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Coolstep for TMC2130, 2209, 5130, 5160 (#16790)

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This commit is contained in:
Fabio Santos
2020-02-08 19:01:57 -08:00
committed by GitHub
parent f0cbc85a07
commit 894762259b
25 changed files with 473 additions and 86 deletions
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2
Marlin/src/module/stepper.cpp
View File

@ -1496,7 +1496,7 @@ void Stepper::stepper_pulse_phase_isr() {
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
// Determine if pulses are needed
// Determine if a pulse is needed using Bresenham
#define PULSE_PREP(AXIS) do{ \
delta_error[_AXIS(AXIS)] += advance_dividend[_AXIS(AXIS)]; \
step_needed[_AXIS(AXIS)] = (delta_error[_AXIS(AXIS)] >= 0); \

185
Marlin/src/module/stepper/trinamic.cpp
View File

@ -36,7 +36,19 @@
#include <SPI.h>
enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#define _TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX])
#define _TMC_INIT_1(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS)
#define _TMC_INIT_2(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, stealthchop_by_axis[STEALTH_INDEX], ST##_HYBRID_THRESHOLD)
#define _TMC_INIT_3(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, stealthchop_by_axis[STEALTH_INDEX], ST##_HYBRID_THRESHOLD, ST##_COOLSTEP_SPEED_THRESHOLD, ST##_COOLSTEP_LOWER_LOAD_THRESHOLD, ST##_COOLSTEP_UPPER_LOAD_THRESHOLD, ST##_COOLSTEP_SEUP, ST##_COOLSTEP_SEDN, ST##_COOLSTEP_SEIMIN)
#define _TMC_INIT_TMC2660(ST, STEALTH_INDEX) _TMC_INIT_1(ST, STEALTH_INDEX)
#define _TMC_INIT_TMC2160(ST, STEALTH_INDEX) _TMC_INIT_2(ST, STEALTH_INDEX)
#define _TMC_INIT_TMC2208(ST, STEALTH_INDEX) _TMC_INIT_2(ST, STEALTH_INDEX)
#define _TMC_INIT_TMC5130(ST, STEALTH_INDEX) _TMC_INIT_3(ST, STEALTH_INDEX)
#define _TMC_INIT_TMC5160(ST, STEALTH_INDEX) _TMC_INIT_3(ST, STEALTH_INDEX)
#define _TMC_INIT_TMC2130(ST, STEALTH_INDEX) _TMC_INIT_3(ST, STEALTH_INDEX)
#define _TMC_INIT_TMC2209(ST, STEALTH_INDEX) _TMC_INIT_3(ST, STEALTH_INDEX)
#define __TMC_INIT(DRV, ST, STEALTH_INDEX) _TMC_INIT_##DRV(ST, STEALTH_INDEX)
#define _TMC_INIT(DRV, ST, STEALTH_INDEX) __TMC_INIT(DRV, ST, STEALTH_INDEX)
#define TMC_INIT(ST, STEALTH_INDEX) _TMC_INIT(ST##_DRIVER_TYPE, ST, STEALTH_INDEX)
// IC = TMC model number
// ST = Stepper object letter
@ -122,7 +134,19 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#if HAS_DRIVER(TMC2130)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
void tmc_init(
TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
const uint16_t mA,
const uint16_t microsteps,
const bool stealth,
const uint32_t hyb_thrs,
const uint32_t cool_thrs,
const uint8_t cool_semin,
const uint8_t cool_semax,
const uint8_t cool_seup,
const uint8_t cool_sedn,
const bool cool_seimin
) {
st.begin();
CHOPCONF_t chopconf{0};
@ -152,18 +176,33 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.set_pwm_thrs(thrs);
st.set_pwm_thrs(hyb_thrs);
#else
UNUSED(thrs);
UNUSED(hyb_thrs);
#endif
st.set_cool_thrs(cool_thrs); // (mm/s)
COOLCONF_t coolconf{0};
coolconf.semin = cool_semin;
coolconf.semax = cool_semax;
coolconf.seup = cool_seup;
coolconf.sedn = cool_sedn;
coolconf.seimin = cool_seimin;
st.COOLCONF(coolconf.sr);
st.GSTAT(); // Clear GSTAT
}
#endif // TMC2130
#if HAS_DRIVER(TMC2160)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
void tmc_init(
TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
const uint16_t mA,
const uint16_t microsteps,
const bool stealth,
const uint32_t hyb_thrs
) {
st.begin();
CHOPCONF_t chopconf{0};
@ -196,9 +235,9 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.set_pwm_thrs(thrs);
st.set_pwm_thrs(hyb_thrs);
#else
UNUSED(thrs);
UNUSED(hyb_thrs);
#endif
st.GSTAT(); // Clear GSTAT
@ -440,7 +479,13 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#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) {
void tmc_init(
TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
const uint16_t mA,
const uint16_t microsteps,
const bool stealth,
const uint32_t hyb_thrs
) {
TMC2208_n::GCONF_t gconf{0};
gconf.pdn_disable = true; // Use UART
gconf.mstep_reg_select = true; // Select microsteps with UART
@ -476,9 +521,9 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.set_pwm_thrs(thrs);
st.set_pwm_thrs(hyb_thrs);
#else
UNUSED(thrs);
UNUSED(hyb_thrs);
#endif
st.GSTAT(0b111); // Clear
@ -488,7 +533,19 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#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) {
void tmc_init(
TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
const uint16_t mA,
const uint16_t microsteps,
const bool stealth,
const uint32_t hyb_thrs,
const uint32_t cool_thrs,
const uint8_t cool_semin,
const uint8_t cool_semax,
const uint8_t cool_seup,
const uint8_t cool_sedn,
const bool cool_seimin
) {
TMC2208_n::GCONF_t gconf{0};
gconf.pdn_disable = true; // Use UART
gconf.mstep_reg_select = true; // Select microsteps with UART
@ -524,11 +581,20 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.set_pwm_thrs(thrs);
st.set_pwm_thrs(hyb_thrs);
#else
UNUSED(thrs);
UNUSED(hyb_thrs);
#endif
st.set_cool_thrs(cool_thrs); // (mm/s)
COOLCONF_t coolconf{0};
coolconf.semin = cool_semin;
coolconf.semax = cool_semax;
coolconf.seup = cool_seup;
coolconf.sedn = cool_sedn;
coolconf.seimin = cool_seimin;
st.COOLCONF(coolconf.sr);
st.GSTAT(0b111); // Clear
delay(200);
}
@ -536,7 +602,11 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#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) {
void tmc_init(
TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
const uint16_t mA,
const uint16_t microsteps
) {
st.begin();
TMC2660_n::CHOPCONF_t chopconf{0};
@ -563,7 +633,19 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#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 thrs, const bool stealth) {
void tmc_init(
TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
const uint16_t mA,
const uint16_t microsteps,
const bool stealth,
const uint32_t hyb_thrs,
const uint32_t cool_thrs,
const uint8_t cool_semin,
const uint8_t cool_semax,
const uint8_t cool_seup,
const uint8_t cool_sedn,
const bool cool_seimin
) {
st.begin();
CHOPCONF_t chopconf{0};
@ -593,18 +675,39 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.set_pwm_thrs(thrs);
st.set_pwm_thrs(hyb_thrs);
#else
UNUSED(thrs);
UNUSED(hyb_thrs);
#endif
st.set_cool_thrs(cool_thrs); // (mm/s)
COOLCONF_t coolconf{0};
coolconf.semin = cool_semin;
coolconf.semax = cool_semax;
coolconf.seup = cool_seup;
coolconf.sedn = cool_sedn;
coolconf.seimin = cool_seimin;
st.COOLCONF(coolconf.sr);
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 thrs, const bool stealth) {
void tmc_init(
TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
const uint16_t mA,
const uint16_t microsteps,
const bool stealth,
const uint32_t hyb_thrs,
const uint32_t cool_thrs,
const uint8_t cool_semin,
const uint8_t cool_semax,
const uint8_t cool_seup,
const uint8_t cool_sedn,
const bool cool_seimin
) {
st.begin();
CHOPCONF_t chopconf{0};
@ -637,10 +740,20 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
st.PWMCONF(pwmconf.sr);
#if ENABLED(HYBRID_THRESHOLD)
st.set_pwm_thrs(thrs);
st.set_pwm_thrs(hyb_thrs);
#else
UNUSED(thrs);
UNUSED(hyb_thrs);
#endif
st.set_cool_thrs(cool_thrs); // (mm/s)
COOLCONF_t coolconf{0};
coolconf.semin = cool_semin;
coolconf.semax = cool_semax;
coolconf.seup = cool_seup;
coolconf.sedn = cool_sedn;
coolconf.seimin = cool_seimin;
st.COOLCONF(coolconf.sr);
st.GSTAT(); // Clear GSTAT
}
#endif // TMC5160
@ -718,52 +831,52 @@ void reset_trinamic_drivers() {
};
#if AXIS_IS_TMC(X)
_TMC_INIT(X, STEALTH_AXIS_XY);
TMC_INIT(X, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(X2)
_TMC_INIT(X2, STEALTH_AXIS_XY);
TMC_INIT(X2, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Y)
_TMC_INIT(Y, STEALTH_AXIS_XY);
TMC_INIT(Y, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Y2)
_TMC_INIT(Y2, STEALTH_AXIS_XY);
TMC_INIT(Y2, STEALTH_AXIS_XY);
#endif
#if AXIS_IS_TMC(Z)
_TMC_INIT(Z, STEALTH_AXIS_Z);
TMC_INIT(Z, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(Z2)
_TMC_INIT(Z2, STEALTH_AXIS_Z);
TMC_INIT(Z2, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(Z3)
_TMC_INIT(Z3, STEALTH_AXIS_Z);
TMC_INIT(Z3, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(Z4)
_TMC_INIT(Z4, STEALTH_AXIS_Z);
TMC_INIT(Z4, STEALTH_AXIS_Z);
#endif
#if AXIS_IS_TMC(E0)
_TMC_INIT(E0, STEALTH_AXIS_E);
TMC_INIT(E0, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E1)
_TMC_INIT(E1, STEALTH_AXIS_E);
TMC_INIT(E1, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E2)
_TMC_INIT(E2, STEALTH_AXIS_E);
TMC_INIT(E2, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E3)
_TMC_INIT(E3, STEALTH_AXIS_E);
TMC_INIT(E3, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E4)
_TMC_INIT(E4, STEALTH_AXIS_E);
TMC_INIT(E4, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E5)
_TMC_INIT(E5, STEALTH_AXIS_E);
TMC_INIT(E5, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E6)
_TMC_INIT(E6, STEALTH_AXIS_E);
TMC_INIT(E6, STEALTH_AXIS_E);
#endif
#if AXIS_IS_TMC(E7)
_TMC_INIT(E7, STEALTH_AXIS_E);
TMC_INIT(E7, STEALTH_AXIS_E);
#endif
#if USE_SENSORLESS