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Add TMC2209 support (#14249)

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This commit is contained in:
Scott Lahteine
2019-06-20 15:47:50 -05:00
committed by GitHub
parent ed0c70f0a0
commit 4df4c47994
208 changed files with 2732 additions and 644 deletions
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113
Marlin/src/feature/tmc_util.h
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@@ -92,7 +92,7 @@ class TMCStorage {
uint8_t hybrid_thrs = 0;
#endif
#if USE_SENSORLESS
int8_t homing_thrs = 0;
int16_t homing_thrs = 0;
#endif
} stored;
};
@@ -100,10 +100,10 @@ class TMCStorage {
template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(uint16_t cs_pin, float RS) :
TMCMarlin(const uint16_t cs_pin, const float RS) :
TMC(cs_pin, RS)
{}
TMCMarlin(uint16_t CS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) :
TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
{}
inline uint16_t rms_current() { return TMC::rms_current(); }
@@ -111,7 +111,7 @@ class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
this->val_mA = mA;
TMC::rms_current(mA);
}
inline void rms_current(uint16_t mA, float mult) {
inline void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC::rms_current(mA, mult);
}
@@ -132,8 +132,9 @@ class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
}
#endif
#if USE_SENSORLESS
inline int8_t sgt() { return TMC::sgt(); }
void sgt(const int8_t sgt_val) {
inline int16_t homing_threshold() { return TMC::sgt(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC::sgt(sgt_val);
#if HAS_LCD_MENU
this->stored.homing_thrs = sgt_val;
@@ -148,25 +149,28 @@ class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
#endif
#if USE_SENSORLESS
inline void refresh_homing_thrs() { sgt(this->stored.homing_thrs); }
inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
#endif
static constexpr int8_t sgt_min = -64,
sgt_max = 63;
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(Stream * SerialPort, float RS, bool has_rx=true) :
TMC2208Stepper(SerialPort, RS, has_rx=true)
TMCMarlin(Stream * SerialPort, const float RS, const uint8_t) :
TMC2208Stepper(SerialPort, RS, /*has_rx=*/true)
{}
TMCMarlin(uint16_t RX, uint16_t TX, float RS, bool has_rx=true) :
TMC2208Stepper(RX, TX, RS, has_rx=true)
TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t, const bool has_rx=true) :
TMC2208Stepper(RX, TX, RS, has_rx)
{}
uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
inline void rms_current(uint16_t mA) {
inline void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2208Stepper::rms_current(mA);
}
inline void rms_current(uint16_t mA, float mult) {
inline void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC2208Stepper::rms_current(mA, mult);
}
@@ -195,24 +199,87 @@ class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC220
#endif
#endif
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2209Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(Stream * SerialPort, const float RS, const uint8_t addr) :
TMC2209Stepper(SerialPort, RS, addr)
{}
TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t addr, const bool) :
TMC2209Stepper(RX, TX, RS, addr)
{}
uint8_t get_address() { return slave_address; }
uint16_t rms_current() { return TMC2209Stepper::rms_current(); }
inline void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2209Stepper::rms_current(mA);
}
inline void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC2209Stepper::rms_current(mA, mult);
}
#if HAS_STEALTHCHOP
inline void refresh_stepping_mode() { en_spreadCycle(!this->stored.stealthChop_enabled); }
inline bool get_stealthChop_status() { return !this->en_spreadCycle(); }
#endif
#if ENABLED(HYBRID_THRESHOLD)
uint32_t get_pwm_thrs() {
return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
}
void set_pwm_thrs(const uint32_t thrs) {
TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
#if HAS_LCD_MENU
this->stored.hybrid_thrs = thrs;
#endif
}
#endif
#if USE_SENSORLESS
inline int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC2209Stepper::SGTHRS(sgt_val);
#if HAS_LCD_MENU
this->stored.homing_thrs = sgt_val;
#endif
}
#endif
#if HAS_LCD_MENU
inline void refresh_stepper_current() { rms_current(this->val_mA); }
#if ENABLED(HYBRID_THRESHOLD)
inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
#endif
#if USE_SENSORLESS
inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
#endif
static constexpr uint8_t sgt_min = 0,
sgt_max = 255;
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(uint16_t cs_pin, float RS) :
TMCMarlin(const uint16_t cs_pin, const float RS) :
TMC2660Stepper(cs_pin, RS)
{}
TMCMarlin(uint16_t CS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK) :
TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) :
TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK)
{}
inline uint16_t rms_current() { return TMC2660Stepper::rms_current(); }
inline void rms_current(uint16_t mA) {
inline void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2660Stepper::rms_current(mA);
}
#if USE_SENSORLESS
inline int8_t sgt() { return TMC2660Stepper::sgt(); }
void sgt(const int8_t sgt_val) {
inline int16_t homing_threshold() { return TMC2660Stepper::sgt(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC2660Stepper::sgt(sgt_val);
#if HAS_LCD_MENU
this->stored.homing_thrs = sgt_val;
@@ -224,9 +291,12 @@ class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC266
inline void refresh_stepper_current() { rms_current(this->val_mA); }
#if USE_SENSORLESS
inline void refresh_homing_thrs() { sgt(this->stored.homing_thrs); }
inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
#endif
static constexpr int8_t sgt_min = -64,
sgt_max = 63;
};
template<typename TMC>
@@ -262,7 +332,7 @@ void tmc_print_current(TMC &st) {
void tmc_print_sgt(TMC &st) {
st.printLabel();
SERIAL_ECHOPGM(" homing sensitivity: ");
SERIAL_PRINTLN(st.sgt(), DEC);
SERIAL_PRINTLN(st.homing_threshold(), DEC);
}
#endif
@@ -293,6 +363,9 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
bool tmc_enable_stallguard(TMC2130Stepper &st);
void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
bool tmc_enable_stallguard(TMC2209Stepper &st);
void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth);
bool tmc_enable_stallguard(TMC2660Stepper);
void tmc_disable_stallguard(TMC2660Stepper, const bool);
#endif