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✨ Trinamic TMC2240 (SPI) (#25974)
Co-Authored-By: David Buezas <david.buezas@gmail.com> Co-Authored-By: z1996xm <102506464+z1996xm@users.noreply.github.com>
This commit is contained in:
Scott Lahteine
GitHub
parent
1258657b8d
commit
202ec4b58f
11 changed files with 335 additions and 81 deletions
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@ -148,9 +148,9 @@
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* Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100,
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* TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
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* TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
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* TMC2660, TMC2660_STANDALONE, TMC5130, TMC5130_STANDALONE,
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* TMC5160, TMC5160_STANDALONE
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* :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
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* TMC2240, TMC2240_STANDALONE, TMC2660, TMC2660_STANDALONE,
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* TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
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* :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC2240', 'TMC2240_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
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*/
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#define X_DRIVER_TYPE A4988
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#define Y_DRIVER_TYPE A4988
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@ -3027,6 +3027,15 @@
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*/
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#define INTERPOLATE true
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#if HAS_DRIVER(TMC2240)
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#define TMC2240_CURRENT_RANGE 1 // RMS: { 0:'690mA', 1:'1410mA', 2:'2120mA', 3:'2110mA' }
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// PEAK:{ 0:'1A', 1:'2A', 2:'3A', 3:'3A' }
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// Determines max current. Lower is more internal current resolution. Higher runs cooler.
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#define TMC2240_Rref 12000 // ('rref', 12000, minval=12000, maxval=60000)
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#define TMC2240_SLOPE_CONTROL 0 // :{ 0:'100V/us', 1:'200V/us', 2:'400V/us', 3:'800V/us' }
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// Lower is more silent. Higher runs cooler.
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#endif
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#if AXIS_IS_TMC_CONFIG(X)
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#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
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#define X_CURRENT_HOME X_CURRENT // (mA) RMS current for homing. (Typically lower than *_CURRENT.)
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@ -3335,7 +3344,7 @@
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// @section tmc/stealthchop
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/**
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* TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only
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* TMC2130, TMC2160, TMC2208, TMC2209, TMC2240, TMC5130 and TMC5160 only
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* Use Trinamic's ultra quiet stepping mode.
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* When disabled, Marlin will use spreadCycle stepping mode.
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*/
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@ -3414,7 +3423,7 @@
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// @section tmc/hybrid
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/**
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* TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only
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* TMC2130, TMC2160, TMC2208, TMC2209, TMC2240, TMC5130 and TMC5160 only
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* The driver will switch to spreadCycle when stepper speed is over HYBRID_THRESHOLD.
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* This mode allows for faster movements at the expense of higher noise levels.
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* STEALTHCHOP_(XY|Z|E) must be enabled to use HYBRID_THRESHOLD.
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@ -3448,16 +3457,16 @@
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/**
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* Use StallGuard to home / probe X, Y, Z.
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*
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* TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only
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* TMC2130, TMC2160, TMC2209, TMC2240, TMC2660, TMC5130, and TMC5160 only
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* Connect the stepper driver's DIAG1 pin to the X/Y endstop pin.
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* X, Y, and Z homing will always be done in spreadCycle mode.
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*
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* X/Y/Z_STALL_SENSITIVITY is the default stall threshold.
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* Use M914 X Y Z to set the stall threshold at runtime:
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*
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* Sensitivity TMC2209 Others
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* HIGHEST 255 -64 (Too sensitive => False positive)
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* LOWEST 0 63 (Too insensitive => No trigger)
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* Sensitivity TMC2209/2240 Others
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* HIGHEST 255 -64 (Too sensitive => False positive)
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* LOWEST 0 63 (Too insensitive => No trigger)
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*
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* It is recommended to set HOMING_BUMP_MM to { 0, 0, 0 }.
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*
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@ -3474,7 +3483,7 @@
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//#define SENSORLESS_HOMING // StallGuard capable drivers only
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#if ANY(SENSORLESS_HOMING, SENSORLESS_PROBING)
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// TMC2209: 0...255. TMC2130: -64...63
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// TMC2209/2240: 0...255. TMC2130: -64...63
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#define X_STALL_SENSITIVITY 8
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#define X2_STALL_SENSITIVITY X_STALL_SENSITIVITY
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#define Y_STALL_SENSITIVITY 8
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@ -41,6 +41,8 @@
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#define _TMC2208_STANDALONE 0x2208B
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#define _TMC2209 0x2209A
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#define _TMC2209_STANDALONE 0x2209B
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#define _TMC2240 0x2240A
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#define _TMC2240_STANDALONE 0x2240B
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#define _TMC2660 0x2660A
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#define _TMC2660_STANDALONE 0x2660B
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#define _TMC5130 0x5130A
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@ -96,7 +98,7 @@
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// Does not match standalone configurations
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#if ( HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) \
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|| HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209) \
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|| HAS_DRIVER(TMC2660) \
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|| HAS_DRIVER(TMC2240) || HAS_DRIVER(TMC2660) \
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|| HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160) )
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#define HAS_TRINAMIC_CONFIG 1
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#endif
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@ -106,22 +108,30 @@
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#if ( HAS_DRIVER(TMC2100) \
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|| HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2160_STANDALONE) \
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|| HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC2209_STANDALONE) \
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|| HAS_DRIVER(TMC2660_STANDALONE) || HAS_DRIVER(TMC5130_STANDALONE) \
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|| HAS_DRIVER(TMC5160_STANDALONE) )
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|| HAS_DRIVER(TMC2240_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE) \
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|| HAS_DRIVER(TMC5130_STANDALONE) || HAS_DRIVER(TMC5160_STANDALONE) )
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#define HAS_TRINAMIC_STANDALONE 1
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#endif
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#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160)
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#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160) || HAS_DRIVER(TMC2240)
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#define HAS_TMCX1X0 1
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#endif
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#if HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209)
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#define HAS_TMC220x 1
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#endif
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//#if HAS_TMC_220x || HAS_DRIVER(TMC2240)
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// #define HAS_TMC22xx 1
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//#endif
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//#if HAS_TMCX1X0 || HAS_TMC220x
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// #define HAS_TMC_CS_ACTUAL 1
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//#endif
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//#if HAS_TMCX1X0 || HAS_DRIVER(TMC2209)
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// #define HAS_TMC_SG_RESULT 1
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//#endif
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#define AXIS_IS_TMC(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \
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|| AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) \
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|| AXIS_DRIVER_TYPE(A,TMC2660) \
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|| AXIS_DRIVER_TYPE(A,TMC2240) || AXIS_DRIVER_TYPE(A,TMC2660) \
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|| AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) )
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#define AXIS_IS_TMC_CONFIG AXIS_IS_TMC
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@ -129,8 +139,8 @@
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// Test for a driver that uses SPI - this allows checking whether a _CS_ pin
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// is considered sensitive
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#define AXIS_HAS_SPI(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \
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|| AXIS_DRIVER_TYPE(A,TMC2660) || AXIS_DRIVER_TYPE(A,TMC5130) \
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|| AXIS_DRIVER_TYPE(A,TMC5160) )
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|| AXIS_DRIVER_TYPE(A,TMC2240) || AXIS_DRIVER_TYPE(A,TMC2660) \
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|| AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) )
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#define AXIS_HAS_UART(A) ( AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) )
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@ -140,19 +150,21 @@
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#define AXIS_HAS_SW_SERIAL(A) ( AXIS_HAS_UART(A) && !defined(A##_HARDWARE_SERIAL) )
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#define AXIS_HAS_STALLGUARD(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \
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|| AXIS_DRIVER_TYPE(A,TMC2209) \
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|| AXIS_DRIVER_TYPE(A,TMC2209) || AXIS_DRIVER_TYPE(A,TMC2240) \
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|| AXIS_DRIVER_TYPE(A,TMC2660) \
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|| AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) )
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#define AXIS_HAS_STEALTHCHOP(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \
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|| AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) \
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|| AXIS_DRIVER_TYPE(A,TMC2240) \
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|| AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) )
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#define AXIS_HAS_SG_RESULT(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \
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|| AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) )
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|| AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) \
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|| AXIS_DRIVER_TYPE(A,TMC2240) )
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#define AXIS_HAS_COOLSTEP(A) ( AXIS_DRIVER_TYPE(A,TMC2130) \
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|| AXIS_DRIVER_TYPE(A,TMC2209) \
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|| AXIS_DRIVER_TYPE(A,TMC2209) || AXIS_DRIVER_TYPE(A,TMC2240) \
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|| AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) )
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#define _OR_EAH(N,T) || AXIS_HAS_##T(E##N)
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@ -142,6 +142,67 @@
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#endif // HAS_TMCX1X0
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#if HAS_DRIVER(TMC2240)
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#if ENABLED(TMC_DEBUG)
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static uint32_t get_pwm_scale(TMC2240Stepper &st) { return st.PWM_SCALE(); }
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#endif
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static TMC_driver_data get_driver_data(TMC2240Stepper &st) {
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constexpr uint8_t OT_bp = 25, OTPW_bp = 26;
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constexpr uint32_t S2G_bm = 0x18000000;
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#if ENABLED(TMC_DEBUG)
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constexpr uint16_t SG_RESULT_bm = 0x3FF; // 0:9
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constexpr uint8_t STEALTH_bp = 14;
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constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20
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constexpr uint8_t STALL_GUARD_bp = 24;
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constexpr uint8_t STST_bp = 31;
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#endif
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TMC_driver_data data;
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const auto ds = data.drv_status = st.DRV_STATUS();
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#ifdef __AVR__
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// 8-bit optimization saves up to 70 bytes of PROGMEM per axis
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uint8_t spart;
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#if ENABLED(TMC_DEBUG)
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data.sg_result = ds & SG_RESULT_bm;
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spart = ds >> 8;
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data.is_stealth = TEST(spart, STEALTH_bp - 8);
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spart = ds >> 16;
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data.cs_actual = spart & (CS_ACTUAL_bm >> 16);
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#endif
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spart = ds >> 24;
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data.is_ot = TEST(spart, OT_bp - 24);
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data.is_otpw = TEST(spart, OTPW_bp - 24);
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data.is_s2g = !!(spart & (S2G_bm >> 24));
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#if ENABLED(TMC_DEBUG)
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data.is_stall = TEST(spart, STALL_GUARD_bp - 24);
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data.is_standstill = TEST(spart, STST_bp - 24);
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data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
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#endif
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#else // !__AVR__
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data.is_ot = TEST(ds, OT_bp);
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data.is_otpw = TEST(ds, OTPW_bp);
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data.is_s2g = !!(ds & S2G_bm);
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#if ENABLED(TMC_DEBUG)
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constexpr uint8_t CS_ACTUAL_sb = 16;
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data.sg_result = ds & SG_RESULT_bm;
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data.is_stealth = TEST(ds, STEALTH_bp);
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data.cs_actual = (ds & CS_ACTUAL_bm) >> CS_ACTUAL_sb;
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data.is_stall = TEST(ds, STALL_GUARD_bp);
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data.is_standstill = TEST(ds, STST_bp);
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data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
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#endif
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#endif // !__AVR__
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return data;
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}
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#endif // TMC2240
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#if HAS_TMC220x
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#if ENABLED(TMC_DEBUG)
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@ -1025,6 +1086,21 @@
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st.TCOOLTHRS(0);
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}
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bool tmc_enable_stallguard(TMC2240Stepper &st) {
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const bool stealthchop_was_enabled = st.en_pwm_mode();
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st.TCOOLTHRS(0xFFFFF);
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st.en_pwm_mode(false);
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st.diag0_stall(true);
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return stealthchop_was_enabled;
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}
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void tmc_disable_stallguard(TMC2240Stepper &st, const bool restore_stealth) {
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st.TCOOLTHRS(0);
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st.en_pwm_mode(restore_stealth);
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st.diag0_stall(false);
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}
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bool tmc_enable_stallguard(TMC2660Stepper) {
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// TODO
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return false;
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@ -95,7 +95,7 @@ class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
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TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
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{}
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TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) :
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TMC(CS, RS, pinMOSI, pinMISO, pinSCK, axis_chain_index)
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TMC(CS, RS, pinMOSI, pinMISO, pinSCK, axis_chain_index)
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{}
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uint16_t rms_current() { return TMC::rms_current(); }
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void rms_current(uint16_t mA) {
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@ -124,7 +124,7 @@ class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
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#if ENABLED(HYBRID_THRESHOLD)
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uint32_t get_pwm_thrs() {
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return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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return _tmc_thrs(this->microsteps(), TMC::TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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}
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void set_pwm_thrs(const uint32_t thrs) {
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TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
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@ -197,7 +197,7 @@ class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC220
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#if ENABLED(HYBRID_THRESHOLD)
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uint32_t get_pwm_thrs() {
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return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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return _tmc_thrs(this->microsteps(), TMC2208Stepper::TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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}
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void set_pwm_thrs(const uint32_t thrs) {
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TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
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@ -249,13 +249,14 @@ class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC220
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#if ENABLED(HYBRID_THRESHOLD)
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uint32_t get_pwm_thrs() {
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return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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return _tmc_thrs(this->microsteps(), TMC2209Stepper::TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
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}
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void set_pwm_thrs(const uint32_t thrs) {
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TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
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TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs);
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}
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#endif
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#if USE_SENSORLESS
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int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
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void homing_threshold(int16_t sgt_val) {
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@ -278,6 +279,74 @@ class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC220
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sgt_max = 255;
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};
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
class TMCMarlin<TMC2240Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2240Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
|
||||
public:
|
||||
TMCMarlin(const uint16_t cs_pin, const uint8_t axis_chain_index) :
|
||||
TMC2240Stepper(cs_pin, axis_chain_index)
|
||||
{}
|
||||
TMCMarlin(const uint16_t CS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) :
|
||||
TMC2240Stepper(CS, pinMOSI, pinMISO, pinSCK, axis_chain_index )
|
||||
{}
|
||||
|
||||
//uint8_t get_address() { return slave_address; }
|
||||
uint16_t get_microstep_counter() { return microsteps(); }
|
||||
|
||||
uint16_t rms_current() { return TMC2240Stepper::rms_current(); }
|
||||
void rms_current(const uint16_t mA) {
|
||||
this->val_mA = mA;
|
||||
TMC2240Stepper::rms_current(mA);
|
||||
}
|
||||
void rms_current(const uint16_t mA, const float mult) {
|
||||
this->val_mA = mA;
|
||||
TMC2240Stepper::rms_current(mA, mult);
|
||||
}
|
||||
|
||||
#if HAS_STEALTHCHOP
|
||||
bool get_stealthChop() { return this->en_pwm_mode(); }
|
||||
bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; }
|
||||
void refresh_stepping_mode() { this->en_pwm_mode(this->stored.stealthChop_enabled); }
|
||||
void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
|
||||
bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
|
||||
#endif
|
||||
|
||||
void set_chopper_times(const chopper_timing_t &ct) {
|
||||
TMC2240Stepper::toff(ct.toff);
|
||||
TMC2240Stepper::hysteresis_end(ct.hend);
|
||||
TMC2240Stepper::hysteresis_start(ct.hstrt);
|
||||
}
|
||||
|
||||
#if ENABLED(HYBRID_THRESHOLD)
|
||||
uint32_t get_pwm_thrs() {
|
||||
return _tmc_thrs(this->microsteps(), TMC2240Stepper::TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
|
||||
}
|
||||
void set_pwm_thrs(const uint32_t thrs) {
|
||||
TMC2240Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
|
||||
TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if USE_SENSORLESS
|
||||
int16_t homing_threshold() { return TMC2240Stepper::sgt(); }
|
||||
void homing_threshold(int16_t sgt_val) {
|
||||
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
|
||||
TMC2240Stepper::sgt(sgt_val);
|
||||
TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val);
|
||||
}
|
||||
#endif
|
||||
|
||||
void refresh_stepper_current() { rms_current(this->val_mA); }
|
||||
#if ENABLED(HYBRID_THRESHOLD)
|
||||
void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
|
||||
#endif
|
||||
#if USE_SENSORLESS
|
||||
void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
|
||||
#endif
|
||||
|
||||
static constexpr int8_t sgt_min = -64,
|
||||
sgt_max = 63;
|
||||
};
|
||||
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
|
||||
public:
|
||||
|
|
|
|||
|
|
@ -32,7 +32,9 @@
|
|||
|
||||
#if ENABLED(MONITOR_DRIVER_STATUS)
|
||||
|
||||
#define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2208) || AXIS_DRIVER_TYPE(ST, TMC2209) || AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160))
|
||||
#define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) \
|
||||
|| AXIS_DRIVER_TYPE(ST, TMC2208) || AXIS_DRIVER_TYPE(ST, TMC2209) || AXIS_DRIVER_TYPE(ST, TMC2240) \
|
||||
|| AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160))
|
||||
#define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
|
||||
|
||||
#if HAS_X_AXIS && (M91x_USE(X) || M91x_USE(X2))
|
||||
|
|
@ -68,7 +70,7 @@
|
|||
#endif
|
||||
|
||||
#if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_USE_I && !M91x_USE_J && !M91x_USE_K && !M91x_USE_U && !M91x_USE_V && !M91x_USE_W && !M91x_SOME_E
|
||||
#error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160."
|
||||
#error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2240, 2660, 5130, or 5160."
|
||||
#endif
|
||||
|
||||
template<typename TMC>
|
||||
|
|
|
|||
|
|
@ -159,7 +159,7 @@
|
|||
* M120 - Enable endstops detection.
|
||||
* M121 - Disable endstops detection.
|
||||
*
|
||||
* M122 - Debug stepper (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2660))
|
||||
* M122 - Debug stepper (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2240|2660))
|
||||
* M123 - Report fan tachometers. (Requires En_FAN_TACHO_PIN) Optionally set auto-report interval. (Requires AUTO_REPORT_FANS)
|
||||
* M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
|
||||
*
|
||||
|
|
@ -265,7 +265,7 @@
|
|||
* M552 - Get or set IP address. Enable/disable network interface. (Requires enabled Ethernet port)
|
||||
* M553 - Get or set IP netmask. (Requires enabled Ethernet port)
|
||||
* M554 - Get or set IP gateway. (Requires enabled Ethernet port)
|
||||
* M569 - Enable stealthChop on an axis. (Requires *_DRIVER_TYPE TMC(2130|2160|2208|2209|5130|5160))
|
||||
* M569 - Enable stealthChop on an axis. (Requires *_DRIVER_TYPE TMC(2130|2160|2208|2209|2240|5130|5160))
|
||||
* M575 - Change the serial baud rate. (Requires BAUD_RATE_GCODE)
|
||||
* M592 - Get or set Nonlinear Extrusion parameters. (Requires NONLINEAR_EXTRUSION)
|
||||
* M593 - Get or set input shaping parameters. (Requires INPUT_SHAPING_[XY])
|
||||
|
|
@ -309,17 +309,17 @@
|
|||
* M871 - Print/reset/clear first layer temperature offset values. (Requires PTC_PROBE, PTC_BED, or PTC_HOTEND)
|
||||
* M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER)
|
||||
* M900 - Set or Report Linear Advance K-factor. (Requires LIN_ADVANCE)
|
||||
* M906 - Set or Report motor current in milliamps using axis codes XYZE, etc. Report values if no axis codes given. (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2660))
|
||||
* M906 - Set or Report motor current in milliamps using axis codes XYZE, etc. Report values if no axis codes given. (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2240|2660))
|
||||
* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
|
||||
* M908 - Control digital trimpot directly. (Requires HAS_MOTOR_CURRENT_DAC or DIGIPOTSS_PIN)
|
||||
* M909 - Print digipot/DAC current value. (Requires HAS_MOTOR_CURRENT_DAC)
|
||||
* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires HAS_MOTOR_CURRENT_DAC)
|
||||
* M911 - Report stepper driver overtemperature pre-warn condition. (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2660))
|
||||
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2660))
|
||||
* M911 - Report stepper driver overtemperature pre-warn condition. (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2240|2660))
|
||||
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2240|2660))
|
||||
* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
|
||||
* M914 - Set StallGuard sensitivity. (Requires SENSORLESS_HOMING or SENSORLESS_PROBING)
|
||||
* M919 - Set or Report motor Chopper Times (time_off, hysteresis_end, hysteresis_start) using axis codes XYZE, etc.
|
||||
* If no parameters are given, report. (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2660))
|
||||
* If no parameters are given, report. (Requires *_DRIVER_TYPE TMC(2130|2160|5130|5160|2208|2209|2240|2660))
|
||||
* M920 - Set Homing Current. (Requires distinct *_CURRENT_HOME settings)
|
||||
* M936 - OTA update firmware. (Requires OTA_FIRMWARE_UPDATE)
|
||||
* M951 - Set Magnetic Parking Extruder parameters. (Requires MAGNETIC_PARKING_EXTRUDER)
|
||||
|
|
|
|||
|
|
@ -3378,19 +3378,19 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#error "SPI_ENDSTOPS requires stepper drivers with SPI support."
|
||||
#endif
|
||||
#else // !SPI_ENDSTOPS
|
||||
// Stall detection DIAG = HIGH : TMC2209
|
||||
// Stall detection DIAG = LOW : TMC2130/TMC2160/TMC2660/TMC5130/TMC5160
|
||||
// Stall detection DIAG = HIGH : TMC2209/2240
|
||||
// Stall detection DIAG = LOW : TMC2130/2160/2660/5130/5160
|
||||
#if X_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(X,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(X,TMC2209) || AXIS_DRIVER_TYPE(X,TMC2240)
|
||||
#if X_HOME_TO_MIN && X_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_HIT_STATE HIGH for X MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_HIT_STATE HIGH for X MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_HIT_STATE LOW for X MIN homing."
|
||||
#endif
|
||||
#elif X_HOME_TO_MAX && X_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_HIT_STATE HIGH for X MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_HIT_STATE HIGH for X MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_HIT_STATE LOW for X MAX homing."
|
||||
#endif
|
||||
|
|
@ -3399,16 +3399,16 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#endif
|
||||
|
||||
#if Y_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(Y,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(Y,TMC2209) || AXIS_DRIVER_TYPE(Y,TMC2240)
|
||||
#if Y_HOME_TO_MIN && Y_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_HIT_STATE HIGH for Y MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_HIT_STATE HIGH for Y MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_HIT_STATE LOW for Y MIN homing."
|
||||
#endif
|
||||
#elif Y_HOME_TO_MAX && Y_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_HIT_STATE HIGH for Y MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_HIT_STATE HIGH for Y MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_HIT_STATE LOW for Y MAX homing."
|
||||
#endif
|
||||
|
|
@ -3417,16 +3417,16 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#endif
|
||||
|
||||
#if Z_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(Z,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(Z,TMC2209) || AXIS_DRIVER_TYPE(Z,TMC2240)
|
||||
#if Z_HOME_TO_MIN && Z_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_HIT_STATE HIGH for Z MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_HIT_STATE HIGH for Z MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_HIT_STATE LOW for Z MIN homing."
|
||||
#endif
|
||||
#elif Z_HOME_TO_MAX && Z_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_HIT_STATE HIGH for Z MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_HIT_STATE HIGH for Z MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_HIT_STATE LOW for Z MAX homing."
|
||||
#endif
|
||||
|
|
@ -3435,16 +3435,16 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#endif
|
||||
|
||||
#if I_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(I,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(I,TMC2209) || AXIS_DRIVER_TYPE(I,TMC2240)
|
||||
#if I_HOME_TO_MIN && I_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_HIT_STATE HIGH for I MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_HIT_STATE HIGH for I MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_HIT_STATE LOW for I MIN homing."
|
||||
#endif
|
||||
#elif I_HOME_TO_MAX && I_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_HIT_STATE HIGH for I MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_HIT_STATE HIGH for I MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_HIT_STATE LOW for I MAX homing."
|
||||
#endif
|
||||
|
|
@ -3453,16 +3453,16 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#endif
|
||||
|
||||
#if J_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(J,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(J,TMC2209) || AXIS_DRIVER_TYPE(J,TMC2240)
|
||||
#if J_HOME_TO_MIN && J_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_HIT_STATE HIGH for J MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_HIT_STATE HIGH for J MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_HIT_STATE LOW for J MIN homing."
|
||||
#endif
|
||||
#elif J_HOME_TO_MAX && J_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_HIT_STATE HIGH for J MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_HIT_STATE HIGH for J MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_HIT_STATE LOW for J MAX homing."
|
||||
#endif
|
||||
|
|
@ -3471,16 +3471,16 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#endif
|
||||
|
||||
#if K_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(K,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(K,TMC2209) || AXIS_DRIVER_TYPE(K,TMC2240)
|
||||
#if K_HOME_TO_MIN && K_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_HIT_STATE HIGH for K MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_HIT_STATE HIGH for K MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_HIT_STATE LOW for K MIN homing."
|
||||
#endif
|
||||
#elif K_HOME_TO_MAX && K_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_HIT_STATE HIGH for K MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_HIT_STATE HIGH for K MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_HIT_STATE LOW for K MAX homing."
|
||||
#endif
|
||||
|
|
@ -3489,16 +3489,16 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#endif
|
||||
|
||||
#if U_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(U,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(U,TMC2209) || AXIS_DRIVER_TYPE(U,TMC2240)
|
||||
#if U_HOME_TO_MIN && U_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_HIT_STATE HIGH for U MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_HIT_STATE HIGH for U MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_HIT_STATE LOW for U MIN homing."
|
||||
#endif
|
||||
#elif U_HOME_TO_MAX && U_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires U_MAX_ENDSTOP_HIT_STATE HIGH for U MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires U_MAX_ENDSTOP_HIT_STATE HIGH for U MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires U_MAX_ENDSTOP_HIT_STATE LOW for U MAX homing."
|
||||
#endif
|
||||
|
|
@ -3507,16 +3507,16 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#endif
|
||||
|
||||
#if V_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(V,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(V,TMC2209) || AXIS_DRIVER_TYPE(V,TMC2240)
|
||||
#if V_HOME_TO_MIN && V_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_HIT_STATE HIGH for V MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_HIT_STATE HIGH for V MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_HIT_STATE LOW for V MIN homing."
|
||||
#endif
|
||||
#elif V_HOME_TO_MAX && V_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires V_MAX_ENDSTOP_HIT_STATE HIGH for V MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires V_MAX_ENDSTOP_HIT_STATE HIGH for V MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires V_MAX_ENDSTOP_HIT_STATE LOW for V MAX homing."
|
||||
#endif
|
||||
|
|
@ -3525,16 +3525,16 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
#endif
|
||||
|
||||
#if W_SENSORLESS
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(W,TMC2209)
|
||||
#define _HIT_STATE AXIS_DRIVER_TYPE(W,TMC2209) || AXIS_DRIVER_TYPE(W,TMC2240)
|
||||
#if W_HOME_TO_MIN && W_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_HIT_STATE HIGH for W MIN homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_HIT_STATE HIGH for W MIN homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_HIT_STATE LOW for W MIN homing."
|
||||
#endif
|
||||
#elif W_HOME_TO_MAX && W_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
|
||||
#if _HIT_STATE
|
||||
#error "SENSORLESS_HOMING requires W_MAX_ENDSTOP_HIT_STATE HIGH for W MAX homing with TMC2209."
|
||||
#error "SENSORLESS_HOMING requires W_MAX_ENDSTOP_HIT_STATE HIGH for W MAX homing with TMC2209/2240."
|
||||
#else
|
||||
#error "SENSORLESS_HOMING requires W_MAX_ENDSTOP_HIT_STATE LOW for W MAX homing."
|
||||
#endif
|
||||
|
|
@ -3631,11 +3631,11 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
|
|||
|
||||
// Other TMC feature requirements
|
||||
#if ENABLED(SENSORLESS_HOMING) && !HAS_STALLGUARD
|
||||
#error "SENSORLESS_HOMING requires TMC2130, TMC2160, TMC2209, TMC2660, or TMC5160 stepper drivers."
|
||||
#error "SENSORLESS_HOMING requires TMC2130, TMC2160, TMC2209, TMC2240, TMC2660, or TMC5160 stepper drivers."
|
||||
#elif ENABLED(SENSORLESS_PROBING) && !HAS_STALLGUARD
|
||||
#error "SENSORLESS_PROBING requires TMC2130, TMC2160, TMC2209, TMC2660, or TMC5160 stepper drivers."
|
||||
#error "SENSORLESS_PROBING requires TMC2130, TMC2160, TMC2209, TMC2240, TMC2660, or TMC5160 stepper drivers."
|
||||
#elif STEALTHCHOP_ENABLED && !HAS_STEALTHCHOP
|
||||
#error "STEALTHCHOP requires TMC2130, TMC2160, TMC2208, TMC2209, or TMC5160 stepper drivers."
|
||||
#error "STEALTHCHOP requires TMC2130, TMC2160, TMC2208, TMC2209, TMC2240, or TMC5160 stepper drivers."
|
||||
#endif
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -40,15 +40,37 @@ enum StealthIndex : uint8_t {
|
|||
};
|
||||
#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST, ST##_INTERPOLATE, ST##_HOLD_MULTIPLIER)
|
||||
|
||||
//
|
||||
// IC = TMC model number
|
||||
// ST = Stepper object letter
|
||||
// L = Label characters
|
||||
// AI = Axis Enum Index
|
||||
// SWHW = SW/SH UART selection
|
||||
//
|
||||
|
||||
#if ENABLED(TMC_USE_SW_SPI)
|
||||
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), TMC_SPI_MOSI, TMC_SPI_MISO, TMC_SPI_SCK, ST##_CHAIN_POS)
|
||||
#define __TMC_SPI_RSENSE_DEFINE(IC, ST, L, LI, AI) TMCMarlin<IC##Stepper, L, LI, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), TMC_SPI_MOSI, TMC_SPI_MISO, TMC_SPI_SCK, ST##_CHAIN_POS)
|
||||
#define __TMC_SPI_DEFINE_TMC2240(IC, ST, L, LI, AI) TMCMarlin<IC##Stepper, L, LI, AI> stepper##ST(ST##_CS_PIN, TMC_SPI_MOSI, TMC_SPI_MISO, TMC_SPI_SCK, ST##_CHAIN_POS)
|
||||
#else
|
||||
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), ST##_CHAIN_POS)
|
||||
#define __TMC_SPI_RSENSE_DEFINE(IC, ST, L, LI, AI) TMCMarlin<IC##Stepper, L, LI, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), ST##_CHAIN_POS)
|
||||
#define __TMC_SPI_DEFINE_TMC2240(IC, ST, L, LI, AI) TMCMarlin<IC##Stepper, L, LI, AI> stepper##ST(ST##_CS_PIN, ST##_CHAIN_POS)
|
||||
#endif
|
||||
#define __TMC_SPI_DEFINE_TMC2100 __TMC_SPI_RSENSE_DEFINE
|
||||
#define __TMC_SPI_DEFINE_TMC2130 __TMC_SPI_RSENSE_DEFINE
|
||||
#define __TMC_SPI_DEFINE_TMC2160 __TMC_SPI_RSENSE_DEFINE
|
||||
#define __TMC_SPI_DEFINE_TMC2208 __TMC_SPI_RSENSE_DEFINE
|
||||
#define __TMC_SPI_DEFINE_TMC2209 __TMC_SPI_RSENSE_DEFINE
|
||||
#define __TMC_SPI_DEFINE_TMC2660 __TMC_SPI_RSENSE_DEFINE
|
||||
#define __TMC_SPI_DEFINE_TMC5130 __TMC_SPI_RSENSE_DEFINE
|
||||
#define __TMC_SPI_DEFINE_TMC5160 __TMC_SPI_RSENSE_DEFINE
|
||||
|
||||
#define __TMC_SPI_DEFINE(IC, ST, LandI, AI) __TMC_SPI_DEFINE_##IC(IC, ST, LandI, AI)
|
||||
#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
|
||||
#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
|
||||
#if ENABLED(DISTINCT_E_FACTORS)
|
||||
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI)
|
||||
#else
|
||||
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E)
|
||||
#endif
|
||||
|
||||
#if ENABLED(TMC_SERIAL_MULTIPLEXER)
|
||||
|
|
@ -59,17 +81,11 @@ enum StealthIndex : uint8_t {
|
|||
|
||||
#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, float(ST##_RSENSE), ST##_SLAVE_ADDRESS)
|
||||
|
||||
#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
|
||||
#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
|
||||
|
||||
#define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
|
||||
#define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
|
||||
|
||||
#if ENABLED(DISTINCT_E_FACTORS)
|
||||
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI)
|
||||
#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E##AI)
|
||||
#else
|
||||
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E)
|
||||
#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E)
|
||||
#endif
|
||||
|
||||
|
|
@ -219,7 +235,10 @@ enum StealthIndex : uint8_t {
|
|||
|
||||
#if HAS_DRIVER(TMC2130)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier) {
|
||||
void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
|
||||
const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth,
|
||||
const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier
|
||||
) {
|
||||
st.begin();
|
||||
|
||||
CHOPCONF_t chopconf{0};
|
||||
|
|
@ -254,7 +273,10 @@ enum StealthIndex : uint8_t {
|
|||
|
||||
#if HAS_DRIVER(TMC2160)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier) {
|
||||
void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
|
||||
const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth,
|
||||
const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier
|
||||
) {
|
||||
st.begin();
|
||||
|
||||
CHOPCONF_t chopconf{0};
|
||||
|
|
@ -670,7 +692,10 @@ enum StealthIndex : uint8_t {
|
|||
|
||||
#if HAS_DRIVER(TMC2208)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier) {
|
||||
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
|
||||
const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth,
|
||||
const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier
|
||||
) {
|
||||
TMC2208_n::GCONF_t gconf{0};
|
||||
gconf.pdn_disable = true; // Use UART
|
||||
gconf.mstep_reg_select = true; // Select microsteps with UART
|
||||
|
|
@ -712,7 +737,10 @@ enum StealthIndex : uint8_t {
|
|||
|
||||
#if HAS_DRIVER(TMC2209)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier) {
|
||||
void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
|
||||
const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth,
|
||||
const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier
|
||||
) {
|
||||
TMC2208_n::GCONF_t gconf{0};
|
||||
gconf.pdn_disable = true; // Use UART
|
||||
gconf.mstep_reg_select = true; // Select microsteps with UART
|
||||
|
|
@ -752,9 +780,58 @@ enum StealthIndex : uint8_t {
|
|||
}
|
||||
#endif // TMC2209
|
||||
|
||||
#if HAS_DRIVER(TMC2240)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC2240Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
|
||||
const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth,
|
||||
const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier
|
||||
) {
|
||||
st.begin();
|
||||
|
||||
st.Rref = TMC2240_Rref;
|
||||
TMC2240_n::DRV_CONF_t drv_conf{0};
|
||||
drv_conf.current_range = TMC2240_CURRENT_RANGE;
|
||||
drv_conf.slope_control = TMC2240_SLOPE_CONTROL;
|
||||
st.DRV_CONF(drv_conf.sr);
|
||||
|
||||
CHOPCONF_t chopconf{0};
|
||||
chopconf.tbl = 0b01;
|
||||
chopconf.toff = chop_init.toff;
|
||||
chopconf.intpol = interpolate;
|
||||
chopconf.hend = chop_init.hend + 3;
|
||||
chopconf.hstrt = chop_init.hstrt - 1;
|
||||
TERN_(EDGE_STEPPING, chopconf.dedge = true);
|
||||
st.CHOPCONF(chopconf.sr);
|
||||
|
||||
st.rms_current(mA, hold_multiplier);
|
||||
st.microsteps(microsteps);
|
||||
st.iholddelay(10);
|
||||
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
||||
|
||||
st.en_pwm_mode(stealth);
|
||||
st.stored.stealthChop_enabled = stealth;
|
||||
|
||||
TMC2240_n::PWMCONF_t pwmconf{0};
|
||||
pwmconf.pwm_lim = 12;
|
||||
pwmconf.pwm_reg = 8;
|
||||
pwmconf.pwm_autograd = true;
|
||||
pwmconf.pwm_autoscale = true;
|
||||
pwmconf.pwm_freq = 0b01;
|
||||
pwmconf.pwm_grad = 14;
|
||||
pwmconf.pwm_ofs = 36;
|
||||
st.PWMCONF(pwmconf.sr);
|
||||
|
||||
TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
|
||||
st.GSTAT(); // Clear GSTAT
|
||||
}
|
||||
#endif // TMC2240
|
||||
|
||||
#if HAS_DRIVER(TMC2660)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool, const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier) {
|
||||
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
|
||||
const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool,
|
||||
const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier
|
||||
) {
|
||||
st.begin();
|
||||
|
||||
TMC2660_n::CHOPCONF_t chopconf{0};
|
||||
|
|
@ -776,7 +853,10 @@ enum StealthIndex : uint8_t {
|
|||
|
||||
#if HAS_DRIVER(TMC5130)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier) {
|
||||
void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
|
||||
const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth,
|
||||
const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier
|
||||
) {
|
||||
st.begin();
|
||||
|
||||
CHOPCONF_t chopconf{0};
|
||||
|
|
@ -811,7 +891,10 @@ enum StealthIndex : uint8_t {
|
|||
|
||||
#if HAS_DRIVER(TMC5160)
|
||||
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
||||
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier) {
|
||||
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st,
|
||||
const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth,
|
||||
const chopper_timing_t &chop_init, const bool interpolate, float hold_multiplier
|
||||
) {
|
||||
st.begin();
|
||||
|
||||
CHOPCONF_t chopconf{0};
|
||||
|
|
@ -842,6 +925,7 @@ enum StealthIndex : uint8_t {
|
|||
st.PWMCONF(pwmconf.sr);
|
||||
|
||||
TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
|
||||
|
||||
st.GSTAT(); // Clear GSTAT
|
||||
}
|
||||
#endif // TMC5160
|
||||
|
|
|
|||
|
|
@ -38,6 +38,7 @@
|
|||
#define CLASS_TMC2160 TMC2160Stepper
|
||||
#define CLASS_TMC2208 TMC2208Stepper
|
||||
#define CLASS_TMC2209 TMC2209Stepper
|
||||
#define CLASS_TMC2240 TMC2240Stepper
|
||||
#define CLASS_TMC2660 TMC2660Stepper
|
||||
#define CLASS_TMC5130 TMC5130Stepper
|
||||
#define CLASS_TMC5160 TMC5160Stepper
|
||||
|
|
|
|||
|
|
@ -12,7 +12,8 @@ set -e
|
|||
restore_configs
|
||||
opt_set MOTHERBOARD BOARD_BTT_BTT002_V1_0 \
|
||||
SERIAL_PORT 1 \
|
||||
X_DRIVER_TYPE TMC2209 Y_DRIVER_TYPE TMC2130
|
||||
X_DRIVER_TYPE TMC2209 Y_DRIVER_TYPE TMC2130 Z_DRIVER_TYPE TMC2240 \
|
||||
X_CURRENT_HOME '(X_CURRENT - 100)' Y_CURRENT_HOME '(Y_CURRENT - 100)'
|
||||
opt_enable SENSORLESS_HOMING X_STALL_SENSITIVITY Y_STALL_SENSITIVITY SPI_ENDSTOPS
|
||||
exec_test $1 $2 "BigTreeTech BTT002 Default Configuration plus TMC steppers" "$3"
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue