Support new TMC drivers (#13026)
This commit is contained in:
teemuatlut
committed by
Scott Lahteine
Scott Lahteine
parent
e1587da228
commit
d81342254a
@ -158,10 +158,10 @@
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#include "../core/enum.h"
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#if ENABLED(TMC_USE_SW_SPI)
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#define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
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#define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
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#define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
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#else
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#define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE)
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#define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
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#define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
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#endif
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// Stepper objects of TMC2130 steppers used
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@ -243,6 +243,110 @@
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}
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#endif // TMC2130
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//
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// TMC2160 Driver objects and inits
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//
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#if HAS_DRIVER(TMC2160)
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#include <SPI.h>
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#include "planner.h"
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#include "../core/enum.h"
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#if ENABLED(TMC_USE_SW_SPI)
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#define _TMC2160_DEFINE(ST, L) TMCMarlin<TMC2160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
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#define TMC2160_DEFINE(ST) _TMC2160_DEFINE(ST, TMC_##ST##_LABEL)
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#else
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#define _TMC2160_DEFINE(ST, L) TMCMarlin<TMC2160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
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#define TMC2160_DEFINE(ST) _TMC2160_DEFINE(ST, TMC_##ST##_LABEL)
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#endif
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// Stepper objects of TMC2160 steppers used
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#if AXIS_DRIVER_TYPE(X, TMC2160)
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TMC2160_DEFINE(X);
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#endif
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#if AXIS_DRIVER_TYPE(X2, TMC2160)
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TMC2160_DEFINE(X2);
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#endif
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#if AXIS_DRIVER_TYPE(Y, TMC2160)
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TMC2160_DEFINE(Y);
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#endif
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#if AXIS_DRIVER_TYPE(Y2, TMC2160)
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TMC2160_DEFINE(Y2);
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#endif
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#if AXIS_DRIVER_TYPE(Z, TMC2160)
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TMC2160_DEFINE(Z);
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#endif
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#if AXIS_DRIVER_TYPE(Z2, TMC2160)
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TMC2160_DEFINE(Z2);
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#endif
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#if AXIS_DRIVER_TYPE(Z3, TMC2160)
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TMC2160_DEFINE(Z3);
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#endif
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#if AXIS_DRIVER_TYPE(E0, TMC2160)
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TMC2160_DEFINE(E0);
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#endif
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#if AXIS_DRIVER_TYPE(E1, TMC2160)
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TMC2160_DEFINE(E1);
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#endif
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#if AXIS_DRIVER_TYPE(E2, TMC2160)
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TMC2160_DEFINE(E2);
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#endif
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#if AXIS_DRIVER_TYPE(E3, TMC2160)
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TMC2160_DEFINE(E3);
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#endif
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#if AXIS_DRIVER_TYPE(E4, TMC2160)
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TMC2160_DEFINE(E4);
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#endif
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#if AXIS_DRIVER_TYPE(E5, TMC2160)
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TMC2160_DEFINE(E5);
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#endif
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template<char AXIS_LETTER, char DRIVER_ID>
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void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
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st.begin();
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static constexpr int8_t timings[] = CHOPPER_TIMING; // Default 4, -2, 1
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 1;
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chopconf.toff = timings[0];
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chopconf.intpol = INTERPOLATE;
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chopconf.hend = timings[1] + 3;
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chopconf.hstrt = timings[2] - 1;
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st.CHOPCONF(chopconf.sr);
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st.rms_current(mA, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.iholddelay(10);
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st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
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st.TCOOLTHRS(0xFFFFF);
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#if ENABLED(ADAPTIVE_CURRENT)
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COOLCONF_t coolconf{0};
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coolconf.semin = INCREASE_CURRENT_THRS;
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coolconf.semax = REDUCE_CURRENT_THRS;
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st.COOLCONF(coolconf.sr);
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#endif
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st.en_pwm_mode(stealth);
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PWMCONF_t pwmconf{0};
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pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
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pwmconf.pwm_autoscale = true;
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pwmconf.pwm_grad = 5;
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pwmconf.pwm_ampl = 180;
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st.PWMCONF(pwmconf.sr);
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#if ENABLED(HYBRID_THRESHOLD)
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st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
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#else
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UNUSED(thrs);
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UNUSED(spmm);
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#endif
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st.GSTAT(); // Clear GSTAT
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}
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#endif // TMC2160
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//
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// TMC2208 Driver objects and inits
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//
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@ -250,10 +354,10 @@
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#include <HardwareSerial.h>
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#include "planner.h"
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#define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, R_SENSE)
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#define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE)
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#define TMC2208_DEFINE_HARDWARE(ST) _TMC2208_DEFINE_HARDWARE(ST, TMC_##ST##_LABEL)
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#define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, R_SENSE, ST##_SERIAL_RX_PIN > -1)
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#define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SERIAL_RX_PIN > -1)
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#define TMC2208_DEFINE_SOFTWARE(ST) _TMC2208_DEFINE_SOFTWARE(ST, TMC_##ST##_LABEL)
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// Stepper objects of TMC2208 steppers used
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@ -498,10 +602,10 @@
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#include "../core/enum.h"
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#if ENABLED(TMC_USE_SW_SPI)
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#define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
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#define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
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#define TMC2660_DEFINE(ST) _TMC2660_DEFINE(ST, TMC_##ST##_LABEL)
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#else
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#define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE)
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#define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
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#define TMC2660_DEFINE(ST) _TMC2660_DEFINE(ST, TMC_##ST##_LABEL)
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#endif
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@ -561,6 +665,203 @@
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}
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#endif // TMC2660
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//
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// TMC5130 Driver objects and inits
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//
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#if HAS_DRIVER(TMC5130)
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#include <SPI.h>
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#include "planner.h"
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#include "../core/enum.h"
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#if ENABLED(TMC_USE_SW_SPI)
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#define _TMC5130_DEFINE(ST, L) TMCMarlin<TMC5130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
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#define TMC5130_DEFINE(ST) _TMC5130_DEFINE(ST, TMC_##ST##_LABEL)
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#else
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#define _TMC5130_DEFINE(ST, L) TMCMarlin<TMC5130Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
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#define TMC5130_DEFINE(ST) _TMC5130_DEFINE(ST, TMC_##ST##_LABEL)
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#endif
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// Stepper objects of TMC5130 steppers used
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#if AXIS_DRIVER_TYPE_X(TMC5130)
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TMC5130_DEFINE(X);
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#endif
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#if AXIS_DRIVER_TYPE_X2(TMC5130)
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TMC5130_DEFINE(X2);
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#endif
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#if AXIS_DRIVER_TYPE_Y(TMC5130)
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TMC5130_DEFINE(Y);
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#endif
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#if AXIS_DRIVER_TYPE_Y2(TMC5130)
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TMC5130_DEFINE(Y2);
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#endif
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#if AXIS_DRIVER_TYPE_Z(TMC5130)
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TMC5130_DEFINE(Z);
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#endif
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#if AXIS_DRIVER_TYPE_Z2(TMC5130)
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TMC5130_DEFINE(Z2);
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#endif
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#if AXIS_DRIVER_TYPE_Z3(TMC5130)
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TMC5130_DEFINE(Z3);
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#endif
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#if AXIS_DRIVER_TYPE_E0(TMC5130)
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TMC5130_DEFINE(E0);
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#endif
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#if AXIS_DRIVER_TYPE_E1(TMC5130)
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TMC5130_DEFINE(E1);
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#endif
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#if AXIS_DRIVER_TYPE_E2(TMC5130)
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TMC5130_DEFINE(E2);
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#endif
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#if AXIS_DRIVER_TYPE_E3(TMC5130)
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TMC5130_DEFINE(E3);
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#endif
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#if AXIS_DRIVER_TYPE_E4(TMC5130)
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TMC5130_DEFINE(E4);
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#endif
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#if AXIS_DRIVER_TYPE_E5(TMC5130)
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TMC5130_DEFINE(E5);
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#endif
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template<char AXIS_LETTER, char DRIVER_ID>
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void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
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st.begin();
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 1;
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chopconf.toff = chopper_timing.toff;
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chopconf.intpol = INTERPOLATE;
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chopconf.hend = chopper_timing.hend + 3;
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chopconf.hstrt = chopper_timing.hstrt - 1;
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st.CHOPCONF(chopconf.sr);
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st.rms_current(mA, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.iholddelay(10);
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st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
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st.en_pwm_mode(stealth);
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st.stored.stealthChop_enabled = stealth;
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PWMCONF_t pwmconf{0};
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pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
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pwmconf.pwm_autoscale = true;
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pwmconf.pwm_grad = 5;
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pwmconf.pwm_ampl = 180;
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st.PWMCONF(pwmconf.sr);
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#if ENABLED(HYBRID_THRESHOLD)
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st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
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#else
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UNUSED(thrs);
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UNUSED(spmm);
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#endif
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st.GSTAT(); // Clear GSTAT
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}
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#endif // TMC5130
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//
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// TMC5160 Driver objects and inits
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//
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#if HAS_DRIVER(TMC5160)
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#include <SPI.h>
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#include "planner.h"
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#include "../core/enum.h"
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#if ENABLED(TMC_USE_SW_SPI)
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#define _TMC5160_DEFINE(ST, L) TMCMarlin<TMC5160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
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#define TMC5160_DEFINE(ST) _TMC5160_DEFINE(ST, TMC_##ST##_LABEL)
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#else
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#define _TMC5160_DEFINE(ST, L) TMCMarlin<TMC5160Stepper, L> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
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#define TMC5160_DEFINE(ST) _TMC5160_DEFINE(ST, TMC_##ST##_LABEL)
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#endif
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// Stepper objects of TMC5160 steppers used
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#if AXIS_DRIVER_TYPE(X, TMC5160)
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TMC5160_DEFINE(X);
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#endif
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#if AXIS_DRIVER_TYPE(X2, TMC5160)
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TMC5160_DEFINE(X2);
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#endif
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#if AXIS_DRIVER_TYPE(Y, TMC5160)
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TMC5160_DEFINE(Y);
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#endif
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#if AXIS_DRIVER_TYPE(Y2, TMC5160)
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TMC5160_DEFINE(Y2);
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#endif
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#if AXIS_DRIVER_TYPE(Z, TMC5160)
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TMC5160_DEFINE(Z);
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#endif
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#if AXIS_DRIVER_TYPE(Z2, TMC5160)
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TMC5160_DEFINE(Z2);
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#endif
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#if AXIS_DRIVER_TYPE(Z3, TMC5160)
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TMC5160_DEFINE(Z3);
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#endif
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#if AXIS_DRIVER_TYPE(E0, TMC5160)
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TMC5160_DEFINE(E0);
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#endif
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#if AXIS_DRIVER_TYPE(E1, TMC5160)
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TMC5160_DEFINE(E1);
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#endif
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#if AXIS_DRIVER_TYPE(E2, TMC5160)
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TMC5160_DEFINE(E2);
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#endif
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#if AXIS_DRIVER_TYPE(E3, TMC5160)
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TMC5160_DEFINE(E3);
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#endif
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#if AXIS_DRIVER_TYPE(E4, TMC5160)
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TMC5160_DEFINE(E4);
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#endif
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#if AXIS_DRIVER_TYPE(E5, TMC5160)
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TMC5160_DEFINE(E5);
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#endif
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template<char AXIS_LETTER, char DRIVER_ID>
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void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm, const bool stealth) {
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st.begin();
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int8_t timings[] = CHOPPER_TIMING; // Default 4, -2, 1
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 1;
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chopconf.toff = timings[0];
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chopconf.intpol = INTERPOLATE;
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chopconf.hend = timings[1] + 3;
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chopconf.hstrt = timings[2] - 1;
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st.CHOPCONF(chopconf.sr);
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st.rms_current(mA, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.iholddelay(10);
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st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
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#if ENABLED(ADAPTIVE_CURRENT)
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COOLCONF_t coolconf{0};
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coolconf.semin = INCREASE_CURRENT_THRS;
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coolconf.semax = REDUCE_CURRENT_THRS;
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st.COOLCONF(coolconf.sr);
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#endif
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st.en_pwm_mode(stealth);
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PWMCONF_t pwmconf{0};
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pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
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pwmconf.pwm_autoscale = true;
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pwmconf.pwm_grad = 5;
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pwmconf.pwm_ampl = 180;
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st.PWMCONF(pwmconf.sr);
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#if ENABLED(HYBRID_THRESHOLD)
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st.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
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#else
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UNUSED(thrs);
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UNUSED(spmm);
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#endif
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st.GSTAT(); // Clear GSTAT
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}
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#endif // TMC5160
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void restore_stepper_drivers() {
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#if AXIS_IS_TMC(X)
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stepperX.push();
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