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First attempt at adding TMC Driver support. May need some cleanup.

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domonoky
2015-02-23 17:45:29 +01:00
parent b55995aae8
commit 38500165ea
57 changed files with 33325 additions and 2 deletions
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82
Marlin/stepper.cpp
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@ -33,7 +33,6 @@
#include <SPI.h>
#endif
//===========================================================================
//=============================public variables ============================
//===========================================================================
@ -88,6 +87,37 @@ static bool check_endstops = true;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
// Stepper objects of TMC steppers are used
#ifdef X_IS_TMC
TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
#endif
#ifdef X2_IS_TMC
TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
#endif
#ifdef Y_IS_TMC
TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
#endif
#ifdef Y2_IS_TMC
TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
#endif
#ifdef Z_IS_TMC
TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
#endif
#ifdef Z2_IS_TMC
TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
#endif
#ifdef E0_IS_TMC
TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
#endif
#ifdef E1_IS_TMC
TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
#endif
#ifdef E2_IS_TMC
TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
#endif
#ifdef E3_IS_TMC
TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
#endif
//===========================================================================
//=============================functions ============================
//===========================================================================
@ -838,6 +868,11 @@ void st_init()
digipot_init(); //Initialize Digipot Motor Current
microstep_init(); //Initialize Microstepping Pins
// initialise TMC Steppers
#ifdef HAVE_TMCDRIVER
tmc_init();
#endif
//Initialize Dir Pins
#if defined(X_DIR_PIN) && X_DIR_PIN > -1
X_DIR_INIT;
@ -1386,3 +1421,48 @@ void microstep_readings()
#endif
}
#ifdef HAVE_TMCDRIVER
void tmc_init()
{
#ifdef X_IS_TMC
stepperX.setMicrosteps(X_MICROSTEPS);
stepperX.start();
#endif
#ifdef X2_IS_TMC
stepperX2.setMicrosteps(X2_MICROSTEPS);
stepperX2.start();
#endif
#ifdef Y_IS_TMC
stepperY.setMicrosteps(Y_MICROSTEPS);
stepperY.start();
#endif
#ifdef Y2_IS_TMC
stepperY2.setMicrosteps(Y2_MICROSTEPS);
stepperY2.start();
#endif
#ifdef Z_IS_TMC
stepperZ.setMicrosteps(Z_MICROSTEPS);
stepperZ.start();
#endif
#ifdef Z2_IS_TMC
stepperZ2.setMicrosteps(Z2_MICROSTEPS);
stepperZ2.start();
#endif
#ifdef E0_IS_TMC
stepperE0.setMicrosteps(E0_MICROSTEPS);
stepperE0.start();
#endif
#ifdef E1_IS_TMC
stepperE1.setMicrosteps(E1_MICROSTEPS);
stepperE1.start();
#endif
#ifdef E2_IS_TMC
stepperE2.setMicrosteps(E2_MICROSTEPS);
stepperE2.start();
#endif
#ifdef E3_IS_TMC
stepperE3.setMicrosteps(E3_MICROSTEPS);
stepperE3.start();
#endif
}
#endif