Add TMC2130 support
This commit is contained in:
Moritz
Scott Lahteine
parent
79c8591192
commit
d67c1d825f
@ -756,10 +756,215 @@
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#endif
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#endif
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/******************************************************************************\
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// @section TMC2130
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* enable this section if you have L6470 motor drivers.
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* you need to import the L6470 library into the Arduino IDE for this
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******************************************************************************/
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/**
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* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
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*
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* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
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* (https://github.com/makertum/Trinamic_TMC2130).
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*
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* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
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* the hardware SPI interface on your board and define the required CS pins
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* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
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*/
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//#define HAVE_TMC2130DRIVER
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#if ENABLED(HAVE_TMC2130DRIVER)
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//#define TMC2130_ADVANCED_CONFIGURATION
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// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
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//#define X_IS_TMC2130
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//#define X2_IS_TMC2130
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//#define Y_IS_TMC2130
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//#define Y2_IS_TMC2130
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//#define Z_IS_TMC2130
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//#define Z2_IS_TMC2130
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//#define E0_IS_TMC2130
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//#define E1_IS_TMC2130
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//#define E2_IS_TMC2130
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//#define E3_IS_TMC2130
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#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
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// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
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// you can define global settings here, but you still need
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// to configure the tmc2130.init() method manually in the file
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//
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// stepper_indirection.cpp
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//
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// Please read the TMC2130 datasheet:
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// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
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// All settings here have the same (sometimes cryptic) names as in the datasheet.
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//
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// The following, uncommented settings are only suggestion.
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/* GENERAL CONFIGURATION */
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//#define GLOBAL_EN_PWM_MODE 0
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#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
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//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
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#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
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//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
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#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
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//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
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//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
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//#define GLOBAL_DIAG0_STALL 0 // [0,1]
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//#define GLOBAL_DIAG1_STALL 0 // [0,1]
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//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
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//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
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//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
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//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
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//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
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//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
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//#define GLOBAL_STOP_ENABLE 0 // [0,1]
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//#define GLOBAL_DIRECT_MODE 0 // [0,1]
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/* VELOCITY-DEPENDENT DRIVE FEATURES */
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#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
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#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
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#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
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//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
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//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
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//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
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#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
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/* SPI MODE CONFIGURATION */
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//#define GLOBAL_XDIRECT 0
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/* DCSTEP MINIMUM VELOCITY */
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//#define GLOBAL_VDCMIN 0
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/* MOTOR DRIVER CONFIGURATION*/
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//#define GLOBAL_DEDGE 0
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//#define GLOBAL_DISS2G 0
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#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
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#define GLOBAL_MRES 16 // number of microsteps
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#define GLOBAL_SYNC 1 // [0-15]
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#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
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#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
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// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
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#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
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#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
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//#define GLOBAL_RNDTF 0
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//#define GLOBAL_DISFDCC 0
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//#define GLOBAL_FD 0
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//#define GLOBAL_HEND 0
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//#define GLOBAL_HSTRT 0
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#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
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//#define GLOBAL_SFILT 0
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//#define GLOBAL_SGT 0
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//#define GLOBAL_SEIMIN 0
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//#define GLOBAL_SEDN 0
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//#define GLOBAL_SEMAX 0
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//#define GLOBAL_SEUP 0
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//#define GLOBAL_SEMIN 0
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//#define GLOBAL_DC_TIME 0
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//#define GLOBAL_DC_SG 0
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//#define GLOBAL_FREEWHEEL 0
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//#define GLOBAL_PWM_SYMMETRIC 0
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//#define GLOBAL_PWM_AUTOSCALE 0
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//#define GLOBAL_PWM_FREQ 0
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//#define GLOBAL_PWM_GRAD 0
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//#define GLOBAL_PWM_AMPL 0
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//#define GLOBAL_ENCM_CTRL 0
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#else
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#define X_IHOLD 31 // [0-31] 0: min, 31: max
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#define X_IRUN 31 // [0-31] 0: min, 31: max
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#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
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#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
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#define X_MRES 16 // number of microsteps
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#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
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#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
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#define X2_IHOLD 31
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#define X2_IRUN 31
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#define X2_IHOLDDELAY 15
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#define X2_I_SCALE_ANALOG 1
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#define X2_MRES 16
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#define X2_TBL 1
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#define X2_TOFF 8
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#define Y_IHOLD 31
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#define Y_IRUN 31
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#define Y_IHOLDDELAY 15
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#define Y_I_SCALE_ANALOG 1
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#define Y_MRES 16
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#define Y_TBL 1
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#define Y_TOFF 8
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#define Y2_IHOLD 31
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#define Y2_IRUN 31
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#define Y2_IHOLDDELAY 15
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#define Y2_I_SCALE_ANALOG 1
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#define Y2_MRES 16
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#define Y2_TBL 1
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#define Y2_TOFF 8
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#define Z_IHOLD 31
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#define Z_IRUN 31
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#define Z_IHOLDDELAY 15
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#define Z_I_SCALE_ANALOG 1
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#define Z_MRES 16
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#define Z_TBL 1
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#define Z_TOFF 8
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#define Z2_IHOLD 31
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#define Z2_IRUN 31
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#define Z2_IHOLDDELAY 15
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#define Z2_I_SCALE_ANALOG 1
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#define Z2_MRES 16
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#define Z2_TBL 1
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#define Z2_TOFF 8
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#define E0_IHOLD 31
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#define E0_IRUN 31
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#define E0_IHOLDDELAY 15
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#define E0_I_SCALE_ANALOG 1
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#define E0_MRES 16
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#define E0_TBL 1
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#define E0_TOFF 8
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#define E1_IHOLD 31
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#define E1_IRUN 31
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#define E1_IHOLDDELAY 15
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#define E1_I_SCALE_ANALOG 1
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#define E1_MRES 16
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#define E1_TBL 1
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#define E1_TOFF 8
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#define E2_IHOLD 31
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#define E2_IRUN 31
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#define E2_IHOLDDELAY 15
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#define E2_I_SCALE_ANALOG 1
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#define E2_MRES 16
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#define E2_TBL 1
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#define E2_TOFF 8
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#define E3_IHOLD 31
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#define E3_IRUN 31
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#define E3_IHOLDDELAY 15
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#define E3_I_SCALE_ANALOG 1
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#define E3_MRES 16
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#define E3_TBL 1
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#define E3_TOFF 8
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#endif // TMC2130_ADVANCED_CONFIGURATION
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#endif // HAVE_TMC2130DRIVER
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// @section l6470
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// @section l6470
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@ -67,6 +67,11 @@
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#include <TMC26XStepper.h>
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#include <TMC26XStepper.h>
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#endif
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#endif
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#if ENABLED(HAVE_TMC2130DRIVER)
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#include <SPI.h>
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#include <Trinamic_TMC2130.h>
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#endif
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#if ENABLED(HAVE_L6470DRIVER)
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#if ENABLED(HAVE_L6470DRIVER)
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#include <SPI.h>
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#include <SPI.h>
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#include <L6470.h>
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#include <L6470.h>
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@ -5884,6 +5884,45 @@ inline void gcode_M117() {
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*/
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*/
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inline void gcode_M119() { endstops.M119(); }
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inline void gcode_M119() { endstops.M119(); }
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#if ENABLED(HAVE_TMC2130DRIVER)
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/**
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* M122: Output Trinamic TMC2130 status to serial output. Very bad formatting.
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*/
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inline void gcode_M122() {
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SERIAL_PROTOCOLLNPGM("REPORTING TMC2130 STATUS");
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#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(X_IS_TMC2130)
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stepperX.read_STAT();
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SERIAL_PROTOCOLLN("X-AXIS: ");
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SERIAL_PROTOCOLLN((stepperX.isReset() ? "RESET " : "----- "));
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SERIAL_PROTOCOLLN((stepperX.isError() ? "ERROR " : "----- "));
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SERIAL_PROTOCOLLN((stepperX.isStallguard() ? "SLGRD " : "----- "));
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SERIAL_PROTOCOLLN((stepperX.isStandstill() ? "STILL " : "----- "));
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SERIAL_PROTOCOLLN((stepperX.debug()));
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SERIAL_PROTOCOLLN("-----");
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#endif
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#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Y_IS_TMC2130)
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stepperY.read_STAT();
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SERIAL_PROTOCOLLN("Y-AXIS: ");
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SERIAL_PROTOCOLLN((stepperY.isReset() ? "RESET " : "----- "));
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SERIAL_PROTOCOLLN((stepperY.isError() ? "ERROR " : "----- "));
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SERIAL_PROTOCOLLN((stepperY.isStallguard() ? "SLGRD " : "----- "));
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SERIAL_PROTOCOLLN((stepperY.isStandstill() ? "STILL " : "----- "));
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SERIAL_PROTOCOLLN((stepperY.debug()));
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SERIAL_PROTOCOLLN("-----");
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#endif
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#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Z_IS_TMC2130)
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stepperZ.read_STAT();
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SERIAL_PROTOCOLLN("Z-AXIS: ");
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SERIAL_PROTOCOLLN((stepperZ.isReset() ? "RESET " : "----- "));
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SERIAL_PROTOCOLLN((stepperZ.isError() ? "ERROR " : "----- "));
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SERIAL_PROTOCOLLN((stepperZ.isStallguard() ? "SLGRD " : "----- "));
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SERIAL_PROTOCOLLN((stepperZ.isStandstill() ? "STILL " : "----- "));
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SERIAL_PROTOCOLLN((stepperZ.debug()));
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SERIAL_PROTOCOLLN("-----");
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#endif
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}
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#endif // HAVE_TMC2130DRIVER
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/**
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/**
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* M120: Enable endstops and set non-homing endstop state to "enabled"
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* M120: Enable endstops and set non-homing endstop state to "enabled"
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*/
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*/
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@ -8057,6 +8096,12 @@ void process_next_command() {
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gcode_M119();
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gcode_M119();
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break;
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break;
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#if ENABLED(HAVE_TMC2130DRIVER)
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case 122: // M122: Diagnose, used to debug TMC2130
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gcode_M122();
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break;
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#endif
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#if ENABLED(ULTIPANEL)
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#if ENABLED(ULTIPANEL)
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case 145: // M145: Set material heatup parameters
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case 145: // M145: Set material heatup parameters
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@ -756,13 +756,224 @@
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#endif
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#endif
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/******************************************************************************\
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// @section TMC2130
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* enable this section if you have L6470 motor drivers.
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* you need to import the L6470 library into the Arduino IDE for this
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******************************************************************************/
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/**
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* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
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*
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* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
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* (https://github.com/makertum/Trinamic_TMC2130).
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*
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* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
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* the hardware SPI interface on your board and define the required CS pins
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* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
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*/
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//#define HAVE_TMC2130DRIVER
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#if ENABLED(HAVE_TMC2130DRIVER)
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//#define TMC2130_ADVANCED_CONFIGURATION
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// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
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//#define X_IS_TMC2130
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//#define X2_IS_TMC2130
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//#define Y_IS_TMC2130
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//#define Y2_IS_TMC2130
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//#define Z_IS_TMC2130
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//#define Z2_IS_TMC2130
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//#define E0_IS_TMC2130
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//#define E1_IS_TMC2130
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//#define E2_IS_TMC2130
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//#define E3_IS_TMC2130
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#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
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// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
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// you can define global settings here, but you still need
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// to configure the tmc2130.init() method manually in the file
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//
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||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -769,13 +769,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -764,13 +764,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,223 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
/**
|
||||||
******************************************************************************/
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -758,13 +758,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -758,13 +758,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -758,13 +758,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -763,13 +763,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -758,13 +758,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -756,13 +756,224 @@
|
|||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/******************************************************************************\
|
// @section TMC2130
|
||||||
* enable this section if you have L6470 motor drivers.
|
|
||||||
* you need to import the L6470 library into the Arduino IDE for this
|
|
||||||
******************************************************************************/
|
/**
|
||||||
|
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
|
||||||
|
*
|
||||||
|
* To use TMC2130 drivers in SPI mode, you'll also need the TMC2130 Arduino library
|
||||||
|
* (https://github.com/makertum/Trinamic_TMC2130).
|
||||||
|
*
|
||||||
|
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
|
||||||
|
* the hardware SPI interface on your board and define the required CS pins
|
||||||
|
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
|
||||||
|
*/
|
||||||
|
|
||||||
|
//#define HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
//#define TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
|
||||||
|
//#define X_IS_TMC2130
|
||||||
|
//#define X2_IS_TMC2130
|
||||||
|
//#define Y_IS_TMC2130
|
||||||
|
//#define Y2_IS_TMC2130
|
||||||
|
//#define Z_IS_TMC2130
|
||||||
|
//#define Z2_IS_TMC2130
|
||||||
|
//#define E0_IS_TMC2130
|
||||||
|
//#define E1_IS_TMC2130
|
||||||
|
//#define E2_IS_TMC2130
|
||||||
|
//#define E3_IS_TMC2130
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
|
||||||
|
// you can define global settings here, but you still need
|
||||||
|
// to configure the tmc2130.init() method manually in the file
|
||||||
|
//
|
||||||
|
// stepper_indirection.cpp
|
||||||
|
//
|
||||||
|
// Please read the TMC2130 datasheet:
|
||||||
|
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf
|
||||||
|
// All settings here have the same (sometimes cryptic) names as in the datasheet.
|
||||||
|
//
|
||||||
|
// The following, uncommented settings are only suggestion.
|
||||||
|
|
||||||
|
/* GENERAL CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_EN_PWM_MODE 0
|
||||||
|
#define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
|
||||||
|
//#define GLOBAL_INTERNAL_RSENSE 0 // [0,1] 0: Normal, 1: Internal
|
||||||
|
#define GLOBAL_EN_PWM_MODE 0 // [0,1] 0: Normal, 1: stealthChop with velocity threshold
|
||||||
|
//#define GLOBAL_ENC_COMMUTATION 0 // [0,1]
|
||||||
|
#define GLOBAL_SHAFT 0 // [0,1] 0: normal, 1: invert
|
||||||
|
//#define GLOBAL_DIAG0_ERROR 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_OTPW 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_STALL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INDEX 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_ONSTATE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG0_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIAG1_INT_PUSHPULL 0 // [0,1]
|
||||||
|
//#define GLOBAL_SMALL_HYSTERESIS 0 // [0,1]
|
||||||
|
//#define GLOBAL_STOP_ENABLE 0 // [0,1]
|
||||||
|
//#define GLOBAL_DIRECT_MODE 0 // [0,1]
|
||||||
|
|
||||||
|
/* VELOCITY-DEPENDENT DRIVE FEATURES */
|
||||||
|
|
||||||
|
#define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define GLOBAL_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
//#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds
|
||||||
|
//#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
//#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
#define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
|
||||||
|
|
||||||
|
/* SPI MODE CONFIGURATION */
|
||||||
|
|
||||||
|
//#define GLOBAL_XDIRECT 0
|
||||||
|
|
||||||
|
/* DCSTEP MINIMUM VELOCITY */
|
||||||
|
|
||||||
|
//#define GLOBAL_VDCMIN 0
|
||||||
|
|
||||||
|
/* MOTOR DRIVER CONFIGURATION*/
|
||||||
|
|
||||||
|
//#define GLOBAL_DEDGE 0
|
||||||
|
//#define GLOBAL_DISS2G 0
|
||||||
|
#define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
|
||||||
|
#define GLOBAL_MRES 16 // number of microsteps
|
||||||
|
#define GLOBAL_SYNC 1 // [0-15]
|
||||||
|
#define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
|
||||||
|
#define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
|
||||||
|
// #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
|
||||||
|
#define GLOBAL_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
|
||||||
|
//#define GLOBAL_RNDTF 0
|
||||||
|
//#define GLOBAL_DISFDCC 0
|
||||||
|
//#define GLOBAL_FD 0
|
||||||
|
//#define GLOBAL_HEND 0
|
||||||
|
//#define GLOBAL_HSTRT 0
|
||||||
|
#define GLOBAL_TOFF 10 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
//#define GLOBAL_SFILT 0
|
||||||
|
//#define GLOBAL_SGT 0
|
||||||
|
//#define GLOBAL_SEIMIN 0
|
||||||
|
//#define GLOBAL_SEDN 0
|
||||||
|
//#define GLOBAL_SEMAX 0
|
||||||
|
//#define GLOBAL_SEUP 0
|
||||||
|
//#define GLOBAL_SEMIN 0
|
||||||
|
|
||||||
|
//#define GLOBAL_DC_TIME 0
|
||||||
|
//#define GLOBAL_DC_SG 0
|
||||||
|
|
||||||
|
//#define GLOBAL_FREEWHEEL 0
|
||||||
|
//#define GLOBAL_PWM_SYMMETRIC 0
|
||||||
|
//#define GLOBAL_PWM_AUTOSCALE 0
|
||||||
|
//#define GLOBAL_PWM_FREQ 0
|
||||||
|
//#define GLOBAL_PWM_GRAD 0
|
||||||
|
//#define GLOBAL_PWM_AMPL 0
|
||||||
|
|
||||||
|
//#define GLOBAL_ENCM_CTRL 0
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define X_IHOLD 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IRUN 31 // [0-31] 0: min, 31: max
|
||||||
|
#define X_IHOLDDELAY 15 // [0-15] 0: min, 15: about 4 seconds
|
||||||
|
#define X_I_SCALE_ANALOG 1 // 0: Normal, 1: AIN
|
||||||
|
#define X_MRES 16 // number of microsteps
|
||||||
|
#define X_TBL 1 // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
|
||||||
|
#define X_TOFF 8 // 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
|
||||||
|
|
||||||
|
#define X2_IHOLD 31
|
||||||
|
#define X2_IRUN 31
|
||||||
|
#define X2_IHOLDDELAY 15
|
||||||
|
#define X2_I_SCALE_ANALOG 1
|
||||||
|
#define X2_MRES 16
|
||||||
|
#define X2_TBL 1
|
||||||
|
#define X2_TOFF 8
|
||||||
|
|
||||||
|
#define Y_IHOLD 31
|
||||||
|
#define Y_IRUN 31
|
||||||
|
#define Y_IHOLDDELAY 15
|
||||||
|
#define Y_I_SCALE_ANALOG 1
|
||||||
|
#define Y_MRES 16
|
||||||
|
#define Y_TBL 1
|
||||||
|
#define Y_TOFF 8
|
||||||
|
|
||||||
|
#define Y2_IHOLD 31
|
||||||
|
#define Y2_IRUN 31
|
||||||
|
#define Y2_IHOLDDELAY 15
|
||||||
|
#define Y2_I_SCALE_ANALOG 1
|
||||||
|
#define Y2_MRES 16
|
||||||
|
#define Y2_TBL 1
|
||||||
|
#define Y2_TOFF 8
|
||||||
|
|
||||||
|
#define Z_IHOLD 31
|
||||||
|
#define Z_IRUN 31
|
||||||
|
#define Z_IHOLDDELAY 15
|
||||||
|
#define Z_I_SCALE_ANALOG 1
|
||||||
|
#define Z_MRES 16
|
||||||
|
#define Z_TBL 1
|
||||||
|
#define Z_TOFF 8
|
||||||
|
|
||||||
|
#define Z2_IHOLD 31
|
||||||
|
#define Z2_IRUN 31
|
||||||
|
#define Z2_IHOLDDELAY 15
|
||||||
|
#define Z2_I_SCALE_ANALOG 1
|
||||||
|
#define Z2_MRES 16
|
||||||
|
#define Z2_TBL 1
|
||||||
|
#define Z2_TOFF 8
|
||||||
|
|
||||||
|
#define E0_IHOLD 31
|
||||||
|
#define E0_IRUN 31
|
||||||
|
#define E0_IHOLDDELAY 15
|
||||||
|
#define E0_I_SCALE_ANALOG 1
|
||||||
|
#define E0_MRES 16
|
||||||
|
#define E0_TBL 1
|
||||||
|
#define E0_TOFF 8
|
||||||
|
|
||||||
|
#define E1_IHOLD 31
|
||||||
|
#define E1_IRUN 31
|
||||||
|
#define E1_IHOLDDELAY 15
|
||||||
|
#define E1_I_SCALE_ANALOG 1
|
||||||
|
#define E1_MRES 16
|
||||||
|
#define E1_TBL 1
|
||||||
|
#define E1_TOFF 8
|
||||||
|
|
||||||
|
#define E2_IHOLD 31
|
||||||
|
#define E2_IRUN 31
|
||||||
|
#define E2_IHOLDDELAY 15
|
||||||
|
#define E2_I_SCALE_ANALOG 1
|
||||||
|
#define E2_MRES 16
|
||||||
|
#define E2_TBL 1
|
||||||
|
#define E2_TOFF 8
|
||||||
|
|
||||||
|
#define E3_IHOLD 31
|
||||||
|
#define E3_IRUN 31
|
||||||
|
#define E3_IHOLDDELAY 15
|
||||||
|
#define E3_I_SCALE_ANALOG 1
|
||||||
|
#define E3_MRES 16
|
||||||
|
#define E3_TBL 1
|
||||||
|
#define E3_TOFF 8
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// @section l6470
|
// @section l6470
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Enable this section if you have L6470 motor drivers.
|
||||||
|
* You need to import the L6470 library into the Arduino IDE for this.
|
||||||
|
* (https://github.com/ameyer/Arduino-L6470)
|
||||||
|
*/
|
||||||
|
|
||||||
//#define HAVE_L6470DRIVER
|
//#define HAVE_L6470DRIVER
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|
||||||
|
|||||||
@ -93,22 +93,27 @@
|
|||||||
#define X_STEP_PIN 54
|
#define X_STEP_PIN 54
|
||||||
#define X_DIR_PIN 55
|
#define X_DIR_PIN 55
|
||||||
#define X_ENABLE_PIN 38
|
#define X_ENABLE_PIN 38
|
||||||
|
#define X_CS_PIN 53
|
||||||
|
|
||||||
#define Y_STEP_PIN 60
|
#define Y_STEP_PIN 60
|
||||||
#define Y_DIR_PIN 61
|
#define Y_DIR_PIN 61
|
||||||
#define Y_ENABLE_PIN 56
|
#define Y_ENABLE_PIN 56
|
||||||
|
#define Y_CS_PIN 49
|
||||||
|
|
||||||
#define Z_STEP_PIN 46
|
#define Z_STEP_PIN 46
|
||||||
#define Z_DIR_PIN 48
|
#define Z_DIR_PIN 48
|
||||||
#define Z_ENABLE_PIN 62
|
#define Z_ENABLE_PIN 62
|
||||||
|
#define Z_CS_PIN 40
|
||||||
|
|
||||||
#define E0_STEP_PIN 26
|
#define E0_STEP_PIN 26
|
||||||
#define E0_DIR_PIN 28
|
#define E0_DIR_PIN 28
|
||||||
#define E0_ENABLE_PIN 24
|
#define E0_ENABLE_PIN 24
|
||||||
|
#define E0_CS_PIN 42
|
||||||
|
|
||||||
#define E1_STEP_PIN 36
|
#define E1_STEP_PIN 36
|
||||||
#define E1_DIR_PIN 34
|
#define E1_DIR_PIN 34
|
||||||
#define E1_ENABLE_PIN 30
|
#define E1_ENABLE_PIN 30
|
||||||
|
#define E1_CS_PIN 44
|
||||||
|
|
||||||
//
|
//
|
||||||
// Temperature Sensors
|
// Temperature Sensors
|
||||||
|
|||||||
@ -784,6 +784,11 @@ void Stepper::init() {
|
|||||||
tmc_init();
|
tmc_init();
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
// Init TMC2130 Steppers
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
tmc2130_init();
|
||||||
|
#endif
|
||||||
|
|
||||||
// Init L6470 Steppers
|
// Init L6470 Steppers
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
L6470_init();
|
L6470_init();
|
||||||
|
|||||||
@ -127,6 +127,272 @@ void tmc_init() {
|
|||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
#include <SPI.h>
|
||||||
|
#include <Trinamic_TMC2130.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Stepper objects of TMC2310 steppers used
|
||||||
|
#if ENABLED(X_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperX(X_CS_PIN);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(X2_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperX2(X2_CS_PIN);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(Y_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperY(Y_CS_PIN);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(Y2_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperY2(Y2_CS_PINR);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(Z_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperZ(Z_CS_PIN);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(Z2_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperZ2(Z2_CS_PIN);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(E0_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperE0(E0_CS_PIN);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(E1_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperE1(E1_CS_PIN);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(E2_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperE2(E2_CS_PIN);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(E3_IS_TMC2130)
|
||||||
|
Trinamic_TMC2130 stepperE3(E3_CS_PIN);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
|
||||||
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
||||||
|
|
||||||
|
void tmc2130_init() {
|
||||||
|
|
||||||
|
// If you've enabled TMC2130_ADVANCED_CONFIGURATION configure your
|
||||||
|
// steppers manually here. The ENABLED(XYZ_IS_TMC2130) is optional,
|
||||||
|
|
||||||
|
#if ENABLED(X_IS_TMC2130)
|
||||||
|
stepperX.init();
|
||||||
|
stepperX.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG);
|
||||||
|
//stepperX.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
|
||||||
|
stepperX.set_en_pwm_mode(GLOBAL_EN_PWM_MODE);
|
||||||
|
//stepperX.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
|
||||||
|
stepperX.set_shaft(GLOBAL_SHAFT);
|
||||||
|
//stepperX.set_diag0_error(GLOBAL_DIAG0_ERROR);
|
||||||
|
//stepperX.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
|
||||||
|
//stepperX.set_diag0_stall(GLOBAL_DIAG0_STALL);
|
||||||
|
//stepperX.set_diag1_stall(GLOBAL_DIAG1_STALL);
|
||||||
|
//stepperX.set_diag1_index(GLOBAL_DIAG1_INDEX);
|
||||||
|
//stepperX.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
|
||||||
|
//stepperX.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
|
||||||
|
//stepperX.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
|
||||||
|
//stepperX.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
|
||||||
|
//stepperX.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
|
||||||
|
//stepperX.set_stop_enable(GLOBAL_STOP_ENABLE);
|
||||||
|
//stepperX.set_direct_mode(GLOBAL_DIRECT_MODE);
|
||||||
|
|
||||||
|
stepperX.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY);
|
||||||
|
//stepperX.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
|
||||||
|
//stepperX.set_TPWMTHRS(GLOBAL_TPWMTHRS);
|
||||||
|
//stepperX.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
|
||||||
|
stepperX.set_THIGH(GLOBAL_THIGH);
|
||||||
|
//stepperX.set_XDIRECT(GLOBAL_XDIRECT);
|
||||||
|
//stepperX.set_VDCMIN(GLOBAL_VDCMIN);
|
||||||
|
|
||||||
|
//stepperX.set_dedge(GLOBAL_DEDGE);
|
||||||
|
//stepperX.set_diss2g(GLOBAL_DISS2G);
|
||||||
|
stepperX.set_intpol(GLOBAL_INTPOL);
|
||||||
|
stepperX.set_mres(GLOBAL_MRES);
|
||||||
|
stepperX.set_sync(GLOBAL_SYNC);
|
||||||
|
stepperX.set_vhighchm(GLOBAL_VHIGHCHM);
|
||||||
|
stepperX.set_vhighfs(GLOBAL_VHIGHFS);
|
||||||
|
//stepperX.set_vsense(GLOBAL_VSENSE);
|
||||||
|
stepperX.set_tbl(GLOBAL_TBL);
|
||||||
|
stepperX.set_chm(GLOBAL_CHM);
|
||||||
|
//stepperX.set_rndtf(GLOBAL_RNDTF);
|
||||||
|
//stepperX.set_disfdcc(GLOBAL_DISFDCC);
|
||||||
|
//stepperX.set_fd(GLOBAL_FD);
|
||||||
|
//stepperX.set_hend(GLOBAL_HEND);
|
||||||
|
//stepperX.set_hstrt(GLOBAL_HSTRT);
|
||||||
|
stepperX.set_toff(GLOBAL_TOFF);
|
||||||
|
|
||||||
|
//stepperX.set_sfilt(GLOBAL_SFILT);
|
||||||
|
//stepperX.set_sgt(GLOBAL_SGT);
|
||||||
|
//stepperX.set_seimin(GLOBAL_SEIMIN);
|
||||||
|
//stepperX.set_sedn(GLOBAL_SEDN);
|
||||||
|
//stepperX.set_semax(GLOBAL_SEMAX);
|
||||||
|
//stepperX.set_seup(GLOBAL_SEUP);
|
||||||
|
//stepperX.set_semin(GLOBAL_SEMIN);
|
||||||
|
|
||||||
|
//stepperX.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
|
||||||
|
|
||||||
|
//stepperX.set_freewheel(GLOBAL_FREEWHEEL);
|
||||||
|
//stepperX.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
|
||||||
|
//stepperX.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
|
||||||
|
//stepperX.set_pwm_freq(GLOBAL_PWM_FREQ);
|
||||||
|
//stepperX.set_PWM_GRAD(GLOBAL_PWM_GRAD);
|
||||||
|
//stepperX.set_PWM_AMPL(GLOBAL_PWM_AMPL);
|
||||||
|
|
||||||
|
//stepperX.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if ENABLED(Y_IS_TMC2130)
|
||||||
|
stepperY.init();
|
||||||
|
stepperY.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG);
|
||||||
|
//stepperY.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
|
||||||
|
stepperY.set_en_pwm_mode(GLOBAL_EN_PWM_MODE);
|
||||||
|
//stepperY.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
|
||||||
|
stepperY.set_shaft(GLOBAL_SHAFT);
|
||||||
|
//stepperY.set_diag0_error(GLOBAL_DIAG0_ERROR);
|
||||||
|
//stepperY.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
|
||||||
|
//stepperY.set_diag0_stall(GLOBAL_DIAG0_STALL);
|
||||||
|
//stepperY.set_diag1_stall(GLOBAL_DIAG1_STALL);
|
||||||
|
//stepperY.set_diag1_index(GLOBAL_DIAG1_INDEX);
|
||||||
|
//stepperY.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
|
||||||
|
//stepperY.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
|
||||||
|
//stepperY.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
|
||||||
|
//stepperY.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
|
||||||
|
//stepperY.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
|
||||||
|
//stepperY.set_stop_enable(GLOBAL_STOP_ENABLE);
|
||||||
|
//stepperY.set_direct_mode(GLOBAL_DIRECT_MODE);
|
||||||
|
|
||||||
|
stepperY.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY);
|
||||||
|
//stepperY.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
|
||||||
|
//stepperY.set_TPWMTHRS(GLOBAL_TPWMTHRS);
|
||||||
|
//stepperY.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
|
||||||
|
stepperY.set_THIGH(GLOBAL_THIGH);
|
||||||
|
//stepperY.set_XDIRECT(GLOBAL_XDIRECT);
|
||||||
|
//stepperY.set_VDCMIN(GLOBAL_VDCMIN);
|
||||||
|
|
||||||
|
//stepperY.set_dedge(GLOBAL_DEDGE);
|
||||||
|
//stepperY.set_diss2g(GLOBAL_DISS2G);
|
||||||
|
stepperY.set_intpol(GLOBAL_INTPOL);
|
||||||
|
stepperY.set_mres(GLOBAL_MRES);
|
||||||
|
stepperY.set_sync(GLOBAL_SYNC);
|
||||||
|
stepperY.set_vhighchm(GLOBAL_VHIGHCHM);
|
||||||
|
stepperY.set_vhighfs(GLOBAL_VHIGHFS);
|
||||||
|
//stepperY.set_vsense(GLOBAL_VSENSE);
|
||||||
|
stepperY.set_tbl(GLOBAL_TBL);
|
||||||
|
stepperY.set_chm(GLOBAL_CHM);
|
||||||
|
//stepperY.set_rndtf(GLOBAL_RNDTF);
|
||||||
|
//stepperY.set_disfdcc(GLOBAL_DISFDCC);
|
||||||
|
//stepperY.set_fd(GLOBAL_FD);
|
||||||
|
//stepperY.set_hend(GLOBAL_HEND);
|
||||||
|
//stepperY.set_hstrt(GLOBAL_HSTRT);
|
||||||
|
stepperY.set_toff(GLOBAL_TOFF);
|
||||||
|
|
||||||
|
//stepperY.set_sfilt(GLOBAL_SFILT);
|
||||||
|
//stepperY.set_sgt(GLOBAL_SGT);
|
||||||
|
//stepperY.set_seimin(GLOBAL_SEIMIN);
|
||||||
|
//stepperY.set_sedn(GLOBAL_SEDN);
|
||||||
|
//stepperY.set_semax(GLOBAL_SEMAX);
|
||||||
|
//stepperY.set_seup(GLOBAL_SEUP);
|
||||||
|
//stepperY.set_semin(GLOBAL_SEMIN);
|
||||||
|
|
||||||
|
//stepperY.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
|
||||||
|
|
||||||
|
//stepperY.set_freewheel(GLOBAL_FREEWHEEL);
|
||||||
|
//stepperY.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
|
||||||
|
//stepperY.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
|
||||||
|
//stepperY.set_pwm_freq(GLOBAL_PWM_FREQ);
|
||||||
|
//stepperY.set_PWM_GRAD(GLOBAL_PWM_GRAD);
|
||||||
|
//stepperY.set_PWM_AMPL(GLOBAL_PWM_AMPL);
|
||||||
|
|
||||||
|
//stepperY.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
#else // !TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
void tmc2130_init() {
|
||||||
|
#if ENABLED(X_IS_TMC2130)
|
||||||
|
stepperX.init();
|
||||||
|
stepperX.set_mres(X_MRES);
|
||||||
|
stepperX.set_IHOLD_IRUN(X_IHOLD,X_IRUN,X_IHOLDDELAY);
|
||||||
|
stepperX.set_I_scale_analog(X_ISCALE);
|
||||||
|
stepperX.set_tbl(X_TBL);
|
||||||
|
stepperX.set_toff(X_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(X2_IS_TMC2130)
|
||||||
|
stepperX2.init();
|
||||||
|
stepperX2.set_mres(X2_MRES);
|
||||||
|
stepperX2.set_IHOLD_IRUN(X2_IHOLD,X2_IRUN,X2_IHOLDDELAY);
|
||||||
|
stepperX2.set_I_scale_analog(X2_ISCALE);
|
||||||
|
stepperX2.set_tbl(X2_TBL);
|
||||||
|
stepperX2.set_toff(X2_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(Y_IS_TMC2130)
|
||||||
|
stepperY.init();
|
||||||
|
stepperY.set_mres(Y_MRES);
|
||||||
|
stepperY.set_IHOLD_IRUN(Y_IHOLD,Y_IRUN,Y_IHOLDDELAY);
|
||||||
|
stepperY.set_I_scale_analog(Y_ISCALE);
|
||||||
|
stepperY.set_tbl(Y_TBL);
|
||||||
|
stepperY.set_toff(Y_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(Y2_IS_TMC2130)
|
||||||
|
stepperY2.init();
|
||||||
|
stepperY2.set_mres(Y2_MRES);
|
||||||
|
stepperY2.set_IHOLD_IRUN(Y2_IHOLD,Y2_IRUN,Y2_IHOLDDELAY);
|
||||||
|
stepperY2.set_I_scale_analog(Y2_ISCALE);
|
||||||
|
stepperY2.set_tbl(Y2_TBL);
|
||||||
|
stepperY2.set_toff(Y2_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(Z_IS_TMC2130)
|
||||||
|
stepperZ.init();
|
||||||
|
stepperZ.set_mres(Z_MRES);
|
||||||
|
stepperZ.set_IHOLD_IRUN(Z_IHOLD,Z_IRUN,Z_IHOLDDELAY);
|
||||||
|
stepperZ.set_I_scale_analog(Z_ISCALE);
|
||||||
|
stepperZ.set_tbl(Z_TBL);
|
||||||
|
stepperZ.set_toff(Z_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(Z2_IS_TMC2130)
|
||||||
|
stepperZ2.init();
|
||||||
|
stepperZ2.set_mres(Z2_MRES);
|
||||||
|
stepperZ2.set_IHOLD_IRUN(Z2_IHOLD,Z2_IRUN,Z2_IHOLDDELAY);
|
||||||
|
stepperZ2.set_I_scale_analog(Z2_ISCALE);
|
||||||
|
stepperZ2.set_tbl(Z2_TBL);
|
||||||
|
stepperZ2.set_toff(Z2_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(E0_IS_TMC2130)
|
||||||
|
stepperE0.init();
|
||||||
|
stepperE0.set_mres(E0_MRES);
|
||||||
|
stepperE0.set_IHOLD_IRUN(E0_IHOLD,E0_IRUN,E0_IHOLDDELAY);
|
||||||
|
stepperE0.set_I_scale_analog(E0_ISCALE);
|
||||||
|
stepperE0.set_tbl(E0_TBL);
|
||||||
|
stepperE0.set_toff(E0_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(E1_IS_TMC2130)
|
||||||
|
stepperE1.init();
|
||||||
|
stepperE1.set_mres(E1_MRES);
|
||||||
|
stepperE1.set_IHOLD_IRUN(E1_IHOLD,E1_IRUN,E1_IHOLDDELAY);
|
||||||
|
stepperE1.set_I_scale_analog(E1_ISCALE);
|
||||||
|
stepperE1.set_tbl(E1_TBL);
|
||||||
|
stepperE1.set_toff(E1_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(E2_IS_TMC2130)
|
||||||
|
stepperE2.init();
|
||||||
|
stepperE2.set_mres(E2_MRES);
|
||||||
|
stepperE2.set_IHOLD_IRUN(E2_IHOLD,E2_IRUN,E2_IHOLDDELAY);
|
||||||
|
stepperE2.set_I_scale_analog(E2_ISCALE);
|
||||||
|
stepperE2.set_tbl(E2_TBL);
|
||||||
|
stepperE2.set_toff(E2_TOFF);
|
||||||
|
#endif
|
||||||
|
#if ENABLED(E3_IS_TMC2130)
|
||||||
|
stepperE3.init();
|
||||||
|
stepperE3.set_mres(E3_MRES);
|
||||||
|
stepperE3.set_IHOLD_IRUN(E3_IHOLD,E3_IRUN,E3_IHOLDDELAY);
|
||||||
|
stepperE3.set_I_scale_analog(E3_ISCALE);
|
||||||
|
stepperE3.set_tbl(E3_TBL);
|
||||||
|
stepperE3.set_toff(E3_TOFF);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
||||||
|
|
||||||
|
#endif // HAVE_TMC2130DRIVER
|
||||||
|
|
||||||
// L6470 Driver objects and inits
|
// L6470 Driver objects and inits
|
||||||
|
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
|
|||||||
@ -53,6 +53,13 @@
|
|||||||
void tmc_init();
|
void tmc_init();
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
// TMC130 drivers have STEP/DIR/ENABLE on normal pins
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
||||||
|
#include <SPI.h>
|
||||||
|
#include <Trinamic_TMC2130.h>
|
||||||
|
void tmc2130_init();
|
||||||
|
#endif
|
||||||
|
|
||||||
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
|
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
|
||||||
#if ENABLED(HAVE_L6470DRIVER)
|
#if ENABLED(HAVE_L6470DRIVER)
|
||||||
#include <SPI.h>
|
#include <SPI.h>
|
||||||
@ -76,6 +83,9 @@
|
|||||||
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
|
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
|
||||||
#define X_ENABLE_READ stepperX.isEnabled()
|
#define X_ENABLE_READ stepperX.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(X_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperX;
|
||||||
|
#endif
|
||||||
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
|
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
|
||||||
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
|
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
|
||||||
#define X_ENABLE_READ READ(X_ENABLE_PIN)
|
#define X_ENABLE_READ READ(X_ENABLE_PIN)
|
||||||
@ -104,6 +114,9 @@
|
|||||||
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
|
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
|
||||||
#define Y_ENABLE_READ stepperY.isEnabled()
|
#define Y_ENABLE_READ stepperY.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Y_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperY;
|
||||||
|
#endif
|
||||||
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
|
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
|
||||||
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
|
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
|
||||||
#define Y_ENABLE_READ READ(Y_ENABLE_PIN)
|
#define Y_ENABLE_READ READ(Y_ENABLE_PIN)
|
||||||
@ -132,6 +145,9 @@
|
|||||||
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
|
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
|
||||||
#define Z_ENABLE_READ stepperZ.isEnabled()
|
#define Z_ENABLE_READ stepperZ.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Z_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperZ;
|
||||||
|
#endif
|
||||||
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
|
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
|
||||||
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
|
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
|
||||||
#define Z_ENABLE_READ READ(Z_ENABLE_PIN)
|
#define Z_ENABLE_READ READ(Z_ENABLE_PIN)
|
||||||
@ -161,6 +177,9 @@
|
|||||||
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
|
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
|
||||||
#define X2_ENABLE_READ stepperX2.isEnabled()
|
#define X2_ENABLE_READ stepperX2.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(X2_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperX2;
|
||||||
|
#endif
|
||||||
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
|
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
|
||||||
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
|
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
|
||||||
#define X2_ENABLE_READ READ(X2_ENABLE_PIN)
|
#define X2_ENABLE_READ READ(X2_ENABLE_PIN)
|
||||||
@ -191,6 +210,9 @@
|
|||||||
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
|
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
|
||||||
#define Y2_ENABLE_READ stepperY2.isEnabled()
|
#define Y2_ENABLE_READ stepperY2.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Y2_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperY2;
|
||||||
|
#endif
|
||||||
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
|
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
|
||||||
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
|
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
|
||||||
#define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
|
#define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
|
||||||
@ -221,6 +243,9 @@
|
|||||||
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
|
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
|
||||||
#define Z2_ENABLE_READ stepperZ2.isEnabled()
|
#define Z2_ENABLE_READ stepperZ2.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(Z2_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperZ2;
|
||||||
|
#endif
|
||||||
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
|
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
|
||||||
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
|
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
|
||||||
#define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
|
#define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
|
||||||
@ -250,6 +275,9 @@
|
|||||||
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
|
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
|
||||||
#define E0_ENABLE_READ stepperE0.isEnabled()
|
#define E0_ENABLE_READ stepperE0.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(E0_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperE0;
|
||||||
|
#endif
|
||||||
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
|
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
|
||||||
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
|
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
|
||||||
#define E0_ENABLE_READ READ(E0_ENABLE_PIN)
|
#define E0_ENABLE_READ READ(E0_ENABLE_PIN)
|
||||||
@ -278,6 +306,9 @@
|
|||||||
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
|
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
|
||||||
#define E1_ENABLE_READ stepperE1.isEnabled()
|
#define E1_ENABLE_READ stepperE1.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(E1_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperE1;
|
||||||
|
#endif
|
||||||
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
|
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
|
||||||
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
|
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
|
||||||
#define E1_ENABLE_READ READ(E1_ENABLE_PIN)
|
#define E1_ENABLE_READ READ(E1_ENABLE_PIN)
|
||||||
@ -306,6 +337,9 @@
|
|||||||
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
|
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
|
||||||
#define E2_ENABLE_READ stepperE2.isEnabled()
|
#define E2_ENABLE_READ stepperE2.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(E2_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperE2;
|
||||||
|
#endif
|
||||||
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
|
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
|
||||||
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
|
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
|
||||||
#define E2_ENABLE_READ READ(E2_ENABLE_PIN)
|
#define E2_ENABLE_READ READ(E2_ENABLE_PIN)
|
||||||
@ -334,6 +368,9 @@
|
|||||||
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
|
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
|
||||||
#define E3_ENABLE_READ stepperE3.isEnabled()
|
#define E3_ENABLE_READ stepperE3.isEnabled()
|
||||||
#else
|
#else
|
||||||
|
#if ENABLED(HAVE_TMC2130DRIVER) && ENABLED(E3_IS_TMC2130)
|
||||||
|
extern Trinamic_TMC2130 stepperE3;
|
||||||
|
#endif
|
||||||
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
|
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
|
||||||
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
|
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
|
||||||
#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
|
#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user