|
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
|
st.set_pwm_thrs(hyb_thrs);
|
|
#else
|
|
UNUSED(hyb_thrs);
|
|
#endif
|
|
|
|
st.GSTAT(); // Clear GSTAT
|
|
}
|
|
#endif // TMC5130
|
|
|
|
#if HAS_DRIVER(TMC5160)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth) {
|
|
st.begin();
|
|
|
|
CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 1;
|
|
chopconf.toff = chopper_timing.toff;
|
|
chopconf.intpol = INTERPOLATE;
|
|
chopconf.hend = chopper_timing.hend + 3;
|
|
chopconf.hstrt = chopper_timing.hstrt - 1;
|
|
#if ENABLED(SQUARE_WAVE_STEPPING)
|
|
chopconf.dedge = true;
|
|
#endif
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.rms_current(mA, HOLD_MULTIPLIER);
|
|
st.microsteps(microsteps);
|
|
st.iholddelay(10);
|
|
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
|
st.en_pwm_mode(stealth);
|
|
st.stored.stealthChop_enabled = stealth;
|
|
|
|
TMC2160_n::PWMCONF_t pwmconf{0};
|
|
pwmconf.pwm_lim = 12;
|
|
pwmconf.pwm_reg = 8;
|
|
pwmconf.pwm_autograd = true;
|
|
pwmconf.pwm_autoscale = true;
|
|
pwmconf.pwm_freq = 0b01;
|
|
pwmconf.pwm_grad = 14;
|
|
pwmconf.pwm_ofs = 36;
|
|
st.PWMCONF(pwmconf.sr);
|
|
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
|
st.set_pwm_thrs(hyb_thrs);
|
|
#else
|
|
UNUSED(hyb_thrs);
|
|
#endif
|
|
st.GSTAT(); // Clear GSTAT
|
|
}
|
|
#endif // TMC5160
|
|
|
|
void restore_trinamic_drivers() {
|
|
#if AXIS_IS_TMC(X)
|
|
stepperX.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
stepperX2.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Y)
|
|
stepperY.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
stepperY2.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Z)
|
|
stepperZ.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
stepperZ2.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
stepperZ3.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Z4)
|
|
stepperZ4.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E0)
|
|
stepperE0.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E1)
|
|
stepperE1.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E2)
|
|
stepperE2.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E3)
|
|
stepperE3.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E4)
|
|
stepperE4.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E5)
|
|
stepperE5.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E6)
|
|
stepperE6.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E7)
|
|
stepperE7.push();
|
|
#endif
|
|
}
|
|
|
|
void reset_trinamic_drivers() {
|
|
static constexpr bool stealthchop_by_axis[] = {
|
|
#if ENABLED(STEALTHCHOP_XY)
|
|
true
|
|
#else
|
|
false
|
|
#endif
|
|
,
|
|
#if ENABLED(STEALTHCHOP_Z)
|
|
true
|
|
#else
|
|
false
|
|
#endif
|
|
,
|
|
#if ENABLED(STEALTHCHOP_E)
|
|
true
|
|
#else
|
|
false
|
|
#endif
|
|
};
|
|
|
|
#if AXIS_IS_TMC(X)
|
|
TMC_INIT(X, STEALTH_AXIS_XY);
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
TMC_INIT(X2, STEALTH_AXIS_XY);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y)
|
|
TMC_INIT(Y, STEALTH_AXIS_XY);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
TMC_INIT(Y2, STEALTH_AXIS_XY);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z)
|
|
TMC_INIT(Z, STEALTH_AXIS_Z);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
TMC_INIT(Z2, STEALTH_AXIS_Z);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
TMC_INIT(Z3, STEALTH_AXIS_Z);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z4)
|
|
TMC_INIT(Z4, STEALTH_AXIS_Z);
|
|
#endif
|
|
#if AXIS_IS_TMC(E0)
|
|
TMC_INIT(E0, STEALTH_AXIS_E);
|
|
#endif
|
|
#if AXIS_IS_TMC(E1)
|
|
TMC_INIT(E1, STEALTH_AXIS_E);
|
|
#endif
|
|
#if AXIS_IS_TMC(E2)
|
|
TMC_INIT(E2, STEALTH_AXIS_E);
|
|
#endif
|
|
#if AXIS_IS_TMC(E3)
|
|
TMC_INIT(E3, STEALTH_AXIS_E);
|
|
#endif
|
|
#if AXIS_IS_TMC(E4)
|
|
TMC_INIT(E4, STEALTH_AXIS_E);
|
|
#endif
|
|
#if AXIS_IS_TMC(E5)
|
|
TMC_INIT(E5, STEALTH_AXIS_E);
|
|
#endif
|
|
#if AXIS_IS_TMC(E6)
|
|
TMC_INIT(E6, STEALTH_AXIS_E);
|
|
#endif
|
|
#if AXIS_IS_TMC(E7)
|
|
TMC_INIT(E7, STEALTH_AXIS_E);
|
|
#endif
|
|
|
|
#if USE_SENSORLESS
|
|
#if X_SENSORLESS
|
|
#if AXIS_HAS_STALLGUARD(X)
|
|
stepperX.homing_threshold(X_STALL_SENSITIVITY);
|
|
#endif
|
|
#if AXIS_HAS_STALLGUARD(X2) && !X2_SENSORLESS
|
|
stepperX2.homing_threshold(X_STALL_SENSITIVITY);
|
|
#endif
|
|
#endif
|
|
#if X2_SENSORLESS
|
|
stepperX2.homing_threshold(X2_STALL_SENSITIVITY);
|
|
#endif
|
|
#if Y_SENSORLESS
|
|
#if AXIS_HAS_STALLGUARD(Y)
|
|
stepperY.homing_threshold(Y_STALL_SENSITIVITY);
|
|
#endif
|
|
#if AXIS_HAS_STALLGUARD(Y2)
|
|
stepperY2.homing_threshold(Y_STALL_SENSITIVITY);
|
|
#endif
|
|
#endif
|
|
#if Z_SENSORLESS
|
|
#if AXIS_HAS_STALLGUARD(Z)
|
|
stepperZ.homing_threshold(Z_STALL_SENSITIVITY);
|
|
#endif
|
|
#if AXIS_HAS_STALLGUARD(Z2)
|
|
stepperZ2.homing_threshold(Z_STALL_SENSITIVITY);
|
|
#endif
|
|
#if AXIS_HAS_STALLGUARD(Z3)
|
|
stepperZ3.homing_threshold(Z_STALL_SENSITIVITY);
|
|
#endif
|
|
#if AXIS_HAS_STALLGUARD(Z4)
|
|
stepperZ4.homing_threshold(Z_STALL_SENSITIVITY);
|
|
#endif
|
|
#endif
|
|
#endif
|
|
|
|
#ifdef TMC_ADV
|
|
TMC_ADV()
|
|
#endif
|
|
|
|
stepper.set_directions();
|
|
}
|
|
|
|
#endif // HAS_TRINAMIC
|