bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Add support for TMC2660 (#11998)

Browse Source
This commit is contained in:
teemuatlut
2018-10-07 01:18:10 +03:00
committed by Scott Lahteine
parent cf0b9eb37c
commit c447d75916
11 changed files with 278 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Marlin/src/feature/pause.cpp
View File

@ -310,7 +310,7 @@ bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
#endif
// Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
#if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN
#if (E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN) || AXIS_DRIVER_TYPE(E0, TMC2660) || AXIS_DRIVER_TYPE(E1, TMC2660) || AXIS_DRIVER_TYPE(E2, TMC2660) || AXIS_DRIVER_TYPE(E3, TMC2660) || AXIS_DRIVER_TYPE(E4, TMC2660) || AXIS_DRIVER_TYPE(E5, TMC2660)
disable_e_stepper(active_extruder);
safe_delay(100);
#endif

140
Marlin/src/feature/tmc_util.cpp
View File

@ -53,8 +53,10 @@
bool is_error;
};
#if HAS_DRIVER(TMC2130)
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response & 0xF; }
#if ENABLED(TMC_DEBUG)
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response & 0xF; }
#endif
static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
constexpr uint32_t OTPW_bm = 0x4000000UL;
constexpr uint8_t OTPW_bp = 26;
@ -71,15 +73,17 @@
}
#endif
#if HAS_DRIVER(TMC2208)
static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
static uint8_t get_status_response(TMC2208Stepper &st) {
uint32_t drv_status = st.DRV_STATUS();
uint8_t gstat = st.GSTAT();
uint8_t response = 0;
response |= (drv_status >> (31-3)) & 0b1000;
response |= gstat & 0b11;
return response;
}
#if ENABLED(TMC_DEBUG)
static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
static uint8_t get_status_response(TMC2208Stepper &st) {
uint32_t drv_status = st.DRV_STATUS();
uint8_t gstat = st.GSTAT();
uint8_t response = 0;
response |= (drv_status >> (31-3)) & 0b1000;
response |= gstat & 0b11;
return response;
}
#endif
static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
constexpr uint32_t OTPW_bm = 0b1ul;
constexpr uint8_t OTPW_bp = 0;
@ -93,6 +97,25 @@
return data;
}
#endif
#if HAS_DRIVER(TMC2660)
#if ENABLED(TMC_DEBUG)
static uint32_t get_pwm_scale(TMC2660Stepper) { return 0; }
static uint8_t get_status_response(TMC2660Stepper) { return 0; }
#endif
static TMC_driver_data get_driver_data(TMC2660Stepper &st) {
constexpr uint32_t OTPW_bm = 0x4UL;
constexpr uint8_t OTPW_bp = 2;
constexpr uint32_t OT_bm = 0x2UL;
constexpr uint8_t OT_bp = 1;
constexpr uint8_t DRIVER_ERROR_bm = 0x1EUL;
TMC_driver_data data;
data.drv_status = st.DRVSTATUS();
data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;
data.is_ot = (data.drv_status & OT_bm) >> OT_bp;
data.is_error = data.drv_status & DRIVER_ERROR_bm;
return data;
}
#endif
template<typename TMC>
void monitor_tmc_driver(TMC &st) {
@ -161,7 +184,7 @@
#endif
}
#define HAS_HW_COMMS(ST) AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && defined(ST##_HARDWARE_SERIAL))
#define HAS_HW_COMMS(ST) AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2660) || (AXIS_DRIVER_TYPE(ST, TMC2208) && defined(ST##_HARDWARE_SERIAL))
void monitor_tmc_driver() {
static millis_t next_cOT = 0;
@ -217,6 +240,16 @@
#if ENABLED(TMC_DEBUG)
/**
* M122 S[1,0] Enable periodic status reports
*/
#if ENABLED(MONITOR_DRIVER_STATUS)
void tmc_set_report_status(const bool status) {
if ((report_tmc_status = status))
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
}
#endif
enum TMC_debug_enum : char {
TMC_CODES,
TMC_ENABLED,
@ -291,6 +324,7 @@
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;
case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;
case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('X'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
default: break;
}
}
@ -312,11 +346,16 @@
case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;
case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break;
case TMC_T120: if (st.t120()) SERIAL_CHAR('X'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
default: break;
}
}
#endif
#if HAS_DRIVER(TMC2660)
static void _tmc_parse_drv_status(TMC2660Stepper, const TMC_drv_status_enum) { }
#endif
template <typename TMC>
static void tmc_status(TMC &st, const TMC_debug_enum i, const float spmm) {
SERIAL_ECHO('\t');
@ -355,7 +394,9 @@
}
break;
case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
#if ENABLED(MONITOR_DRIVER_STATUS)
case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
#endif
case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;
@ -364,6 +405,34 @@
}
}
#if HAS_DRIVER(TMC2660)
template<char AXIS_LETTER, char DRIVER_ID>
void tmc_status(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const TMC_debug_enum i, const float) {
SERIAL_ECHO('\t');
switch (i) {
case TMC_CODES: st.printLabel(); break;
case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;
case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;
case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;
case TMC_IRUN:
SERIAL_PRINT(st.cs(), DEC);
SERIAL_ECHOPGM("/31");
break;
case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.165") : PSTR("0=.310")); break;
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
//case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;
//case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;
case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;
case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;
case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;
case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;
case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;
default: break;
}
}
#endif
template <typename TMC>
static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
SERIAL_CHAR('\t');
@ -376,7 +445,6 @@
case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('X'); break;
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break;
case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;
case TMC_DRV_STATUS_HEX:
st.printLabel();
SERIAL_ECHOPGM("\t0x");
@ -503,10 +571,6 @@
/**
* M122 report functions
*/
void tmc_set_report_status(const bool status) {
if ((report_tmc_status = status))
SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");
}
void tmc_report_all() {
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM); }while(0)
@ -527,8 +591,10 @@
TMC_REPORT("pwm\nthreshold\t", TMC_TPWMTHRS);
TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);
TMC_REPORT("OT prewarn", TMC_OTPW);
TMC_REPORT("OT prewarn has\n"
"been triggered", TMC_OTPW_TRIGGERED);
#if ENABLED(MONITOR_DRIVER_STATUS)
TMC_REPORT("OT prewarn has\n"
"been triggered", TMC_OTPW_TRIGGERED);
#endif
TMC_REPORT("off time\t", TMC_TOFF);
TMC_REPORT("blank time", TMC_TBL);
TMC_REPORT("hysteresis\n-end\t", TMC_HEND);
@ -571,53 +637,55 @@
#endif
st.diag1_stall(enable ? 1 : 0);
}
void tmc_sensorless_homing(TMC2660Stepper &st, const bool enable) {
// TODO
}
#endif // USE_SENSORLESS
#if HAS_DRIVER(TMC2130)
#define IS_TMC_SPI(ST) AXIS_DRIVER_TYPE(ST, TMC2130)
#if TMC_HAS_SPI
#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
void tmc_init_cs_pins() {
#if IS_TMC_SPI(X)
#if AXIS_HAS_SPI(X)
SET_CS_PIN(X);
#endif
#if IS_TMC_SPI(Y)
#if AXIS_HAS_SPI(Y)
SET_CS_PIN(Y);
#endif
#if IS_TMC_SPI(Z)
#if AXIS_HAS_SPI(Z)
SET_CS_PIN(Z);
#endif
#if IS_TMC_SPI(X2)
#if AXIS_HAS_SPI(X2)
SET_CS_PIN(X2);
#endif
#if IS_TMC_SPI(Y2)
#if AXIS_HAS_SPI(Y2)
SET_CS_PIN(Y2);
#endif
#if IS_TMC_SPI(Z2)
#if AXIS_HAS_SPI(Z2)
SET_CS_PIN(Z2);
#endif
#if IS_TMC_SPI(Z3)
#if AXIS_HAS_SPI(Z3)
SET_CS_PIN(Z3);
#endif
#if IS_TMC_SPI(E0)
#if AXIS_HAS_SPI(E0)
SET_CS_PIN(E0);
#endif
#if IS_TMC_SPI(E1)
#if AXIS_HAS_SPI(E1)
SET_CS_PIN(E1);
#endif
#if IS_TMC_SPI(E2)
#if AXIS_HAS_SPI(E2)
SET_CS_PIN(E2);
#endif
#if IS_TMC_SPI(E3)
#if AXIS_HAS_SPI(E3)
SET_CS_PIN(E3);
#endif
#if IS_TMC_SPI(E4)
#if AXIS_HAS_SPI(E4)
SET_CS_PIN(E4);
#endif
#if IS_TMC_SPI(E5)
#if AXIS_HAS_SPI(E5)
SET_CS_PIN(E5);
#endif
}
#endif // TMC2130
#endif // TMC_HAS_SPI
#endif // HAS_TRINAMIC

7
Marlin/src/feature/tmc_util.h
View File

@ -158,7 +158,9 @@ void tmc_set_sgt(TMC &st, const int8_t sgt_val) {
void monitor_tmc_driver();
#if ENABLED(TMC_DEBUG)
void tmc_set_report_status(const bool status);
#if ENABLED(MONITOR_DRIVER_STATUS)
void tmc_set_report_status(const bool status);
#endif
void tmc_report_all();
#endif
@ -171,9 +173,10 @@ void monitor_tmc_driver();
*/
#if USE_SENSORLESS
void tmc_stallguard(TMC2130Stepper &st, const bool enable=true);
void tmc_stallguard(TMC2660Stepper &st, const bool enable=true);
#endif
#if HAS_DRIVER(TMC2130)
#if TMC_HAS_SPI
void tmc_init_cs_pins();
#endif