You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
225 lines
6.1 KiB
225 lines
6.1 KiB
/*
|
|
stepper_indirection.c - stepper motor driver indirection
|
|
to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
|
|
Part of Marlin
|
|
|
|
Copyright (c) 2015 Dominik Wenger
|
|
|
|
Marlin is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Marlin is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Marlin. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "stepper_indirection.h"
|
|
#include "Configuration.h"
|
|
|
|
#ifdef HAVE_TMCDRIVER
|
|
#include <SPI.h>
|
|
#include <TMC26XStepper.h>
|
|
#endif
|
|
|
|
// Stepper objects of TMC steppers used
|
|
#ifdef X_IS_TMC
|
|
TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef X2_IS_TMC
|
|
TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef Y_IS_TMC
|
|
TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef Y2_IS_TMC
|
|
TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef Z_IS_TMC
|
|
TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef Z2_IS_TMC
|
|
TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef E0_IS_TMC
|
|
TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef E1_IS_TMC
|
|
TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef E2_IS_TMC
|
|
TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
|
|
#endif
|
|
#ifdef E3_IS_TMC
|
|
TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
|
|
#endif
|
|
|
|
#ifdef HAVE_TMCDRIVER
|
|
void tmc_init()
|
|
{
|
|
#ifdef X_IS_TMC
|
|
stepperX.setMicrosteps(X_MICROSTEPS);
|
|
stepperX.start();
|
|
#endif
|
|
#ifdef X2_IS_TMC
|
|
stepperX2.setMicrosteps(X2_MICROSTEPS);
|
|
stepperX2.start();
|
|
#endif
|
|
#ifdef Y_IS_TMC
|
|
stepperY.setMicrosteps(Y_MICROSTEPS);
|
|
stepperY.start();
|
|
#endif
|
|
#ifdef Y2_IS_TMC
|
|
stepperY2.setMicrosteps(Y2_MICROSTEPS);
|
|
stepperY2.start();
|
|
#endif
|
|
#ifdef Z_IS_TMC
|
|
stepperZ.setMicrosteps(Z_MICROSTEPS);
|
|
stepperZ.start();
|
|
#endif
|
|
#ifdef Z2_IS_TMC
|
|
stepperZ2.setMicrosteps(Z2_MICROSTEPS);
|
|
stepperZ2.start();
|
|
#endif
|
|
#ifdef E0_IS_TMC
|
|
stepperE0.setMicrosteps(E0_MICROSTEPS);
|
|
stepperE0.start();
|
|
#endif
|
|
#ifdef E1_IS_TMC
|
|
stepperE1.setMicrosteps(E1_MICROSTEPS);
|
|
stepperE1.start();
|
|
#endif
|
|
#ifdef E2_IS_TMC
|
|
stepperE2.setMicrosteps(E2_MICROSTEPS);
|
|
stepperE2.start();
|
|
#endif
|
|
#ifdef E3_IS_TMC
|
|
stepperE3.setMicrosteps(E3_MICROSTEPS);
|
|
stepperE3.start();
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
// L6470 Driver objects and inits
|
|
|
|
#ifdef HAVE_L6470DRIVER
|
|
#include <SPI.h>
|
|
#include <L6470.h>
|
|
#endif
|
|
|
|
// L6470 Stepper objects
|
|
#ifdef X_IS_L6470
|
|
L6470 stepperX(X_ENABLE_PIN);
|
|
#endif
|
|
#ifdef X2_IS_L6470
|
|
L6470 stepperX2(X2_ENABLE_PIN);
|
|
#endif
|
|
#ifdef Y_IS_L6470
|
|
L6470 stepperY(Y_ENABLE_PIN);
|
|
#endif
|
|
#ifdef Y2_IS_L6470
|
|
L6470 stepperY2(Y2_ENABLE_PIN);
|
|
#endif
|
|
#ifdef Z_IS_L6470
|
|
L6470 stepperZ(Z_ENABLE_PIN);
|
|
#endif
|
|
#ifdef Z2_IS_L6470
|
|
L6470 stepperZ2(Z2_ENABLE_PIN);
|
|
#endif
|
|
#ifdef E0_IS_L6470
|
|
L6470 stepperE0(E0_ENABLE_PIN);
|
|
#endif
|
|
#ifdef E1_IS_L6470
|
|
L6470 stepperE1(E1_ENABLE_PIN);
|
|
#endif
|
|
#ifdef E2_IS_L6470
|
|
L6470 stepperE2(E2_ENABLE_PIN);
|
|
#endif
|
|
#ifdef E3_IS_L6470
|
|
L6470 stepperE3(E3_ENABLE_PIN);
|
|
#endif
|
|
|
|
|
|
// init routine
|
|
#ifdef HAVE_L6470DRIVER
|
|
void L6470_init()
|
|
{
|
|
#ifdef X_IS_L6470
|
|
stepperX.init(X_K_VAL);
|
|
stepperX.softFree();
|
|
stepperX.setMicroSteps(X_MICROSTEPS);
|
|
stepperX.setOverCurrent(X_OVERCURRENT); //set overcurrent protection
|
|
stepperX.setStallCurrent(X_STALLCURRENT);
|
|
#endif
|
|
#ifdef X2_IS_L6470
|
|
stepperX2.init(X2_K_VAL);
|
|
stepperX2.softFree();
|
|
stepperX2.setMicroSteps(X2_MICROSTEPS);
|
|
stepperX2.setOverCurrent(X2_OVERCURRENT); //set overcurrent protection
|
|
stepperX2.setStallCurrent(X2_STALLCURRENT);
|
|
#endif
|
|
#ifdef Y_IS_L6470
|
|
stepperY.init(Y_K_VAL);
|
|
stepperY.softFree();
|
|
stepperY.setMicroSteps(Y_MICROSTEPS);
|
|
stepperY.setOverCurrent(Y_OVERCURRENT); //set overcurrent protection
|
|
stepperY.setStallCurrent(Y_STALLCURRENT);
|
|
#endif
|
|
#ifdef Y2_IS_L6470
|
|
stepperY2.init(Y2_K_VAL);
|
|
stepperY2.softFree();
|
|
stepperY2.setMicroSteps(Y2_MICROSTEPS);
|
|
stepperY2.setOverCurrent(Y2_OVERCURRENT); //set overcurrent protection
|
|
stepperY2.setStallCurrent(Y2_STALLCURRENT);
|
|
#endif
|
|
#ifdef Z_IS_L6470
|
|
stepperZ.init(Z_K_VAL);
|
|
stepperZ.softFree();
|
|
stepperZ.setMicroSteps(Z_MICROSTEPS);
|
|
stepperZ.setOverCurrent(Z_OVERCURRENT); //set overcurrent protection
|
|
stepperZ.setStallCurrent(Z_STALLCURRENT);
|
|
#endif
|
|
#ifdef Z2_IS_L6470
|
|
stepperZ2.init(Z2_K_VAL);
|
|
stepperZ2.softFree();
|
|
stepperZ2.setMicroSteps(Z2_MICROSTEPS);
|
|
stepperZ2.setOverCurrent(Z2_OVERCURRENT); //set overcurrent protection
|
|
stepperZ2.setStallCurrent(Z2_STALLCURRENT);
|
|
#endif
|
|
#ifdef E0_IS_L6470
|
|
stepperE0.init(E0_K_VAL);
|
|
stepperE0.softFree();
|
|
stepperE0.setMicroSteps(E0_MICROSTEPS);
|
|
stepperE0.setOverCurrent(E0_OVERCURRENT); //set overcurrent protection
|
|
stepperE0.setStallCurrent(E0_STALLCURRENT);
|
|
#endif
|
|
#ifdef E1_IS_L6470
|
|
stepperE1.init(E1_K_VAL);
|
|
stepperE1.softFree();
|
|
stepperE1.setMicroSteps(E1_MICROSTEPS);
|
|
stepperE1.setOverCurrent(E1_OVERCURRENT); //set overcurrent protection
|
|
stepperE1.setStallCurrent(E1_STALLCURRENT);
|
|
#endif
|
|
#ifdef E2_IS_L6470
|
|
stepperE2.init(E2_K_VAL);
|
|
stepperE2.softFree();
|
|
stepperE2.setMicroSteps(E2_MICROSTEPS);
|
|
stepperE2.setOverCurrent(E2_OVERCURRENT); //set overcurrent protection
|
|
stepperE2.setStallCurrent(E2_STALLCURRENT);
|
|
#endif
|
|
#ifdef E3_IS_L6470
|
|
stepperE3.init(E3_K_VAL);
|
|
stepperE3.softFree();
|
|
stepperE3.setMicroSteps(E3_MICROSTEPS);
|
|
stepperE3.setOverCurrent(E3_OVERCURRENT); //set overcurrent protection
|
|
stepperE3.setStallCurrent(E3_STALLCURRENT);
|
|
#endif
|
|
}
|
|
#endif
|
|
|