Skip to content

[1.1.x] More complete Trinamic driver options #10101

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
thinkyhead merged 4 commits into from
Mar 21, 2018
Merged

[1.1.x] More complete Trinamic driver options #10101

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
a035020
Consolidate smart stepper driver initialization
thinkyhead Mar 18, 2018
84bbd01
Improve Trinamic support in the EEPROM
thinkyhead Mar 15, 2018
4995e0e
Quiet M906/M913/M914 with axes. Patch for DISTINCT_E_FACTORS.
thinkyhead Mar 14, 2018
312bebf
Add 'I' parameter to M906/M913/M914; 'T' to M906/M913
thinkyhead Mar 19, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
377 changes: 263 additions & 114 deletions Marlin/Marlin_main.cpp
View file
Open in desktop

Large diffs are not rendered by default.

467 changes: 311 additions & 156 deletions Marlin/configuration_store.cpp
View file
Open in desktop

Large diffs are not rendered by default.

5 changes: 5 additions & 0 deletions Marlin/power.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,11 @@ void Power::check() {
void Power::power_on() {
lastPowerOn = millis();
PSU_PIN_ON();

#if HAS_TRINAMIC
delay(100); // Wait for power to settle
restore_stepper_drivers();
#endif
}

void Power::power_off() {
Expand Down
25 changes: 0 additions & 25 deletions Marlin/stepper.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -948,31 +948,6 @@ void Stepper::init() {
microstep_init();
#endif

// Init TMC Steppers
#if ENABLED(HAVE_TMC26X)
tmc_init();
#endif

// Init TMC2130 Steppers
#if ENABLED(HAVE_TMC2130)
tmc2130_init();
#endif

// Init TMC2208 Steppers
#if ENABLED(HAVE_TMC2208)
tmc2208_init();
#endif

// TRAMS, TMC2130 and TMC2208 advanced settings
#if HAS_TRINAMIC
TMC_ADV()
#endif

// Init L6470 Steppers
#if ENABLED(HAVE_L6470DRIVER)
L6470_init();
#endif

// Init Dir Pins
#if HAS_X_DIR
X_DIR_INIT;
Expand Down
153 changes: 117 additions & 36 deletions Marlin/stepper_indirection.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,83 +42,82 @@
#include <SPI.h>
#include <TMC26XStepper.h>

#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)

#if ENABLED(X_IS_TMC26X)
_TMC_DEFINE(X);
_TMC26X_DEFINE(X);
#endif
#if ENABLED(X2_IS_TMC26X)
_TMC_DEFINE(X2);
_TMC26X_DEFINE(X2);
#endif
#if ENABLED(Y_IS_TMC26X)
_TMC_DEFINE(Y);
_TMC26X_DEFINE(Y);
#endif
#if ENABLED(Y2_IS_TMC26X)
_TMC_DEFINE(Y2);
_TMC26X_DEFINE(Y2);
#endif
#if ENABLED(Z_IS_TMC26X)
_TMC_DEFINE(Z);
_TMC26X_DEFINE(Z);
#endif
#if ENABLED(Z2_IS_TMC26X)
_TMC_DEFINE(Z2);
_TMC26X_DEFINE(Z2);
#endif
#if ENABLED(E0_IS_TMC26X)
_TMC_DEFINE(E0);
_TMC26X_DEFINE(E0);
#endif
#if ENABLED(E1_IS_TMC26X)
_TMC_DEFINE(E1);
_TMC26X_DEFINE(E1);
#endif
#if ENABLED(E2_IS_TMC26X)
_TMC_DEFINE(E2);
_TMC26X_DEFINE(E2);
#endif
#if ENABLED(E3_IS_TMC26X)
_TMC_DEFINE(E3);
_TMC26X_DEFINE(E3);
#endif
#if ENABLED(E4_IS_TMC26X)
_TMC_DEFINE(E4);
_TMC26X_DEFINE(E4);
#endif

#define _TMC_INIT(A) do{ \
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)

void tmc_init() {
void tmc26x_init_to_defaults() {
#if ENABLED(X_IS_TMC26X)
_TMC_INIT(X);
_TMC26X_INIT(X);
#endif
#if ENABLED(X2_IS_TMC26X)
_TMC_INIT(X2);
_TMC26X_INIT(X2);
#endif
#if ENABLED(Y_IS_TMC26X)
_TMC_INIT(Y);
_TMC26X_INIT(Y);
#endif
#if ENABLED(Y2_IS_TMC26X)
_TMC_INIT(Y2);
_TMC26X_INIT(Y2);
#endif
#if ENABLED(Z_IS_TMC26X)
_TMC_INIT(Z);
_TMC26X_INIT(Z);
#endif
#if ENABLED(Z2_IS_TMC26X)
_TMC_INIT(Z2);
_TMC26X_INIT(Z2);
#endif
#if ENABLED(E0_IS_TMC26X)
_TMC_INIT(E0);
_TMC26X_INIT(E0);
#endif
#if ENABLED(E1_IS_TMC26X)
_TMC_INIT(E1);
_TMC26X_INIT(E1);
#endif
#if ENABLED(E2_IS_TMC26X)
_TMC_INIT(E2);
_TMC26X_INIT(E2);
#endif
#if ENABLED(E3_IS_TMC26X)
_TMC_INIT(E3);
_TMC26X_INIT(E3);
#endif
#if ENABLED(E4_IS_TMC26X)
_TMC_INIT(E4);
_TMC26X_INIT(E4);
#endif
}

#endif // HAVE_TMC26X

//
Expand All @@ -137,7 +136,6 @@
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
#endif


// Stepper objects of TMC2130 steppers used
#if ENABLED(X_IS_TMC2130)
_TMC2130_DEFINE(X);
Expand Down Expand Up @@ -176,9 +174,9 @@
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.begin();
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.off_time(5); // Only enables the driver if used with stealthChop
Expand All @@ -205,9 +203,9 @@
st.GSTAT(); // Clear GSTAT
}

#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)

void tmc2130_init() {
void tmc2130_init_to_defaults() {
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
#endif
Expand Down Expand Up @@ -242,7 +240,35 @@
{ constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif

#if ENABLED(SENSORLESS_HOMING)
#define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperX.sgt(X_HOMING_SENSITIVITY);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperZ.sgt(Z_HOMING_SENSITIVITY);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
}

#endif // HAVE_TMC2130

//
Expand Down Expand Up @@ -377,11 +403,11 @@

// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
void tmc2208_init(TMC2208Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.pdn_disable(true); // Use UART
st.mstep_reg_select(true); // Select microsteps with UART
st.I_scale_analog(false);
st.rms_current(st.getCurrent(), HOLD_MULTIPLIER, R_SENSE);
st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
st.microsteps(microsteps);
st.blank_time(24);
st.toff(5);
Expand Down Expand Up @@ -411,9 +437,9 @@
delay(200);
}

#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)

void tmc2208_init() {
void tmc2208_init_to_defaults() {
#if ENABLED(X_IS_TMC2208)
_TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
#endif
Expand Down Expand Up @@ -448,8 +474,63 @@
{ constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif
}

#endif // HAVE_TMC2208

void restore_stepper_drivers() {
#if X_IS_TRINAMIC
stepperX.push();
#endif
#if X2_IS_TRINAMIC
stepperX2.push();
#endif
#if Y_IS_TRINAMIC
stepperY.push();
#endif
#if Y2_IS_TRINAMIC
stepperY2.push();
#endif
#if Z_IS_TRINAMIC
stepperZ.push();
#endif
#if Z2_IS_TRINAMIC
stepperZ2.push();
#endif
#if E0_IS_TRINAMIC
stepperE0.push();
#endif
#if E1_IS_TRINAMIC
stepperE1.push();
#endif
#if E2_IS_TRINAMIC
stepperE2.push();
#endif
#if E3_IS_TRINAMIC
stepperE3.push();
#endif
#if E4_IS_TRINAMIC
stepperE4.push();
#endif
}

void reset_stepper_drivers() {
#if ENABLED(HAVE_TMC26X)
tmc26x_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2130)
tmc2130_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2208)
tmc2208_init_to_defaults();
#endif
#ifdef TMC_ADV
TMC_ADV()
#endif
#if ENABLED(HAVE_L6470DRIVER)
L6470_init_to_defaults();
#endif
}

//
// L6470 Driver objects and inits
//
Expand Down Expand Up @@ -503,7 +584,7 @@
stepper##A.setStallCurrent(A##_STALLCURRENT); \
}while(0)

void L6470_init() {
void L6470_init_to_defaults() {
#if ENABLED(X_IS_L6470)
_L6470_INIT(X);
#endif
Expand Down
Loading