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@ -72,10 +72,14 @@ block_t* Stepper::current_block = NULL; // A pointer to the block currently bei
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bool Stepper::performing_homing = false;
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bool Stepper::performing_homing = false;
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#endif
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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uint32_t Stepper::motor_current_setting[3] = PWM_MOTOR_CURRENT;
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#endif
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// private:
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// private:
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unsigned char Stepper::last_direction_bits = 0; // The next stepping-bits to be output
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uint8_t Stepper::last_direction_bits = 0; // The next stepping-bits to be output
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unsigned int Stepper::cleaning_buffer_counter = 0;
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uint16_t Stepper::cleaning_buffer_counter = 0;
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#if ENABLED(Z_DUAL_ENDSTOPS)
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool Stepper::locked_z_motor = false;
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bool Stepper::locked_z_motor = false;
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@ -1447,62 +1451,98 @@ void Stepper::report_positions() {
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#if HAS_DIGIPOTSS
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#if HAS_DIGIPOTSS
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// From Arduino DigitalPotControl example
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// From Arduino DigitalPotControl example
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void Stepper::digitalPotWrite(int address, int value) {
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void Stepper::digitalPotWrite(const int16_t address, const int16_t value) {
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WRITE(DIGIPOTSS_PIN, LOW); // take the SS pin low to select the chip
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WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip
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SPI.transfer(address); // send in the address and value via SPI:
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SPI.transfer(address); // Send the address and value via SPI
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SPI.transfer(value);
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SPI.transfer(value);
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WRITE(DIGIPOTSS_PIN, HIGH); // take the SS pin high to de-select the chip:
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WRITE(DIGIPOTSS_PIN, HIGH); // Take the SS pin high to de-select the chip
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//delay(10);
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//delay(10);
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}
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}
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#endif // HAS_DIGIPOTSS
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#endif // HAS_DIGIPOTSS
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#if HAS_MOTOR_CURRENT_PWM
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void Stepper::refresh_motor_power() {
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for (uint8_t i = 0; i < COUNT(motor_current_setting); ++i) {
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switch (i) {
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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case 0:
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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case 1:
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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case 2:
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#endif
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digipot_current(i, motor_current_setting[i]);
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default: break;
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}
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}
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}
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#endif // HAS_MOTOR_CURRENT_PWM
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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void Stepper::digipot_current(const uint8_t driver, const int current) {
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#if HAS_DIGIPOTSS
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const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
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digitalPotWrite(digipot_ch[driver], current);
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#elif HAS_MOTOR_CURRENT_PWM
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if (WITHIN(driver, 0, 2))
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motor_current_setting[driver] = current; // update motor_current_setting
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#define _WRITE_CURRENT_PWM(P) analogWrite(MOTOR_CURRENT_PWM_## P ##_PIN, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
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switch (driver) {
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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case 0: _WRITE_CURRENT_PWM(XY); break;
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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case 1: _WRITE_CURRENT_PWM(Z); break;
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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case 2: _WRITE_CURRENT_PWM(E); break;
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#endif
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}
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#endif
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}
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void Stepper::digipot_init() {
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void Stepper::digipot_init() {
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#if HAS_DIGIPOTSS
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#if HAS_DIGIPOTSS
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static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
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static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
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SPI.begin();
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SPI.begin();
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SET_OUTPUT(DIGIPOTSS_PIN);
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SET_OUTPUT(DIGIPOTSS_PIN);
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for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
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for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
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//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
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//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
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digipot_current(i, digipot_motor_current[i]);
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digipot_current(i, digipot_motor_current[i]);
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}
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}
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#elif HAS_MOTOR_CURRENT_PWM
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#elif HAS_MOTOR_CURRENT_PWM
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN);
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SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN);
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digipot_current(0, motor_current_setting[0]);
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#endif
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
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SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
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digipot_current(1, motor_current_setting[1]);
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#endif
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
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SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
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digipot_current(2, motor_current_setting[2]);
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#endif
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#endif
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//Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
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TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
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#endif
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}
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void Stepper::digipot_current(uint8_t driver, int current) {
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refresh_motor_power();
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#if HAS_DIGIPOTSS
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const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
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// Set Timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
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digitalPotWrite(digipot_ch[driver], current);
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SET_CS5(PRESCALER_1);
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#elif HAS_MOTOR_CURRENT_PWM
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#define _WRITE_CURRENT_PWM(P) analogWrite(P, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
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switch (driver) {
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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case 0: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_XY_PIN); break;
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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case 1: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_Z_PIN); break;
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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case 2: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_E_PIN); break;
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#endif
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}
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#endif
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#endif
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}
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}
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@ -1550,7 +1590,7 @@ void Stepper::report_positions() {
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microstep_mode(i, microstep_modes[i]);
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microstep_mode(i, microstep_modes[i]);
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}
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}
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void Stepper::microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
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void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2) {
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if (ms1 >= 0) switch (driver) {
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if (ms1 >= 0) switch (driver) {
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case 0: WRITE(X_MS1_PIN, ms1); break;
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case 0: WRITE(X_MS1_PIN, ms1); break;
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#if HAS_Y_MICROSTEPS
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#if HAS_Y_MICROSTEPS
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@ -1601,7 +1641,7 @@ void Stepper::report_positions() {
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}
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}
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}
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}
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void Stepper::microstep_mode(uint8_t driver, uint8_t stepping_mode) {
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void Stepper::microstep_mode(const uint8_t driver, const uint8_t stepping_mode) {
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switch (stepping_mode) {
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switch (stepping_mode) {
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case 1: microstep_ms(driver, MICROSTEP1); break;
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case 1: microstep_ms(driver, MICROSTEP1); break;
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case 2: microstep_ms(driver, MICROSTEP2); break;
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case 2: microstep_ms(driver, MICROSTEP2); break;
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Scott Lahteine
8 years ago
committed by