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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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34
Marlin/src/module/configuration_store.cpp
View File

@ -1051,13 +1051,13 @@ void MarlinSettings::postprocess() {
tmc_sgt_t tmc_sgt = { 0, 0, 0 };
#if USE_SENSORLESS
#if X_SENSORLESS
tmc_sgt.X = stepperX.sgt();
tmc_sgt.X = stepperX.homing_threshold();
#endif
#if Y_SENSORLESS
tmc_sgt.Y = stepperY.sgt();
tmc_sgt.Y = stepperY.homing_threshold();
#endif
#if Z_SENSORLESS
tmc_sgt.Z = stepperZ.sgt();
tmc_sgt.Z = stepperZ.homing_threshold();
#endif
#endif
EEPROM_WRITE(tmc_sgt);
@ -1834,29 +1834,29 @@ void MarlinSettings::postprocess() {
if (!validating) {
#ifdef X_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(X)
stepperX.sgt(tmc_sgt.X);
stepperX.homing_threshold(tmc_sgt.X);
#endif
#if AXIS_HAS_STALLGUARD(X2)
stepperX2.sgt(tmc_sgt.X);
stepperX2.homing_threshold(tmc_sgt.X);
#endif
#endif
#ifdef Y_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(Y)
stepperY.sgt(tmc_sgt.Y);
stepperY.homing_threshold(tmc_sgt.Y);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
stepperY2.sgt(tmc_sgt.Y);
stepperY2.homing_threshold(tmc_sgt.Y);
#endif
#endif
#ifdef Z_STALL_SENSITIVITY
#if AXIS_HAS_STALLGUARD(Z)
stepperZ.sgt(tmc_sgt.Z);
stepperZ.homing_threshold(tmc_sgt.Z);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
stepperZ2.sgt(tmc_sgt.Z);
stepperZ2.homing_threshold(tmc_sgt.Z);
#endif
#if AXIS_HAS_STALLGUARD(Z3)
stepperZ3.sgt(tmc_sgt.Z);
stepperZ3.homing_threshold(tmc_sgt.Z);
#endif
#endif
}
@ -3259,13 +3259,13 @@ void MarlinSettings::reset() {
#if X_SENSORLESS || Y_SENSORLESS || Z_SENSORLESS
say_M914();
#if X_SENSORLESS
SERIAL_ECHOPAIR(" X", stepperX.sgt());
SERIAL_ECHOPAIR(" X", stepperX.homing_threshold());
#endif
#if Y_SENSORLESS
SERIAL_ECHOPAIR(" Y", stepperY.sgt());
SERIAL_ECHOPAIR(" Y", stepperY.homing_threshold());
#endif
#if Z_SENSORLESS
SERIAL_ECHOPAIR(" Z", stepperZ.sgt());
SERIAL_ECHOPAIR(" Z", stepperZ.homing_threshold());
#endif
SERIAL_EOL();
#endif
@ -3278,20 +3278,20 @@ void MarlinSettings::reset() {
say_M914();
SERIAL_ECHOPGM(" I1");
#if HAS_X2_SENSORLESS
SERIAL_ECHOPAIR(" X", stepperX2.sgt());
SERIAL_ECHOPAIR(" X", stepperX2.homing_threshold());
#endif
#if HAS_Y2_SENSORLESS
SERIAL_ECHOPAIR(" Y", stepperY2.sgt());
SERIAL_ECHOPAIR(" Y", stepperY2.homing_threshold());
#endif
#if HAS_Z2_SENSORLESS
SERIAL_ECHOPAIR(" Z", stepperZ2.sgt());
SERIAL_ECHOPAIR(" Z", stepperZ2.homing_threshold());
#endif
SERIAL_EOL();
#endif
#if HAS_Z3_SENSORLESS
say_M914();
SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.sgt());
SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.homing_threshold());
#endif
#endif // USE_SENSORLESS

123
Marlin/src/module/stepper_indirection.cpp
View File

@ -163,8 +163,8 @@
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#endif
#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE)
#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SERIAL_RX_PIN > -1)
#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE, ST##_SLAVE_ADDRESS)
#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SLAVE_ADDRESS, ST##_SERIAL_RX_PIN > -1)
#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
@ -318,95 +318,94 @@
#endif // TMC2160
//
// TMC2208 Driver objects and inits
// TMC2208/2209 Driver objects and inits
//
#if HAS_DRIVER(TMC2208)
// Stepper objects of TMC2208 steppers used
#if AXIS_DRIVER_TYPE_X(TMC2208)
#if HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
#if AXIS_HAS_UART(X)
#ifdef X_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, X, X);
#else
TMC_UART_DEFINE(SW, X, X);
#endif
#endif
#if AXIS_DRIVER_TYPE_X2(TMC2208)
#if AXIS_HAS_UART(X2)
#ifdef X2_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, X2, X);
#else
TMC_UART_DEFINE(SW, X2, X);
#endif
#endif
#if AXIS_DRIVER_TYPE_Y(TMC2208)
#if AXIS_HAS_UART(Y)
#ifdef Y_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Y, Y);
#else
TMC_UART_DEFINE(SW, Y, Y);
#endif
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC2208)
#if AXIS_HAS_UART(Y2)
#ifdef Y2_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Y2, Y);
#else
TMC_UART_DEFINE(SW, Y2, Y);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z(TMC2208)
#if AXIS_HAS_UART(Z)
#ifdef Z_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Z, Z);
#else
TMC_UART_DEFINE(SW, Z, Z);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC2208)
#if AXIS_HAS_UART(Z2)
#ifdef Z2_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Z2, Z);
#else
TMC_UART_DEFINE(SW, Z2, Z);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC2208)
#if AXIS_HAS_UART(Z3)
#ifdef Z3_HARDWARE_SERIAL
TMC_UART_DEFINE(HW, Z3, Z);
#else
TMC_UART_DEFINE(SW, Z3, Z);
#endif
#endif
#if AXIS_DRIVER_TYPE_E0(TMC2208)
#if AXIS_HAS_UART(E0)
#ifdef E0_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 0);
#else
TMC_UART_DEFINE_E(SW, 0);
#endif
#endif
#if AXIS_DRIVER_TYPE_E1(TMC2208)
#if AXIS_HAS_UART(E1)
#ifdef E1_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 1);
#else
TMC_UART_DEFINE_E(SW, 1);
#endif
#endif
#if AXIS_DRIVER_TYPE_E2(TMC2208)
#if AXIS_HAS_UART(E2)
#ifdef E2_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 2);
#else
TMC_UART_DEFINE_E(SW, 2);
#endif
#endif
#if AXIS_DRIVER_TYPE_E3(TMC2208)
#if AXIS_HAS_UART(E3)
#ifdef E3_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 3);
#else
TMC_UART_DEFINE_E(SW, 3);
#endif
#endif
#if AXIS_DRIVER_TYPE_E4(TMC2208)
#if AXIS_HAS_UART(E4)
#ifdef E4_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 4);
#else
TMC_UART_DEFINE_E(SW, 4);
#endif
#endif
#if AXIS_DRIVER_TYPE_E5(TMC2208)
#if AXIS_HAS_UART(E5)
#ifdef E5_HARDWARE_SERIAL
TMC_UART_DEFINE_E(HW, 5);
#else
@ -414,92 +413,92 @@
#endif
#endif
void tmc2208_serial_begin() {
#if AXIS_DRIVER_TYPE_X(TMC2208)
void tmc_serial_begin() {
#if AXIS_HAS_UART(X)
#ifdef X_HARDWARE_SERIAL
X_HARDWARE_SERIAL.begin(115200);
#else
stepperX.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_X2(TMC2208)
#if AXIS_HAS_UART(X2)
#ifdef X2_HARDWARE_SERIAL
X2_HARDWARE_SERIAL.begin(115200);
#else
stepperX2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Y(TMC2208)
#if AXIS_HAS_UART(Y)
#ifdef Y_HARDWARE_SERIAL
Y_HARDWARE_SERIAL.begin(115200);
#else
stepperY.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC2208)
#if AXIS_HAS_UART(Y2)
#ifdef Y2_HARDWARE_SERIAL
Y2_HARDWARE_SERIAL.begin(115200);
#else
stepperY2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z(TMC2208)
#if AXIS_HAS_UART(Z)
#ifdef Z_HARDWARE_SERIAL
Z_HARDWARE_SERIAL.begin(115200);
#else
stepperZ.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC2208)
#if AXIS_HAS_UART(Z2)
#ifdef Z2_HARDWARE_SERIAL
Z2_HARDWARE_SERIAL.begin(115200);
#else
stepperZ2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC2208)
#if AXIS_HAS_UART(Z3)
#ifdef Z3_HARDWARE_SERIAL
Z3_HARDWARE_SERIAL.begin(115200);
#else
stepperZ3.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E0(TMC2208)
#if AXIS_HAS_UART(E0)
#ifdef E0_HARDWARE_SERIAL
E0_HARDWARE_SERIAL.begin(115200);
#else
stepperE0.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E1(TMC2208)
#if AXIS_HAS_UART(E1)
#ifdef E1_HARDWARE_SERIAL
E1_HARDWARE_SERIAL.begin(115200);
#else
stepperE1.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E2(TMC2208)
#if AXIS_HAS_UART(E2)
#ifdef E2_HARDWARE_SERIAL
E2_HARDWARE_SERIAL.begin(115200);
#else
stepperE2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E3(TMC2208)
#if AXIS_HAS_UART(E3)
#ifdef E3_HARDWARE_SERIAL
E3_HARDWARE_SERIAL.begin(115200);
#else
stepperE3.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E4(TMC2208)
#if AXIS_HAS_UART(E4)
#ifdef E4_HARDWARE_SERIAL
E4_HARDWARE_SERIAL.begin(115200);
#else
stepperE4.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE_E5(TMC2208)
#if AXIS_HAS_UART(E5)
#ifdef E5_HARDWARE_SERIAL
E5_HARDWARE_SERIAL.begin(115200);
#else
@ -507,7 +506,9 @@
#endif
#endif
}
#endif
#if HAS_DRIVER(TMC2208)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
TMC2208_n::GCONF_t gconf{0};
@ -555,6 +556,50 @@
}
#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 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;
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(thrs);
#else
UNUSED(thrs);
#endif
st.GSTAT(0b111); // Clear
}
#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) {
@ -791,29 +836,29 @@ void reset_stepper_drivers() {
#if USE_SENSORLESS
#if X_SENSORLESS
#if AXIS_HAS_STALLGUARD(X)
stepperX.sgt(X_STALL_SENSITIVITY);
stepperX.homing_threshold(X_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(X2)
stepperX2.sgt(X_STALL_SENSITIVITY);
stepperX2.homing_threshold(X_STALL_SENSITIVITY);
#endif
#endif
#if Y_SENSORLESS
#if AXIS_HAS_STALLGUARD(Y)
stepperY.sgt(Y_STALL_SENSITIVITY);
stepperY.homing_threshold(Y_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(Y2)
stepperY2.sgt(Y_STALL_SENSITIVITY);
stepperY2.homing_threshold(Y_STALL_SENSITIVITY);
#endif
#endif
#if Z_SENSORLESS
#if AXIS_HAS_STALLGUARD(Z)
stepperZ.sgt(Z_STALL_SENSITIVITY);
stepperZ.homing_threshold(Z_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
stepperZ2.sgt(Z_STALL_SENSITIVITY);
stepperZ2.homing_threshold(Z_STALL_SENSITIVITY);
#endif
#if AXIS_HAS_STALLGUARD(Z3)
stepperZ3.sgt(Z_STALL_SENSITIVITY);
stepperZ3.homing_threshold(Z_STALL_SENSITIVITY);
#endif
#endif
#endif

8
Marlin/src/module/stepper_indirection.h
View File

@ -58,8 +58,8 @@
#if HAS_TRINAMIC
#include <TMCStepper.h>
#include "../feature/tmc_util.h"
#if TMCSTEPPER_VERSION < 0x000401
#error "Update TMCStepper library to 0.4.1 or newer."
#if TMCSTEPPER_VERSION < 0x000405
#error "Update TMCStepper library to 0.4.5 or newer."
#endif
#define ____TMC_CLASS(MODEL, A, I, E) TMCMarlin<TMC##MODEL##Stepper, A, I, E>
@ -81,8 +81,8 @@
static constexpr chopper_timing_t chopper_timing = CHOPPER_TIMING;
#if HAS_DRIVER(TMC2208)
void tmc2208_serial_begin();
#if HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
void tmc_serial_begin();
#endif
#endif