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Cleanup, extend TMC2130 implementation

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master
Scott Lahteine 8 years ago
parent d60c02c5b1
commit 4067d15c92
4 changed files with 275 additions and 86 deletions
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2
.travis.yml
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@ -409,7 +409,7 @@ script:
- restore_configs
- opt_enable_adv HAVE_TMC2130 X_IS_TMC2130 Y_IS_TMC2130 Z_IS_TMC2130
- build_marlin
- opt_enable_adv AUTOMATIC_CURRENT_CONTROL STEALTHCHOP
- opt_enable_adv AUTOMATIC_CURRENT_CONTROL STEALTHCHOP HYBRID_THRESHOLD SENSORLESS_HOMING
- build_marlin
#
# tvrrug Config need to check board type for sanguino atmega644p

277
Marlin/Marlin_main.cpp
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@ -198,6 +198,8 @@
* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
* M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
* M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
* M350 - Set microstepping mode. (Requires digital microstepping pins.)
* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
*
@ -647,6 +649,10 @@ static bool send_ok[BUFSIZE];
bool chdkActive = false;
#endif
#ifdef AUTOMATIC_CURRENT_CONTROL
bool auto_current_control = 0;
#endif
#if ENABLED(PID_EXTRUSION_SCALING)
int lpq_len = 20;
#endif
@ -2756,6 +2762,28 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.
#endif
}
/**
* TMC2130 specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
* spreadCycle and stealthChop are mutually exclusive.
*/
#if ENABLED(SENSORLESS_HOMING)
void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
#if ENABLED(STEALTHCHOP)
if (enable) {
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
st.stealthChop(0);
}
else {
st.coolstep_min_speed(0);
st.stealthChop(1);
}
#endif
st.diag1_stall(enable ? 1 : 0);
}
#endif
/**
* Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and
@ -2804,6 +2832,16 @@ static void homeaxis(const AxisEnum axis) {
if (axis == Z_AXIS) stepper.set_homing_flag(true);
#endif
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
#endif
#endif
// Fast move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
@ -2888,6 +2926,16 @@ static void homeaxis(const AxisEnum axis) {
#endif
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
#endif
#endif
// Put away the Z probe
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS && STOW_PROBE()) return;
@ -6902,6 +6950,11 @@ inline void gcode_M140() {
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if ENABLED(HAVE_TMC2130)
delay(100);
tmc2130_init(); // Settings only stick when the driver has power
#endif
#if ENABLED(ULTIPANEL)
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
@ -8770,22 +8823,21 @@ inline void gcode_M503() {
#if ENABLED(HAVE_TMC2130)
static void tmc2130_print_current(const int mA, const char name) {
static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" axis driver current: ");
SERIAL_ECHOLN(mA);
}
static void tmc2130_set_current(const int mA, TMC2130Stepper &st, const char name) {
tmc2130_print_current(mA, name);
st.setCurrent(mA, 0.11, 0.5);
SERIAL_ECHOLN(st.getCurrent());
}
static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
tmc2130_print_current(st.getCurrent(), name);
static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
tmc2130_get_current(st, name);
}
static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
SERIAL_EOL;
}
static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
st.clear_otpw();
@ -8793,10 +8845,32 @@ inline void gcode_M503() {
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" stealthChop max speed set to ");
SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
}
static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
tmc2130_get_pwmthrs(st, name, spmm);
}
static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
SERIAL_ECHOLN(st.sgt());
}
static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
st.sgt(sgt_val);
tmc2130_get_sgt(st, name);
}
/**
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
*
* Report driver currents when no axis specified
*
* S1: Enable automatic current control
* S0: Disable
*/
inline void gcode_M906() {
uint16_t values[XYZE];
@ -8804,21 +8878,25 @@ inline void gcode_M503() {
values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
#if ENABLED(X_IS_TMC2130)
if (values[X_AXIS]) tmc2130_set_current(values[X_AXIS], stepperX, 'X');
if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
else tmc2130_get_current(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
if (values[Y_AXIS]) tmc2130_set_current(values[Y_AXIS], stepperY, 'Y');
if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
else tmc2130_get_current(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
if (values[Z_AXIS]) tmc2130_set_current(values[Z_AXIS], stepperZ, 'Z');
if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
else tmc2130_get_current(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
if (values[E_AXIS]) tmc2130_set_current(values[E_AXIS], stepperE0, 'E');
if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
else tmc2130_get_current(stepperE0, 'E');
#endif
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
if (code_seen('S')) auto_current_control = code_value_bool();
#endif
}
/**
@ -8826,17 +8904,19 @@ inline void gcode_M503() {
* The flag is held by the library and persist until manually cleared by M912
*/
inline void gcode_M911() {
const bool reportX = code_seen('X'), reportY = code_seen('Y'), reportZ = code_seen('Z'), reportE = code_seen('E'),
reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
#if ENABLED(X_IS_TMC2130)
tmc2130_report_otpw(stepperX, 'X');
if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
tmc2130_report_otpw(stepperY, 'Y');
if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
tmc2130_report_otpw(stepperZ, 'Z');
if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
tmc2130_report_otpw(stepperE0, 'E');
if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
#endif
}
@ -8844,19 +8924,65 @@ inline void gcode_M503() {
* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
*/
inline void gcode_M912() {
const bool clearX = code_seen('X'), clearY = code_seen('Y'), clearZ = code_seen('Z'), clearE = code_seen('E'),
clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
#if ENABLED(X_IS_TMC2130)
if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
#endif
}
/**
* M913: Set HYBRID_THRESHOLD speed.
*/
#if ENABLED(HYBRID_THRESHOLD)
inline void gcode_M913() {
uint16_t values[XYZE];
LOOP_XYZE(i)
values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
#if ENABLED(X_IS_TMC2130)
if (code_seen('X')) tmc2130_clear_otpw(stepperX, 'X');
if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
#endif
#if ENABLED(Y_IS_TMC2130)
if (code_seen('Y')) tmc2130_clear_otpw(stepperY, 'Y');
if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Z_IS_TMC2130)
if (code_seen('Z')) tmc2130_clear_otpw(stepperZ, 'Z');
if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(E0_IS_TMC2130)
if (code_seen('E')) tmc2130_clear_otpw(stepperE0, 'E');
if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
#endif
}
#endif // HYBRID_THRESHOLD
/**
* M914: Set SENSORLESS_HOMING sensitivity.
*/
#if ENABLED(SENSORLESS_HOMING)
inline void gcode_M914() {
#if ENABLED(X_IS_TMC2130)
if (code_seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', code_value_int());
else tmc2130_get_sgt(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
if (code_seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', code_value_int());
else tmc2130_get_sgt(stepperY, 'Y');
#endif
}
#endif // SENSORLESS_HOMING
#endif // HAVE_TMC2130
@ -8865,10 +8991,9 @@ inline void gcode_M503() {
*/
inline void gcode_M907() {
#if HAS_DIGIPOTSS
LOOP_XYZE(i)
if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
if (code_seen('B')) stepper.digipot_current(4, code_value_int());
if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
if (code_seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
#elif HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
if (code_seen('X')) stepper.digipot_current(0, code_value_int());
@ -8884,11 +9009,11 @@ inline void gcode_M907() {
// this one uses actual amps in floating point
LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
if (code_seen('S')) {
float dac_percent = code_value_float();
const float dac_percent = code_value_float();
for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
}
LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
@ -10165,6 +10290,18 @@ void process_next_command() {
case 912: // M911: Clear TMC2130 prewarn triggered flags
gcode_M912();
break;
#if ENABLED(HYBRID_THRESHOLD)
case 913: // M913: Set HYBRID_THRESHOLD speed.
gcode_M913();
break;
#endif
#if ENABLED(SENSORLESS_HOMING)
case 914: // M914: Set SENSORLESS_HOMING sensitivity.
gcode_M914();
break;
#endif
#endif
#if HAS_MICROSTEPS
@ -11390,23 +11527,58 @@ void disable_all_steppers() {
disable_e_steppers();
}
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
#if ENABLED(HAVE_TMC2130)
void automatic_current_control(TMC2130Stepper &st, String axisID) {
// Check otpw even if we don't use automatic control. Allows for flag inspection.
const bool is_otpw = st.checkOT();
// Report if a warning was triggered
static bool previous_otpw = false;
if (is_otpw && !previous_otpw) {
char timestamp[10];
duration_t elapsed = print_job_timer.duration();
const bool has_days = (elapsed.value > 60*60*24L);
(void)elapsed.toDigital(timestamp, has_days);
SERIAL_ECHO(timestamp);
SERIAL_ECHO(": ");
SERIAL_ECHO(axisID);
SERIAL_ECHOLNPGM(" driver overtemperature warning!");
}
previous_otpw = is_otpw;
#if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
// Return if user has not enabled current control start with M906 S1.
if (!auto_current_control) return;
/**
* Decrease current if is_otpw is true.
* Bail out if driver is disabled.
* Increase current if OTPW has not been triggered yet.
*/
uint16_t current = st.getCurrent();
if (is_otpw) {
st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
#if ENABLED(REPORT_CURRENT_CHANGE)
SERIAL_ECHO(axisID);
SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
#endif
}
void automatic_current_control(const TMC2130Stepper &st) {
#if CURRENT_STEP > 0
const bool is_otpw = st.checkOT(), // Check otpw even if we don't adjust. Allows for flag inspection.
is_otpw_triggered = st.getOTPW();
else if (!st.isEnabled())
return;
if (!is_otpw && !is_otpw_triggered) {
// OTPW bit not triggered yet -> Increase current
const uint16_t current = st.getCurrent() + CURRENT_STEP;
if (current <= AUTO_ADJUST_MAX) st.SilentStepStick2130(current);
else if (!is_otpw && !st.getOTPW()) {
current += CURRENT_STEP;
if (current <= AUTO_ADJUST_MAX) {
st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
#if ENABLED(REPORT_CURRENT_CHANGE)
SERIAL_ECHO(axisID);
SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
#endif
}
else if (is_otpw && is_otpw_triggered) {
// OTPW bit triggered, triggered flag raised -> Decrease current
st.SilentStepStick2130((float)st.getCurrent() - CURRENT_STEP);
}
// OTPW bit cleared (we've cooled down), triggered flag still raised until manually cleared -> Do nothing, we're good
SERIAL_EOL;
#endif
}
@ -11415,34 +11587,37 @@ void disable_all_steppers() {
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 5000;
#if ENABLED(X_IS_TMC2130)
automatic_current_control(stepperX);
automatic_current_control(stepperX, "X");
#endif
#if ENABLED(Y_IS_TMC2130)
automatic_current_control(stepperY);
automatic_current_control(stepperY, "Y");
#endif
#if ENABLED(Z_IS_TMC2130)
automatic_current_control(stepperZ);
automatic_current_control(stepperZ, "Z");
#endif
#if ENABLED(X2_IS_TMC2130)
automatic_current_control(stepperX2);
automatic_current_control(stepperX2, "X2");
#endif
#if ENABLED(Y2_IS_TMC2130)
automatic_current_control(stepperY2);
automatic_current_control(stepperY2, "Y2");
#endif
#if ENABLED(Z2_IS_TMC2130)
automatic_current_control(stepperZ2);
automatic_current_control(stepperZ2, "Z2");
#endif
#if ENABLED(E0_IS_TMC2130)
automatic_current_control(stepperE0);
automatic_current_control(stepperE0, "E0");
#endif
#if ENABLED(E1_IS_TMC2130)
automatic_current_control(stepperE1);
automatic_current_control(stepperE1, "E1");
#endif
#if ENABLED(E2_IS_TMC2130)
automatic_current_control(stepperE2);
automatic_current_control(stepperE2, "E2");
#endif
#if ENABLED(E3_IS_TMC2130)
automatic_current_control(stepperE3);
automatic_current_control(stepperE3, "E3");
#endif
#if ENABLED(E4_IS_TMC2130)
automatic_current_control(stepperE4, "E4");
#endif
#if ENABLED(E4_IS_TMC2130)
automatic_current_control(stepperE4);
@ -11450,7 +11625,7 @@ void disable_all_steppers() {
}
}
#endif // AUTOMATIC_CURRENT_CONTROL
#endif // HAVE_TMC2130
/**
* Manage several activities:
@ -11648,7 +11823,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
handle_status_leds();
#endif
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
#if ENABLED(HAVE_TMC2130)
checkOverTemp();
#endif

20
Marlin/configuration_store.cpp
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@ -1124,34 +1124,34 @@ void MarlinSettings::reset() {
#if ENABLED(HAVE_TMC2130)
#if ENABLED(X_IS_TMC2130)
stepperX.setCurrent(X_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperX.setCurrent(X_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(Y_IS_TMC2130)
stepperY.setCurrent(Y_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperY.setCurrent(Y_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(Z_IS_TMC2130)
stepperZ.setCurrent(Z_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperZ.setCurrent(Z_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.setCurrent(X2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperX2.setCurrent(X2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.setCurrent(Y2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperY2.setCurrent(Y2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.setCurrent(Z2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperZ2.setCurrent(Z2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(E0_IS_TMC2130)
stepperE0.setCurrent(E0_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperE0.setCurrent(E0_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(E1_IS_TMC2130)
stepperE1.setCurrent(E1_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperE1.setCurrent(E1_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(E2_IS_TMC2130)
stepperE2.setCurrent(E2_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperE2.setCurrent(E2_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#if ENABLED(E3_IS_TMC2130)
stepperE3.setCurrent(E3_MAX_CURRENT, R_SENSE, HOLD_MULTIPLIER);
stepperE3.setCurrent(E3_CURRENT, R_SENSE, HOLD_MULTIPLIER);
#endif
#endif

60
Marlin/stepper_indirection.cpp
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@ -129,8 +129,9 @@
#include <SPI.h>
#include <TMC2130Stepper.h>
#include "enum.h"
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT)
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
// Stepper objects of TMC2130 steppers used
#if ENABLED(X_IS_TMC2130)
@ -169,61 +170,74 @@
// Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
void tmc2130_init(TMC2130Stepper &st, const uint16_t max_current, const uint16_t microsteps) {
// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const uint32_t spmm) {
st.begin();
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps);
st.blank_time(24);
st.off_time(8);
st.blank_time(36);
st.off_time(5); // Only enables the driver if used with stealthChop
st.interpolate(INTERPOLATE);
st.power_down_delay(128); // ~2s until driver lowers to hold current
st.hysterisis_start(0); // HSTRT = 1
st.hysterisis_low(1); // HEND = -2
st.diag1_active_high(1); // For sensorless homing
#if ENABLED(STEALTHCHOP)
st.stealth_freq(1); // f_pwm = 2/683 f_clk
st.stealth_autoscale(1);
st.stealth_gradient(5);
st.stealth_amplitude(255);
st.stealthChop(1);
#if ENABLED(HYBRID_THRESHOLD)
st.stealth_max_speed(12650000UL*st.microsteps()/(256*thrs*spmm));
#endif
#if ENABLED(SENSORLESS_HOMING)
st.coolstep_min_speed(1048575);
st.sg_stall_value(STALL_THRESHOLD);
st.sg_filter(1);
st.diag1_stall(1);
st.diag1_active_high(1);
#elif ENABLED(SENSORLESS_HOMING)
st.coolstep_min_speed(1024UL * 1024UL - 1UL);
#endif
}
#define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS)
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2130_init() {
delay(500); // Let power stabilize before configuring the steppers
constexpr uint16_t steps_per_mm[] = DEFAULT_AXIS_STEPS_PER_UNIT;
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT(X);
_TMC2130_INIT( X, steps_per_mm[X_AXIS]);
#if ENABLED(SENSORLESS_HOMING)
stepperX.sg_stall_value(X_HOMING_SENSITIVITY);
#endif
#endif
#if ENABLED(X2_IS_TMC2130)
_TMC2130_INIT(X2);
_TMC2130_INIT(X2, steps_per_mm[X_AXIS]);
#endif
#if ENABLED(Y_IS_TMC2130)
_TMC2130_INIT(Y);
_TMC2130_INIT( Y, steps_per_mm[Y_AXIS]);
#if ENABLED(SENSORLESS_HOMING)
stepperY.sg_stall_value(Y_HOMING_SENSITIVITY);
#endif
#endif
#if ENABLED(Y2_IS_TMC2130)
_TMC2130_INIT(Y2);
_TMC2130_INIT(Y2, steps_per_mm[Y_AXIS]);
#endif
#if ENABLED(Z_IS_TMC2130)
_TMC2130_INIT(Z);
_TMC2130_INIT( Z, steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(Z2_IS_TMC2130)
_TMC2130_INIT(Z2);
_TMC2130_INIT(Z2, steps_per_mm[Z_AXIS]);
#endif
#if ENABLED(E0_IS_TMC2130)
_TMC2130_INIT(E0);
_TMC2130_INIT(E0, steps_per_mm[E_AXIS]);
#endif
#if ENABLED(E1_IS_TMC2130)
_TMC2130_INIT(E1);
{ constexpr int extruder = 1; _TMC2130_INIT(E1, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E2_IS_TMC2130)
_TMC2130_INIT(E2);
{ constexpr int extruder = 2; _TMC2130_INIT(E2, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E3_IS_TMC2130)
_TMC2130_INIT(E3);
{ constexpr int extruder = 3; _TMC2130_INIT(E3, steps_per_mm[E_AXIS_N]); }
#endif
#if ENABLED(E4_IS_TMC2130)
_TMC2130_INIT(E4);
{ constexpr int extruder = 4; _TMC2130_INIT(E4, steps_per_mm[E_AXIS_N]); }
#endif
TMC2130_ADV()

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