Consolidate smart stepper driver initialization
This commit is contained in:
Scott Lahteine
parent
72776f647b
commit
a03502080e
5 changed files with 180 additions and 119 deletions
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@ -42,83 +42,82 @@
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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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#define _TMC26X_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_TMC26X)
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_TMC_DEFINE(X);
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_TMC26X_DEFINE(X);
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#endif
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#if ENABLED(X2_IS_TMC26X)
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_TMC_DEFINE(X2);
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_TMC26X_DEFINE(X2);
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#endif
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#if ENABLED(Y_IS_TMC26X)
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_TMC_DEFINE(Y);
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_TMC26X_DEFINE(Y);
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#endif
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#if ENABLED(Y2_IS_TMC26X)
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_TMC_DEFINE(Y2);
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_TMC26X_DEFINE(Y2);
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#endif
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#if ENABLED(Z_IS_TMC26X)
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_TMC_DEFINE(Z);
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_TMC26X_DEFINE(Z);
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#endif
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#if ENABLED(Z2_IS_TMC26X)
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_TMC_DEFINE(Z2);
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_TMC26X_DEFINE(Z2);
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#endif
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#if ENABLED(E0_IS_TMC26X)
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_TMC_DEFINE(E0);
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_TMC26X_DEFINE(E0);
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#endif
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#if ENABLED(E1_IS_TMC26X)
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_TMC_DEFINE(E1);
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_TMC26X_DEFINE(E1);
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#endif
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#if ENABLED(E2_IS_TMC26X)
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_TMC_DEFINE(E2);
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_TMC26X_DEFINE(E2);
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#endif
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#if ENABLED(E3_IS_TMC26X)
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_TMC_DEFINE(E3);
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_TMC26X_DEFINE(E3);
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#endif
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#if ENABLED(E4_IS_TMC26X)
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_TMC_DEFINE(E4);
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_TMC26X_DEFINE(E4);
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#endif
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#define _TMC_INIT(A) do{ \
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#define _TMC26X_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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void tmc26x_init_to_defaults() {
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#if ENABLED(X_IS_TMC26X)
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_TMC_INIT(X);
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_TMC26X_INIT(X);
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#endif
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#if ENABLED(X2_IS_TMC26X)
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_TMC_INIT(X2);
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_TMC26X_INIT(X2);
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#endif
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#if ENABLED(Y_IS_TMC26X)
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_TMC_INIT(Y);
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_TMC26X_INIT(Y);
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#endif
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#if ENABLED(Y2_IS_TMC26X)
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_TMC_INIT(Y2);
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_TMC26X_INIT(Y2);
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#endif
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#if ENABLED(Z_IS_TMC26X)
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_TMC_INIT(Z);
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_TMC26X_INIT(Z);
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#endif
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#if ENABLED(Z2_IS_TMC26X)
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_TMC_INIT(Z2);
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_TMC26X_INIT(Z2);
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#endif
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#if ENABLED(E0_IS_TMC26X)
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_TMC_INIT(E0);
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_TMC26X_INIT(E0);
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#endif
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#if ENABLED(E1_IS_TMC26X)
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_TMC_INIT(E1);
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_TMC26X_INIT(E1);
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#endif
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#if ENABLED(E2_IS_TMC26X)
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_TMC_INIT(E2);
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_TMC26X_INIT(E2);
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#endif
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#if ENABLED(E3_IS_TMC26X)
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_TMC_INIT(E3);
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_TMC26X_INIT(E3);
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#endif
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#if ENABLED(E4_IS_TMC26X)
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_TMC_INIT(E4);
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_TMC26X_INIT(E4);
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#endif
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}
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#endif // HAVE_TMC26X
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//
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@ -137,7 +136,6 @@
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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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#endif
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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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@ -176,9 +174,9 @@
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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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void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, 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.setCurrent(mA, 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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@ -205,9 +203,9 @@
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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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#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
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void tmc2130_init() {
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void tmc2130_init_to_defaults() {
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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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@ -242,7 +240,35 @@
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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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#if ENABLED(SENSORLESS_HOMING)
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#define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
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#ifdef X_HOMING_SENSITIVITY
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#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
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stepperX.sgt(X_HOMING_SENSITIVITY);
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#endif
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#if ENABLED(X2_IS_TMC2130)
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stepperX2.sgt(X_HOMING_SENSITIVITY);
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#endif
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#endif
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#ifdef Y_HOMING_SENSITIVITY
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#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
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stepperY.sgt(Y_HOMING_SENSITIVITY);
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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stepperY2.sgt(Y_HOMING_SENSITIVITY);
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#endif
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#endif
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#ifdef Z_HOMING_SENSITIVITY
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#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
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stepperZ.sgt(Z_HOMING_SENSITIVITY);
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#endif
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#if ENABLED(Z2_IS_TMC2130)
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stepperZ2.sgt(Z_HOMING_SENSITIVITY);
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#endif
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#endif
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#endif
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}
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#endif // HAVE_TMC2130
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//
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@ -377,11 +403,11 @@
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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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void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, 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.rms_current(mA, 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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@ -411,9 +437,9 @@
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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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#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
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void tmc2208_init() {
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void tmc2208_init_to_defaults() {
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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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@ -448,8 +474,63 @@
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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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void restore_stepper_drivers() {
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#if X_IS_TRINAMIC
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stepperX.push();
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#endif
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#if X2_IS_TRINAMIC
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stepperX2.push();
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#endif
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#if Y_IS_TRINAMIC
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stepperY.push();
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#endif
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#if Y2_IS_TRINAMIC
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stepperY2.push();
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#endif
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#if Z_IS_TRINAMIC
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stepperZ.push();
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#endif
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#if Z2_IS_TRINAMIC
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stepperZ2.push();
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#endif
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#if E0_IS_TRINAMIC
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stepperE0.push();
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#endif
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#if E1_IS_TRINAMIC
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stepperE1.push();
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#endif
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#if E2_IS_TRINAMIC
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stepperE2.push();
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#endif
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#if E3_IS_TRINAMIC
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stepperE3.push();
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#endif
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#if E4_IS_TRINAMIC
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stepperE4.push();
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#endif
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}
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void reset_stepper_drivers() {
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#if ENABLED(HAVE_TMC26X)
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tmc26x_init_to_defaults();
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#endif
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#if ENABLED(HAVE_TMC2130)
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tmc2130_init_to_defaults();
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#endif
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#if ENABLED(HAVE_TMC2208)
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tmc2208_init_to_defaults();
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#endif
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#ifdef TMC_ADV
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TMC_ADV()
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#endif
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#if ENABLED(HAVE_L6470DRIVER)
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L6470_init_to_defaults();
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#endif
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}
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//
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// L6470 Driver objects and inits
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//
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@ -503,7 +584,7 @@
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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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void L6470_init_to_defaults() {
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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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