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🧑‍💻 Add stepper/control.cpp

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This commit is contained in:
Scott Lahteine 2025-04-19 20:04:59 -05:00
parent 87f26e77ff
commit b97b09413f
7 changed files with 776 additions and 744 deletions
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3
Marlin/src/HAL/DUE/fastio/G2_PWM.cpp
View file

@ -40,11 +40,12 @@
* Some jitter in the Vref signal is OK so the interrupt priority is left at its default value.
*/
#include "../../../inc/MarlinConfig.h"
#include "../../../inc/MarlinConfigPre.h"
#if MB(PRINTRBOARD_G2)
#include "G2_PWM.h"
#include "../../../module/stepper.h"
#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
#define G2_PWM_X 1

5
Marlin/src/HAL/DUE/fastio/G2_PWM.h
View file

@ -26,10 +26,7 @@
* PR #7500. It is hardwired for the PRINTRBOARD_G2 Motor Current needs.
*/
#include "../../../inc/MarlinConfigPre.h"
#include "../../../module/stepper.h"
//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\stepper.h
//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\HAL\HAL_DUE\G2_PWM.h
#include <stdint.h>
#define PWM_PERIOD_US 100 // base repetition rate in micro seconds

4
Marlin/src/inc/Conditionals-5-post.h
View file

@ -3012,6 +3012,10 @@
#undef MICROSTEP_MODES
#endif
#if MB(PRINTRBOARD_G2) || ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MICROSTEPS)
#define HAS_STEPPER_CONTROL 1
#endif
/**
* Helper Macros for heaters and extruder fan
*/

735
Marlin/src/module/stepper.cpp
View file

@ -3627,738 +3627,3 @@ void Stepper::report_positions() {
}
#endif // BABYSTEPPING
/**
* Software-controlled Stepper Motor Current
*/
#if HAS_MOTOR_CURRENT_SPI
// From Arduino DigitalPotControl example
void Stepper::set_digipot_value_spi(const int16_t address, const int16_t value) {
WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip
SPI.transfer(address); // Send the address and value via SPI
SPI.transfer(value);
WRITE(DIGIPOTSS_PIN, HIGH); // Take the SS pin high to de-select the chip
//delay(10);
}
#endif // HAS_MOTOR_CURRENT_SPI
#if HAS_MOTOR_CURRENT_PWM
void Stepper::refresh_motor_power() {
if (!initialized) return;
for (uint8_t i = 0; i < COUNT(motor_current_setting); ++i) {
switch (i) {
#if ANY_PIN(MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W)
case 0:
#endif
#if HAS_MOTOR_CURRENT_PWM_Z
case 1:
#endif
#if HAS_MOTOR_CURRENT_PWM_E
case 2:
#endif
set_digipot_current(i, motor_current_setting[i]);
default: break;
}
}
}
#endif // HAS_MOTOR_CURRENT_PWM
#if !MB(PRINTRBOARD_G2)
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) {
if (WITHIN(driver, 0, COUNT(motor_current_setting) - 1))
motor_current_setting[driver] = current; // update motor_current_setting
if (!initialized) return;
#if HAS_MOTOR_CURRENT_SPI
//SERIAL_ECHOLNPGM("Digipotss current ", current);
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
set_digipot_value_spi(digipot_ch[driver], current);
#elif HAS_MOTOR_CURRENT_PWM
#define _WRITE_CURRENT_PWM(P) hal.set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
switch (driver) {
case 0:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
_WRITE_CURRENT_PWM(X);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
_WRITE_CURRENT_PWM(Y);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
_WRITE_CURRENT_PWM(XY);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_I)
_WRITE_CURRENT_PWM(I);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_J)
_WRITE_CURRENT_PWM(J);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_K)
_WRITE_CURRENT_PWM(K);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_U)
_WRITE_CURRENT_PWM(U);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_V)
_WRITE_CURRENT_PWM(V);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_W)
_WRITE_CURRENT_PWM(W);
#endif
break;
case 1:
#if HAS_MOTOR_CURRENT_PWM_Z
_WRITE_CURRENT_PWM(Z);
#endif
break;
case 2:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
_WRITE_CURRENT_PWM(E);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
_WRITE_CURRENT_PWM(E0);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
_WRITE_CURRENT_PWM(E1);
#endif
break;
}
#endif
}
void Stepper::digipot_init() {
#if HAS_MOTOR_CURRENT_SPI
SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
for (uint8_t i = 0; i < COUNT(motor_current_setting); ++i)
set_digipot_current(i, motor_current_setting[i]);
#elif HAS_MOTOR_CURRENT_PWM
#ifdef __SAM3X8E__
#define _RESET_CURRENT_PWM_FREQ(P) NOOP
#else
#define _RESET_CURRENT_PWM_FREQ(P) hal.set_pwm_frequency(pin_t(P), MOTOR_CURRENT_PWM_FREQUENCY)
#endif
#define INIT_CURRENT_PWM(P) do{ SET_PWM(MOTOR_CURRENT_PWM_## P ##_PIN); _RESET_CURRENT_PWM_FREQ(MOTOR_CURRENT_PWM_## P ##_PIN); }while(0)
#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
INIT_CURRENT_PWM(X);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
INIT_CURRENT_PWM(Y);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
INIT_CURRENT_PWM(XY);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_I)
INIT_CURRENT_PWM(I);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_J)
INIT_CURRENT_PWM(J);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_K)
INIT_CURRENT_PWM(K);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_U)
INIT_CURRENT_PWM(U);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_V)
INIT_CURRENT_PWM(V);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_W)
INIT_CURRENT_PWM(W);
#endif
#if HAS_MOTOR_CURRENT_PWM_Z
INIT_CURRENT_PWM(Z);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
INIT_CURRENT_PWM(E);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
INIT_CURRENT_PWM(E0);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
INIT_CURRENT_PWM(E1);
#endif
refresh_motor_power();
#endif
}
#endif
#else // PRINTRBOARD_G2
#include HAL_PATH(.., fastio/G2_PWM.h)
#endif
#if HAS_MICROSTEPS
/**
* Software-controlled Microstepping
*/
void Stepper::microstep_init() {
#if HAS_X_MS_PINS
SET_OUTPUT(X_MS1_PIN); SET_OUTPUT(X_MS2_PIN);
#if PIN_EXISTS(X_MS3)
SET_OUTPUT(X_MS3_PIN);
#endif
#endif
#if HAS_X2_MS_PINS
SET_OUTPUT(X2_MS1_PIN); SET_OUTPUT(X2_MS2_PIN);
#if PIN_EXISTS(X2_MS3)
SET_OUTPUT(X2_MS3_PIN);
#endif
#endif
#if HAS_Y_MS_PINS
SET_OUTPUT(Y_MS1_PIN); SET_OUTPUT(Y_MS2_PIN);
#if PIN_EXISTS(Y_MS3)
SET_OUTPUT(Y_MS3_PIN);
#endif
#endif
#if HAS_Y2_MS_PINS
SET_OUTPUT(Y2_MS1_PIN); SET_OUTPUT(Y2_MS2_PIN);
#if PIN_EXISTS(Y2_MS3)
SET_OUTPUT(Y2_MS3_PIN);
#endif
#endif
#if HAS_Z_MS_PINS
SET_OUTPUT(Z_MS1_PIN); SET_OUTPUT(Z_MS2_PIN);
#if PIN_EXISTS(Z_MS3)
SET_OUTPUT(Z_MS3_PIN);
#endif
#endif
#if HAS_Z2_MS_PINS
SET_OUTPUT(Z2_MS1_PIN); SET_OUTPUT(Z2_MS2_PIN);
#if PIN_EXISTS(Z2_MS3)
SET_OUTPUT(Z2_MS3_PIN);
#endif
#endif
#if HAS_Z3_MS_PINS
SET_OUTPUT(Z3_MS1_PIN); SET_OUTPUT(Z3_MS2_PIN);
#if PIN_EXISTS(Z3_MS3)
SET_OUTPUT(Z3_MS3_PIN);
#endif
#endif
#if HAS_Z4_MS_PINS
SET_OUTPUT(Z4_MS1_PIN); SET_OUTPUT(Z4_MS2_PIN);
#if PIN_EXISTS(Z4_MS3)
SET_OUTPUT(Z4_MS3_PIN);
#endif
#endif
#if HAS_I_MS_PINS
SET_OUTPUT(I_MS1_PIN); SET_OUTPUT(I_MS2_PIN);
#if PIN_EXISTS(I_MS3)
SET_OUTPUT(I_MS3_PIN);
#endif
#endif
#if HAS_J_MS_PINS
SET_OUTPUT(J_MS1_PIN); SET_OUTPUT(J_MS2_PIN);
#if PIN_EXISTS(J_MS3)
SET_OUTPUT(J_MS3_PIN);
#endif
#endif
#if HAS_K_MS_PINS
SET_OUTPUT(K_MS1_PIN); SET_OUTPUT(K_MS2_PIN);
#if PIN_EXISTS(K_MS3)
SET_OUTPUT(K_MS3_PIN);
#endif
#endif
#if HAS_U_MS_PINS
SET_OUTPUT(U_MS1_PIN); SET_OUTPUT(U_MS2_PIN);
#if PIN_EXISTS(U_MS3)
SET_OUTPUT(U_MS3_PIN);
#endif
#endif
#if HAS_V_MS_PINS
SET_OUTPUT(V_MS1_PIN); SET_OUTPUT(V_MS2_PIN);
#if PIN_EXISTS(V_MS3)
SET_OUTPUT(V_MS3_PIN);
#endif
#endif
#if HAS_W_MS_PINS
SET_OUTPUT(W_MS1_PIN); SET_OUTPUT(W_MS2_PIN);
#if PIN_EXISTS(W_MS3)
SET_OUTPUT(W_MS3_PIN);
#endif
#endif
#if HAS_E0_MS_PINS
SET_OUTPUT(E0_MS1_PIN); SET_OUTPUT(E0_MS2_PIN);
#if PIN_EXISTS(E0_MS3)
SET_OUTPUT(E0_MS3_PIN);
#endif
#endif
#if HAS_E1_MS_PINS
SET_OUTPUT(E1_MS1_PIN); SET_OUTPUT(E1_MS2_PIN);
#if PIN_EXISTS(E1_MS3)
SET_OUTPUT(E1_MS3_PIN);
#endif
#endif
#if HAS_E2_MS_PINS
SET_OUTPUT(E2_MS1_PIN); SET_OUTPUT(E2_MS2_PIN);
#if PIN_EXISTS(E2_MS3)
SET_OUTPUT(E2_MS3_PIN);
#endif
#endif
#if HAS_E3_MS_PINS
SET_OUTPUT(E3_MS1_PIN); SET_OUTPUT(E3_MS2_PIN);
#if PIN_EXISTS(E3_MS3)
SET_OUTPUT(E3_MS3_PIN);
#endif
#endif
#if HAS_E4_MS_PINS
SET_OUTPUT(E4_MS1_PIN); SET_OUTPUT(E4_MS2_PIN);
#if PIN_EXISTS(E4_MS3)
SET_OUTPUT(E4_MS3_PIN);
#endif
#endif
#if HAS_E5_MS_PINS
SET_OUTPUT(E5_MS1_PIN); SET_OUTPUT(E5_MS2_PIN);
#if PIN_EXISTS(E5_MS3)
SET_OUTPUT(E5_MS3_PIN);
#endif
#endif
#if HAS_E6_MS_PINS
SET_OUTPUT(E6_MS1_PIN); SET_OUTPUT(E6_MS2_PIN);
#if PIN_EXISTS(E6_MS3)
SET_OUTPUT(E6_MS3_PIN);
#endif
#endif
#if HAS_E7_MS_PINS
SET_OUTPUT(E7_MS1_PIN); SET_OUTPUT(E7_MS2_PIN);
#if PIN_EXISTS(E7_MS3)
SET_OUTPUT(E7_MS3_PIN);
#endif
#endif
static const uint8_t microstep_modes[] = MICROSTEP_MODES;
for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
microstep_mode(i, microstep_modes[i]);
}
void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2, const int8_t ms3) {
if (ms1 >= 0) switch (driver) {
#if HAS_X_MS_PINS || HAS_X2_MS_PINS
case X_AXIS:
#if HAS_X_MS_PINS
WRITE(X_MS1_PIN, ms1);
#endif
#if HAS_X2_MS_PINS
WRITE(X2_MS1_PIN, ms1);
#endif
break;
#endif
#if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
case Y_AXIS:
#if HAS_Y_MS_PINS
WRITE(Y_MS1_PIN, ms1);
#endif
#if HAS_Y2_MS_PINS
WRITE(Y2_MS1_PIN, ms1);
#endif
break;
#endif
#if HAS_SOME_Z_MS_PINS
case Z_AXIS:
#if HAS_Z_MS_PINS
WRITE(Z_MS1_PIN, ms1);
#endif
#if HAS_Z2_MS_PINS
WRITE(Z2_MS1_PIN, ms1);
#endif
#if HAS_Z3_MS_PINS
WRITE(Z3_MS1_PIN, ms1);
#endif
#if HAS_Z4_MS_PINS
WRITE(Z4_MS1_PIN, ms1);
#endif
break;
#endif
#if HAS_I_MS_PINS
case I_AXIS: WRITE(I_MS1_PIN, ms1); break;
#endif
#if HAS_J_MS_PINS
case J_AXIS: WRITE(J_MS1_PIN, ms1); break;
#endif
#if HAS_K_MS_PINS
case K_AXIS: WRITE(K_MS1_PIN, ms1); break;
#endif
#if HAS_U_MS_PINS
case U_AXIS: WRITE(U_MS1_PIN, ms1); break;
#endif
#if HAS_V_MS_PINS
case V_AXIS: WRITE(V_MS1_PIN, ms1); break;
#endif
#if HAS_W_MS_PINS
case W_AXIS: WRITE(W_MS1_PIN, ms1); break;
#endif
#if HAS_E0_MS_PINS
case E_AXIS: WRITE(E0_MS1_PIN, ms1); break;
#endif
#if HAS_E1_MS_PINS
case (E_AXIS + 1): WRITE(E1_MS1_PIN, ms1); break;
#endif
#if HAS_E2_MS_PINS
case (E_AXIS + 2): WRITE(E2_MS1_PIN, ms1); break;
#endif
#if HAS_E3_MS_PINS
case (E_AXIS + 3): WRITE(E3_MS1_PIN, ms1); break;
#endif
#if HAS_E4_MS_PINS
case (E_AXIS + 4): WRITE(E4_MS1_PIN, ms1); break;
#endif
#if HAS_E5_MS_PINS
case (E_AXIS + 5): WRITE(E5_MS1_PIN, ms1); break;
#endif
#if HAS_E6_MS_PINS
case (E_AXIS + 6): WRITE(E6_MS1_PIN, ms1); break;
#endif
#if HAS_E7_MS_PINS
case (E_AXIS + 7): WRITE(E7_MS1_PIN, ms1); break;
#endif
}
if (ms2 >= 0) switch (driver) {
#if HAS_X_MS_PINS || HAS_X2_MS_PINS
case X_AXIS:
#if HAS_X_MS_PINS
WRITE(X_MS2_PIN, ms2);
#endif
#if HAS_X2_MS_PINS
WRITE(X2_MS2_PIN, ms2);
#endif
break;
#endif
#if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
case Y_AXIS:
#if HAS_Y_MS_PINS
WRITE(Y_MS2_PIN, ms2);
#endif
#if HAS_Y2_MS_PINS
WRITE(Y2_MS2_PIN, ms2);
#endif
break;
#endif
#if HAS_SOME_Z_MS_PINS
case Z_AXIS:
#if HAS_Z_MS_PINS
WRITE(Z_MS2_PIN, ms2);
#endif
#if HAS_Z2_MS_PINS
WRITE(Z2_MS2_PIN, ms2);
#endif
#if HAS_Z3_MS_PINS
WRITE(Z3_MS2_PIN, ms2);
#endif
#if HAS_Z4_MS_PINS
WRITE(Z4_MS2_PIN, ms2);
#endif
break;
#endif
#if HAS_I_MS_PINS
case I_AXIS: WRITE(I_MS2_PIN, ms2); break;
#endif
#if HAS_J_MS_PINS
case J_AXIS: WRITE(J_MS2_PIN, ms2); break;
#endif
#if HAS_K_MS_PINS
case K_AXIS: WRITE(K_MS2_PIN, ms2); break;
#endif
#if HAS_U_MS_PINS
case U_AXIS: WRITE(U_MS2_PIN, ms2); break;
#endif
#if HAS_V_MS_PINS
case V_AXIS: WRITE(V_MS2_PIN, ms2); break;
#endif
#if HAS_W_MS_PINS
case W_AXIS: WRITE(W_MS2_PIN, ms2); break;
#endif
#if HAS_E0_MS_PINS
case E_AXIS: WRITE(E0_MS2_PIN, ms2); break;
#endif
#if HAS_E1_MS_PINS
case (E_AXIS + 1): WRITE(E1_MS2_PIN, ms2); break;
#endif
#if HAS_E2_MS_PINS
case (E_AXIS + 2): WRITE(E2_MS2_PIN, ms2); break;
#endif
#if HAS_E3_MS_PINS
case (E_AXIS + 3): WRITE(E3_MS2_PIN, ms2); break;
#endif
#if HAS_E4_MS_PINS
case (E_AXIS + 4): WRITE(E4_MS2_PIN, ms2); break;
#endif
#if HAS_E5_MS_PINS
case (E_AXIS + 5): WRITE(E5_MS2_PIN, ms2); break;
#endif
#if HAS_E6_MS_PINS
case (E_AXIS + 6): WRITE(E6_MS2_PIN, ms2); break;
#endif
#if HAS_E7_MS_PINS
case (E_AXIS + 7): WRITE(E7_MS2_PIN, ms2); break;
#endif
}
if (ms3 >= 0) switch (driver) {
#if HAS_X_MS_PINS || HAS_X2_MS_PINS
case X_AXIS:
#if HAS_X_MS_PINS && PIN_EXISTS(X_MS3)
WRITE(X_MS3_PIN, ms3);
#endif
#if HAS_X2_MS_PINS && PIN_EXISTS(X2_MS3)
WRITE(X2_MS3_PIN, ms3);
#endif
break;
#endif
#if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
case Y_AXIS:
#if HAS_Y_MS_PINS && PIN_EXISTS(Y_MS3)
WRITE(Y_MS3_PIN, ms3);
#endif
#if HAS_Y2_MS_PINS && PIN_EXISTS(Y2_MS3)
WRITE(Y2_MS3_PIN, ms3);
#endif
break;
#endif
#if HAS_SOME_Z_MS_PINS
case Z_AXIS:
#if HAS_Z_MS_PINS && PIN_EXISTS(Z_MS3)
WRITE(Z_MS3_PIN, ms3);
#endif
#if HAS_Z2_MS_PINS && PIN_EXISTS(Z2_MS3)
WRITE(Z2_MS3_PIN, ms3);
#endif
#if HAS_Z3_MS_PINS && PIN_EXISTS(Z3_MS3)
WRITE(Z3_MS3_PIN, ms3);
#endif
#if HAS_Z4_MS_PINS && PIN_EXISTS(Z4_MS3)
WRITE(Z4_MS3_PIN, ms3);
#endif
break;
#endif
#if HAS_I_MS_PINS && PIN_EXISTS(I_MS3)
case I_AXIS: WRITE(I_MS3_PIN, ms3); break;
#endif
#if HAS_J_MS_PINS && PIN_EXISTS(J_MS3)
case J_AXIS: WRITE(J_MS3_PIN, ms3); break;
#endif
#if HAS_K_MS_PINS && PIN_EXISTS(K_MS3)
case K_AXIS: WRITE(K_MS3_PIN, ms3); break;
#endif
#if HAS_U_MS_PINS && PIN_EXISTS(U_MS3)
case U_AXIS: WRITE(U_MS3_PIN, ms3); break;
#endif
#if HAS_V_MS_PINS && PIN_EXISTS(V_MS3)
case V_AXIS: WRITE(V_MS3_PIN, ms3); break;
#endif
#if HAS_W_MS_PINS && PIN_EXISTS(W_MS3)
case W_AXIS: WRITE(W_MS3_PIN, ms3); break;
#endif
#if HAS_E0_MS_PINS && PIN_EXISTS(E0_MS3)
case E_AXIS: WRITE(E0_MS3_PIN, ms3); break;
#endif
#if HAS_E1_MS_PINS && PIN_EXISTS(E1_MS3)
case (E_AXIS + 1): WRITE(E1_MS3_PIN, ms3); break;
#endif
#if HAS_E2_MS_PINS && PIN_EXISTS(E2_MS3)
case (E_AXIS + 2): WRITE(E2_MS3_PIN, ms3); break;
#endif
#if HAS_E3_MS_PINS && PIN_EXISTS(E3_MS3)
case (E_AXIS + 3): WRITE(E3_MS3_PIN, ms3); break;
#endif
#if HAS_E4_MS_PINS && PIN_EXISTS(E4_MS3)
case (E_AXIS + 4): WRITE(E4_MS3_PIN, ms3); break;
#endif
#if HAS_E5_MS_PINS && PIN_EXISTS(E5_MS3)
case (E_AXIS + 5): WRITE(E5_MS3_PIN, ms3); break;
#endif
#if HAS_E6_MS_PINS && PIN_EXISTS(E6_MS3)
case (E_AXIS + 6): WRITE(E6_MS3_PIN, ms3); break;
#endif
#if HAS_E7_MS_PINS && PIN_EXISTS(E7_MS3)
case (E_AXIS + 7): WRITE(E7_MS3_PIN, ms3); break;
#endif
}
}
// MS1 MS2 MS3 Stepper Driver Microstepping mode table
#ifndef MICROSTEP1
#define MICROSTEP1 LOW,LOW,LOW
#endif
#if ENABLED(HEROIC_STEPPER_DRIVERS)
#ifndef MICROSTEP128
#define MICROSTEP128 LOW,HIGH,LOW
#endif
#else
#ifndef MICROSTEP2
#define MICROSTEP2 HIGH,LOW,LOW
#endif
#ifndef MICROSTEP4
#define MICROSTEP4 LOW,HIGH,LOW
#endif
#endif
#ifndef MICROSTEP8
#define MICROSTEP8 HIGH,HIGH,LOW
#endif
#ifndef MICROSTEP16
#define MICROSTEP16 HIGH,HIGH,LOW
#endif
void Stepper::microstep_mode(const uint8_t driver, const uint8_t stepping_mode) {
switch (stepping_mode) {
#ifdef MICROSTEP1
case 1: microstep_ms(driver, MICROSTEP1); break;
#endif
#ifdef MICROSTEP2
case 2: microstep_ms(driver, MICROSTEP2); break;
#endif
#ifdef MICROSTEP4
case 4: microstep_ms(driver, MICROSTEP4); break;
#endif
#ifdef MICROSTEP8
case 8: microstep_ms(driver, MICROSTEP8); break;
#endif
#ifdef MICROSTEP16
case 16: microstep_ms(driver, MICROSTEP16); break;
#endif
#ifdef MICROSTEP32
case 32: microstep_ms(driver, MICROSTEP32); break;
#endif
#ifdef MICROSTEP64
case 64: microstep_ms(driver, MICROSTEP64); break;
#endif
#ifdef MICROSTEP128
case 128: microstep_ms(driver, MICROSTEP128); break;
#endif
default: SERIAL_ERROR_MSG("Microsteps unavailable"); break;
}
}
void Stepper::microstep_readings() {
#define PIN_CHAR(P) SERIAL_CHAR('0' + READ(P##_PIN))
#define MS_LINE(A) do{ SERIAL_ECHOPGM(" " STRINGIFY(A) ":"); PIN_CHAR(A##_MS1); PIN_CHAR(A##_MS2); }while(0)
SERIAL_ECHOPGM("MS1|2|3 Pins");
#if HAS_X_MS_PINS
MS_LINE(X);
#if PIN_EXISTS(X_MS3)
PIN_CHAR(X_MS3);
#endif
#endif
#if HAS_Y_MS_PINS
MS_LINE(Y);
#if PIN_EXISTS(Y_MS3)
PIN_CHAR(Y_MS3);
#endif
#endif
#if HAS_Z_MS_PINS
MS_LINE(Z);
#if PIN_EXISTS(Z_MS3)
PIN_CHAR(Z_MS3);
#endif
#endif
#if HAS_I_MS_PINS
MS_LINE(I);
#if PIN_EXISTS(I_MS3)
PIN_CHAR(I_MS3);
#endif
#endif
#if HAS_J_MS_PINS
MS_LINE(J);
#if PIN_EXISTS(J_MS3)
PIN_CHAR(J_MS3);
#endif
#endif
#if HAS_K_MS_PINS
MS_LINE(K);
#if PIN_EXISTS(K_MS3)
PIN_CHAR(K_MS3);
#endif
#endif
#if HAS_U_MS_PINS
MS_LINE(U);
#if PIN_EXISTS(U_MS3)
PIN_CHAR(U_MS3);
#endif
#endif
#if HAS_V_MS_PINS
MS_LINE(V);
#if PIN_EXISTS(V_MS3)
PIN_CHAR(V_MS3);
#endif
#endif
#if HAS_W_MS_PINS
MS_LINE(W);
#if PIN_EXISTS(W_MS3)
PIN_CHAR(W_MS3);
#endif
#endif
#if HAS_E0_MS_PINS
MS_LINE(E0);
#if PIN_EXISTS(E0_MS3)
PIN_CHAR(E0_MS3);
#endif
#endif
#if HAS_E1_MS_PINS
MS_LINE(E1);
#if PIN_EXISTS(E1_MS3)
PIN_CHAR(E1_MS3);
#endif
#endif
#if HAS_E2_MS_PINS
MS_LINE(E2);
#if PIN_EXISTS(E2_MS3)
PIN_CHAR(E2_MS3);
#endif
#endif
#if HAS_E3_MS_PINS
MS_LINE(E3);
#if PIN_EXISTS(E3_MS3)
PIN_CHAR(E3_MS3);
#endif
#endif
#if HAS_E4_MS_PINS
MS_LINE(E4);
#if PIN_EXISTS(E4_MS3)
PIN_CHAR(E4_MS3);
#endif
#endif
#if HAS_E5_MS_PINS
MS_LINE(E5);
#if PIN_EXISTS(E5_MS3)
PIN_CHAR(E5_MS3);
#endif
#endif
#if HAS_E6_MS_PINS
MS_LINE(E6);
#if PIN_EXISTS(E6_MS3)
PIN_CHAR(E6_MS3);
#endif
#endif
#if HAS_E7_MS_PINS
MS_LINE(E7);
#if PIN_EXISTS(E7_MS3)
PIN_CHAR(E7_MS3);
#endif
#endif
SERIAL_EOL();
}
#endif // HAS_MICROSTEPS

764
Marlin/src/module/stepper/control.cpp Normal file
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@ -0,0 +1,764 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* stepper/control.cpp
* Control for Stepper Motor Current and Driver Micro-stepping
* (other than Trinamic UART / SPI).
*/
#include "../stepper.h"
#if MB(PRINTRBOARD_G2)
#include HAL_PATH(../.., fastio/G2_PWM.h)
#endif
/**
* Software-controlled Stepper Motor Current
*/
#if HAS_MOTOR_CURRENT_SPI
// From Arduino DigitalPotControl example
void Stepper::set_digipot_value_spi(const int16_t address, const int16_t value) {
WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip
SPI.transfer(address); // Send the address and value via SPI
SPI.transfer(value);
WRITE(DIGIPOTSS_PIN, HIGH); // Take the SS pin high to de-select the chip
//delay(10);
}
#endif // HAS_MOTOR_CURRENT_SPI
#if HAS_MOTOR_CURRENT_PWM
void Stepper::refresh_motor_power() {
if (!initialized) return;
for (uint8_t i = 0; i < COUNT(motor_current_setting); ++i) {
switch (i) {
#if ANY_PIN(MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W)
case 0:
#endif
#if HAS_MOTOR_CURRENT_PWM_Z
case 1:
#endif
#if HAS_MOTOR_CURRENT_PWM_E
case 2:
#endif
set_digipot_current(i, motor_current_setting[i]);
default: break;
}
}
}
#endif // HAS_MOTOR_CURRENT_PWM
/**
* PWM-controlled Stepper Motor Current
*/
#if !MB(PRINTRBOARD_G2) && (HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM)
void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) {
if (WITHIN(driver, 0, COUNT(motor_current_setting) - 1))
motor_current_setting[driver] = current; // update motor_current_setting
if (!initialized) return;
#if HAS_MOTOR_CURRENT_SPI
//SERIAL_ECHOLNPGM("Digipotss current ", current);
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
set_digipot_value_spi(digipot_ch[driver], current);
#elif HAS_MOTOR_CURRENT_PWM
#define _WRITE_CURRENT_PWM(P) hal.set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
switch (driver) {
case 0:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
_WRITE_CURRENT_PWM(X);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
_WRITE_CURRENT_PWM(Y);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
_WRITE_CURRENT_PWM(XY);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_I)
_WRITE_CURRENT_PWM(I);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_J)
_WRITE_CURRENT_PWM(J);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_K)
_WRITE_CURRENT_PWM(K);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_U)
_WRITE_CURRENT_PWM(U);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_V)
_WRITE_CURRENT_PWM(V);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_W)
_WRITE_CURRENT_PWM(W);
#endif
break;
case 1:
#if HAS_MOTOR_CURRENT_PWM_Z
_WRITE_CURRENT_PWM(Z);
#endif
break;
case 2:
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
_WRITE_CURRENT_PWM(E);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
_WRITE_CURRENT_PWM(E0);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
_WRITE_CURRENT_PWM(E1);
#endif
break;
}
#endif
}
void Stepper::digipot_init() {
#if HAS_MOTOR_CURRENT_SPI
SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
for (uint8_t i = 0; i < COUNT(motor_current_setting); ++i)
set_digipot_current(i, motor_current_setting[i]);
#elif HAS_MOTOR_CURRENT_PWM
#ifdef __SAM3X8E__
#define _RESET_CURRENT_PWM_FREQ(P) NOOP
#else
#define _RESET_CURRENT_PWM_FREQ(P) hal.set_pwm_frequency(pin_t(P), MOTOR_CURRENT_PWM_FREQUENCY)
#endif
#define INIT_CURRENT_PWM(P) do{ SET_PWM(MOTOR_CURRENT_PWM_## P ##_PIN); _RESET_CURRENT_PWM_FREQ(MOTOR_CURRENT_PWM_## P ##_PIN); }while(0)
#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
INIT_CURRENT_PWM(X);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
INIT_CURRENT_PWM(Y);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
INIT_CURRENT_PWM(XY);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_I)
INIT_CURRENT_PWM(I);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_J)
INIT_CURRENT_PWM(J);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_K)
INIT_CURRENT_PWM(K);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_U)
INIT_CURRENT_PWM(U);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_V)
INIT_CURRENT_PWM(V);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_W)
INIT_CURRENT_PWM(W);
#endif
#if HAS_MOTOR_CURRENT_PWM_Z
INIT_CURRENT_PWM(Z);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
INIT_CURRENT_PWM(E);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
INIT_CURRENT_PWM(E0);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
INIT_CURRENT_PWM(E1);
#endif
refresh_motor_power();
#endif
}
#endif
/**
* Software-controlled Microstepping with digital pins
*/
#if HAS_MICROSTEPS
void Stepper::microstep_init() {
#if HAS_X_MS_PINS
SET_OUTPUT(X_MS1_PIN); SET_OUTPUT(X_MS2_PIN);
#if PIN_EXISTS(X_MS3)
SET_OUTPUT(X_MS3_PIN);
#endif
#endif
#if HAS_X2_MS_PINS
SET_OUTPUT(X2_MS1_PIN); SET_OUTPUT(X2_MS2_PIN);
#if PIN_EXISTS(X2_MS3)
SET_OUTPUT(X2_MS3_PIN);
#endif
#endif
#if HAS_Y_MS_PINS
SET_OUTPUT(Y_MS1_PIN); SET_OUTPUT(Y_MS2_PIN);
#if PIN_EXISTS(Y_MS3)
SET_OUTPUT(Y_MS3_PIN);
#endif
#endif
#if HAS_Y2_MS_PINS
SET_OUTPUT(Y2_MS1_PIN); SET_OUTPUT(Y2_MS2_PIN);
#if PIN_EXISTS(Y2_MS3)
SET_OUTPUT(Y2_MS3_PIN);
#endif
#endif
#if HAS_Z_MS_PINS
SET_OUTPUT(Z_MS1_PIN); SET_OUTPUT(Z_MS2_PIN);
#if PIN_EXISTS(Z_MS3)
SET_OUTPUT(Z_MS3_PIN);
#endif
#endif
#if HAS_Z2_MS_PINS
SET_OUTPUT(Z2_MS1_PIN); SET_OUTPUT(Z2_MS2_PIN);
#if PIN_EXISTS(Z2_MS3)
SET_OUTPUT(Z2_MS3_PIN);
#endif
#endif
#if HAS_Z3_MS_PINS
SET_OUTPUT(Z3_MS1_PIN); SET_OUTPUT(Z3_MS2_PIN);
#if PIN_EXISTS(Z3_MS3)
SET_OUTPUT(Z3_MS3_PIN);
#endif
#endif
#if HAS_Z4_MS_PINS
SET_OUTPUT(Z4_MS1_PIN); SET_OUTPUT(Z4_MS2_PIN);
#if PIN_EXISTS(Z4_MS3)
SET_OUTPUT(Z4_MS3_PIN);
#endif
#endif
#if HAS_I_MS_PINS
SET_OUTPUT(I_MS1_PIN); SET_OUTPUT(I_MS2_PIN);
#if PIN_EXISTS(I_MS3)
SET_OUTPUT(I_MS3_PIN);
#endif
#endif
#if HAS_J_MS_PINS
SET_OUTPUT(J_MS1_PIN); SET_OUTPUT(J_MS2_PIN);
#if PIN_EXISTS(J_MS3)
SET_OUTPUT(J_MS3_PIN);
#endif
#endif
#if HAS_K_MS_PINS
SET_OUTPUT(K_MS1_PIN); SET_OUTPUT(K_MS2_PIN);
#if PIN_EXISTS(K_MS3)
SET_OUTPUT(K_MS3_PIN);
#endif
#endif
#if HAS_U_MS_PINS
SET_OUTPUT(U_MS1_PIN); SET_OUTPUT(U_MS2_PIN);
#if PIN_EXISTS(U_MS3)
SET_OUTPUT(U_MS3_PIN);
#endif
#endif
#if HAS_V_MS_PINS
SET_OUTPUT(V_MS1_PIN); SET_OUTPUT(V_MS2_PIN);
#if PIN_EXISTS(V_MS3)
SET_OUTPUT(V_MS3_PIN);
#endif
#endif
#if HAS_W_MS_PINS
SET_OUTPUT(W_MS1_PIN); SET_OUTPUT(W_MS2_PIN);
#if PIN_EXISTS(W_MS3)
SET_OUTPUT(W_MS3_PIN);
#endif
#endif
#if HAS_E0_MS_PINS
SET_OUTPUT(E0_MS1_PIN); SET_OUTPUT(E0_MS2_PIN);
#if PIN_EXISTS(E0_MS3)
SET_OUTPUT(E0_MS3_PIN);
#endif
#endif
#if HAS_E1_MS_PINS
SET_OUTPUT(E1_MS1_PIN); SET_OUTPUT(E1_MS2_PIN);
#if PIN_EXISTS(E1_MS3)
SET_OUTPUT(E1_MS3_PIN);
#endif
#endif
#if HAS_E2_MS_PINS
SET_OUTPUT(E2_MS1_PIN); SET_OUTPUT(E2_MS2_PIN);
#if PIN_EXISTS(E2_MS3)
SET_OUTPUT(E2_MS3_PIN);
#endif
#endif
#if HAS_E3_MS_PINS
SET_OUTPUT(E3_MS1_PIN); SET_OUTPUT(E3_MS2_PIN);
#if PIN_EXISTS(E3_MS3)
SET_OUTPUT(E3_MS3_PIN);
#endif
#endif
#if HAS_E4_MS_PINS
SET_OUTPUT(E4_MS1_PIN); SET_OUTPUT(E4_MS2_PIN);
#if PIN_EXISTS(E4_MS3)
SET_OUTPUT(E4_MS3_PIN);
#endif
#endif
#if HAS_E5_MS_PINS
SET_OUTPUT(E5_MS1_PIN); SET_OUTPUT(E5_MS2_PIN);
#if PIN_EXISTS(E5_MS3)
SET_OUTPUT(E5_MS3_PIN);
#endif
#endif
#if HAS_E6_MS_PINS
SET_OUTPUT(E6_MS1_PIN); SET_OUTPUT(E6_MS2_PIN);
#if PIN_EXISTS(E6_MS3)
SET_OUTPUT(E6_MS3_PIN);
#endif
#endif
#if HAS_E7_MS_PINS
SET_OUTPUT(E7_MS1_PIN); SET_OUTPUT(E7_MS2_PIN);
#if PIN_EXISTS(E7_MS3)
SET_OUTPUT(E7_MS3_PIN);
#endif
#endif
static const uint8_t microstep_modes[] = MICROSTEP_MODES;
for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
microstep_mode(i, microstep_modes[i]);
}
void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2, const int8_t ms3) {
if (ms1 >= 0) switch (driver) {
#if HAS_X_MS_PINS || HAS_X2_MS_PINS
case X_AXIS:
#if HAS_X_MS_PINS
WRITE(X_MS1_PIN, ms1);
#endif
#if HAS_X2_MS_PINS
WRITE(X2_MS1_PIN, ms1);
#endif
break;
#endif
#if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
case Y_AXIS:
#if HAS_Y_MS_PINS
WRITE(Y_MS1_PIN, ms1);
#endif
#if HAS_Y2_MS_PINS
WRITE(Y2_MS1_PIN, ms1);
#endif
break;
#endif
#if HAS_SOME_Z_MS_PINS
case Z_AXIS:
#if HAS_Z_MS_PINS
WRITE(Z_MS1_PIN, ms1);
#endif
#if HAS_Z2_MS_PINS
WRITE(Z2_MS1_PIN, ms1);
#endif
#if HAS_Z3_MS_PINS
WRITE(Z3_MS1_PIN, ms1);
#endif
#if HAS_Z4_MS_PINS
WRITE(Z4_MS1_PIN, ms1);
#endif
break;
#endif
#if HAS_I_MS_PINS
case I_AXIS: WRITE(I_MS1_PIN, ms1); break;
#endif
#if HAS_J_MS_PINS
case J_AXIS: WRITE(J_MS1_PIN, ms1); break;
#endif
#if HAS_K_MS_PINS
case K_AXIS: WRITE(K_MS1_PIN, ms1); break;
#endif
#if HAS_U_MS_PINS
case U_AXIS: WRITE(U_MS1_PIN, ms1); break;
#endif
#if HAS_V_MS_PINS
case V_AXIS: WRITE(V_MS1_PIN, ms1); break;
#endif
#if HAS_W_MS_PINS
case W_AXIS: WRITE(W_MS1_PIN, ms1); break;
#endif
#if HAS_E0_MS_PINS
case E_AXIS: WRITE(E0_MS1_PIN, ms1); break;
#endif
#if HAS_E1_MS_PINS
case (E_AXIS + 1): WRITE(E1_MS1_PIN, ms1); break;
#endif
#if HAS_E2_MS_PINS
case (E_AXIS + 2): WRITE(E2_MS1_PIN, ms1); break;
#endif
#if HAS_E3_MS_PINS
case (E_AXIS + 3): WRITE(E3_MS1_PIN, ms1); break;
#endif
#if HAS_E4_MS_PINS
case (E_AXIS + 4): WRITE(E4_MS1_PIN, ms1); break;
#endif
#if HAS_E5_MS_PINS
case (E_AXIS + 5): WRITE(E5_MS1_PIN, ms1); break;
#endif
#if HAS_E6_MS_PINS
case (E_AXIS + 6): WRITE(E6_MS1_PIN, ms1); break;
#endif
#if HAS_E7_MS_PINS
case (E_AXIS + 7): WRITE(E7_MS1_PIN, ms1); break;
#endif
}
if (ms2 >= 0) switch (driver) {
#if HAS_X_MS_PINS || HAS_X2_MS_PINS
case X_AXIS:
#if HAS_X_MS_PINS
WRITE(X_MS2_PIN, ms2);
#endif
#if HAS_X2_MS_PINS
WRITE(X2_MS2_PIN, ms2);
#endif
break;
#endif
#if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
case Y_AXIS:
#if HAS_Y_MS_PINS
WRITE(Y_MS2_PIN, ms2);
#endif
#if HAS_Y2_MS_PINS
WRITE(Y2_MS2_PIN, ms2);
#endif
break;
#endif
#if HAS_SOME_Z_MS_PINS
case Z_AXIS:
#if HAS_Z_MS_PINS
WRITE(Z_MS2_PIN, ms2);
#endif
#if HAS_Z2_MS_PINS
WRITE(Z2_MS2_PIN, ms2);
#endif
#if HAS_Z3_MS_PINS
WRITE(Z3_MS2_PIN, ms2);
#endif
#if HAS_Z4_MS_PINS
WRITE(Z4_MS2_PIN, ms2);
#endif
break;
#endif
#if HAS_I_MS_PINS
case I_AXIS: WRITE(I_MS2_PIN, ms2); break;
#endif
#if HAS_J_MS_PINS
case J_AXIS: WRITE(J_MS2_PIN, ms2); break;
#endif
#if HAS_K_MS_PINS
case K_AXIS: WRITE(K_MS2_PIN, ms2); break;
#endif
#if HAS_U_MS_PINS
case U_AXIS: WRITE(U_MS2_PIN, ms2); break;
#endif
#if HAS_V_MS_PINS
case V_AXIS: WRITE(V_MS2_PIN, ms2); break;
#endif
#if HAS_W_MS_PINS
case W_AXIS: WRITE(W_MS2_PIN, ms2); break;
#endif
#if HAS_E0_MS_PINS
case E_AXIS: WRITE(E0_MS2_PIN, ms2); break;
#endif
#if HAS_E1_MS_PINS
case (E_AXIS + 1): WRITE(E1_MS2_PIN, ms2); break;
#endif
#if HAS_E2_MS_PINS
case (E_AXIS + 2): WRITE(E2_MS2_PIN, ms2); break;
#endif
#if HAS_E3_MS_PINS
case (E_AXIS + 3): WRITE(E3_MS2_PIN, ms2); break;
#endif
#if HAS_E4_MS_PINS
case (E_AXIS + 4): WRITE(E4_MS2_PIN, ms2); break;
#endif
#if HAS_E5_MS_PINS
case (E_AXIS + 5): WRITE(E5_MS2_PIN, ms2); break;
#endif
#if HAS_E6_MS_PINS
case (E_AXIS + 6): WRITE(E6_MS2_PIN, ms2); break;
#endif
#if HAS_E7_MS_PINS
case (E_AXIS + 7): WRITE(E7_MS2_PIN, ms2); break;
#endif
}
if (ms3 >= 0) switch (driver) {
#if HAS_X_MS_PINS || HAS_X2_MS_PINS
case X_AXIS:
#if HAS_X_MS_PINS && PIN_EXISTS(X_MS3)
WRITE(X_MS3_PIN, ms3);
#endif
#if HAS_X2_MS_PINS && PIN_EXISTS(X2_MS3)
WRITE(X2_MS3_PIN, ms3);
#endif
break;
#endif
#if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
case Y_AXIS:
#if HAS_Y_MS_PINS && PIN_EXISTS(Y_MS3)
WRITE(Y_MS3_PIN, ms3);
#endif
#if HAS_Y2_MS_PINS && PIN_EXISTS(Y2_MS3)
WRITE(Y2_MS3_PIN, ms3);
#endif
break;
#endif
#if HAS_SOME_Z_MS_PINS
case Z_AXIS:
#if HAS_Z_MS_PINS && PIN_EXISTS(Z_MS3)
WRITE(Z_MS3_PIN, ms3);
#endif
#if HAS_Z2_MS_PINS && PIN_EXISTS(Z2_MS3)
WRITE(Z2_MS3_PIN, ms3);
#endif
#if HAS_Z3_MS_PINS && PIN_EXISTS(Z3_MS3)
WRITE(Z3_MS3_PIN, ms3);
#endif
#if HAS_Z4_MS_PINS && PIN_EXISTS(Z4_MS3)
WRITE(Z4_MS3_PIN, ms3);
#endif
break;
#endif
#if HAS_I_MS_PINS && PIN_EXISTS(I_MS3)
case I_AXIS: WRITE(I_MS3_PIN, ms3); break;
#endif
#if HAS_J_MS_PINS && PIN_EXISTS(J_MS3)
case J_AXIS: WRITE(J_MS3_PIN, ms3); break;
#endif
#if HAS_K_MS_PINS && PIN_EXISTS(K_MS3)
case K_AXIS: WRITE(K_MS3_PIN, ms3); break;
#endif
#if HAS_U_MS_PINS && PIN_EXISTS(U_MS3)
case U_AXIS: WRITE(U_MS3_PIN, ms3); break;
#endif
#if HAS_V_MS_PINS && PIN_EXISTS(V_MS3)
case V_AXIS: WRITE(V_MS3_PIN, ms3); break;
#endif
#if HAS_W_MS_PINS && PIN_EXISTS(W_MS3)
case W_AXIS: WRITE(W_MS3_PIN, ms3); break;
#endif
#if HAS_E0_MS_PINS && PIN_EXISTS(E0_MS3)
case E_AXIS: WRITE(E0_MS3_PIN, ms3); break;
#endif
#if HAS_E1_MS_PINS && PIN_EXISTS(E1_MS3)
case (E_AXIS + 1): WRITE(E1_MS3_PIN, ms3); break;
#endif
#if HAS_E2_MS_PINS && PIN_EXISTS(E2_MS3)
case (E_AXIS + 2): WRITE(E2_MS3_PIN, ms3); break;
#endif
#if HAS_E3_MS_PINS && PIN_EXISTS(E3_MS3)
case (E_AXIS + 3): WRITE(E3_MS3_PIN, ms3); break;
#endif
#if HAS_E4_MS_PINS && PIN_EXISTS(E4_MS3)
case (E_AXIS + 4): WRITE(E4_MS3_PIN, ms3); break;
#endif
#if HAS_E5_MS_PINS && PIN_EXISTS(E5_MS3)
case (E_AXIS + 5): WRITE(E5_MS3_PIN, ms3); break;
#endif
#if HAS_E6_MS_PINS && PIN_EXISTS(E6_MS3)
case (E_AXIS + 6): WRITE(E6_MS3_PIN, ms3); break;
#endif
#if HAS_E7_MS_PINS && PIN_EXISTS(E7_MS3)
case (E_AXIS + 7): WRITE(E7_MS3_PIN, ms3); break;
#endif
}
}
// MS1 MS2 MS3 Stepper Driver Microstepping mode table
#ifndef MICROSTEP1
#define MICROSTEP1 LOW,LOW,LOW
#endif
#if ENABLED(HEROIC_STEPPER_DRIVERS)
#ifndef MICROSTEP128
#define MICROSTEP128 LOW,HIGH,LOW
#endif
#else
#ifndef MICROSTEP2
#define MICROSTEP2 HIGH,LOW,LOW
#endif
#ifndef MICROSTEP4
#define MICROSTEP4 LOW,HIGH,LOW
#endif
#endif
#ifndef MICROSTEP8
#define MICROSTEP8 HIGH,HIGH,LOW
#endif
#ifndef MICROSTEP16
#define MICROSTEP16 HIGH,HIGH,LOW
#endif
void Stepper::microstep_mode(const uint8_t driver, const uint8_t stepping_mode) {
switch (stepping_mode) {
#ifdef MICROSTEP1
case 1: microstep_ms(driver, MICROSTEP1); break;
#endif
#ifdef MICROSTEP2
case 2: microstep_ms(driver, MICROSTEP2); break;
#endif
#ifdef MICROSTEP4
case 4: microstep_ms(driver, MICROSTEP4); break;
#endif
#ifdef MICROSTEP8
case 8: microstep_ms(driver, MICROSTEP8); break;
#endif
#ifdef MICROSTEP16
case 16: microstep_ms(driver, MICROSTEP16); break;
#endif
#ifdef MICROSTEP32
case 32: microstep_ms(driver, MICROSTEP32); break;
#endif
#ifdef MICROSTEP64
case 64: microstep_ms(driver, MICROSTEP64); break;
#endif
#ifdef MICROSTEP128
case 128: microstep_ms(driver, MICROSTEP128); break;
#endif
default: SERIAL_ERROR_MSG("Microsteps unavailable"); break;
}
}
void Stepper::microstep_readings() {
#define PIN_CHAR(P) SERIAL_CHAR('0' + READ(P##_PIN))
#define MS_LINE(A) do{ SERIAL_ECHOPGM(" " STRINGIFY(A) ":"); PIN_CHAR(A##_MS1); PIN_CHAR(A##_MS2); }while(0)
SERIAL_ECHOPGM("MS1|2|3 Pins");
#if HAS_X_MS_PINS
MS_LINE(X);
#if PIN_EXISTS(X_MS3)
PIN_CHAR(X_MS3);
#endif
#endif
#if HAS_Y_MS_PINS
MS_LINE(Y);
#if PIN_EXISTS(Y_MS3)
PIN_CHAR(Y_MS3);
#endif
#endif
#if HAS_Z_MS_PINS
MS_LINE(Z);
#if PIN_EXISTS(Z_MS3)
PIN_CHAR(Z_MS3);
#endif
#endif
#if HAS_I_MS_PINS
MS_LINE(I);
#if PIN_EXISTS(I_MS3)
PIN_CHAR(I_MS3);
#endif
#endif
#if HAS_J_MS_PINS
MS_LINE(J);
#if PIN_EXISTS(J_MS3)
PIN_CHAR(J_MS3);
#endif
#endif
#if HAS_K_MS_PINS
MS_LINE(K);
#if PIN_EXISTS(K_MS3)
PIN_CHAR(K_MS3);
#endif
#endif
#if HAS_U_MS_PINS
MS_LINE(U);
#if PIN_EXISTS(U_MS3)
PIN_CHAR(U_MS3);
#endif
#endif
#if HAS_V_MS_PINS
MS_LINE(V);
#if PIN_EXISTS(V_MS3)
PIN_CHAR(V_MS3);
#endif
#endif
#if HAS_W_MS_PINS
MS_LINE(W);
#if PIN_EXISTS(W_MS3)
PIN_CHAR(W_MS3);
#endif
#endif
#if HAS_E0_MS_PINS
MS_LINE(E0);
#if PIN_EXISTS(E0_MS3)
PIN_CHAR(E0_MS3);
#endif
#endif
#if HAS_E1_MS_PINS
MS_LINE(E1);
#if PIN_EXISTS(E1_MS3)
PIN_CHAR(E1_MS3);
#endif
#endif
#if HAS_E2_MS_PINS
MS_LINE(E2);
#if PIN_EXISTS(E2_MS3)
PIN_CHAR(E2_MS3);
#endif
#endif
#if HAS_E3_MS_PINS
MS_LINE(E3);
#if PIN_EXISTS(E3_MS3)
PIN_CHAR(E3_MS3);
#endif
#endif
#if HAS_E4_MS_PINS
MS_LINE(E4);
#if PIN_EXISTS(E4_MS3)
PIN_CHAR(E4_MS3);
#endif
#endif
#if HAS_E5_MS_PINS
MS_LINE(E5);
#if PIN_EXISTS(E5_MS3)
PIN_CHAR(E5_MS3);
#endif
#endif
#if HAS_E6_MS_PINS
MS_LINE(E6);
#if PIN_EXISTS(E6_MS3)
PIN_CHAR(E6_MS3);
#endif
#endif
#if HAS_E7_MS_PINS
MS_LINE(E7);
#if PIN_EXISTS(E7_MS3)
PIN_CHAR(E7_MS3);
#endif
#endif
SERIAL_EOL();
}
#endif // HAS_MICROSTEPS

8
Marlin/src/pins/sam/pins_PRINTRBOARD_G2.h
View file

@ -102,10 +102,6 @@
#define E0_ENABLE_PIN 37 // PB22
// Microstepping mode pins
#define Z_MS1_PIN 52 // PB21 MODE0 MOTOR 1
#define Z_MS2_PIN 52 // PB21 MODE1
#define Z_MS3_PIN 65 // PB20 MODE2
#define X_MS1_PIN 43 // PA20 MODE0 MOTOR 2
#define X_MS2_PIN 43 // PA20 MODE1
#define X_MS3_PIN 42 // PA19 MODE2
@ -114,6 +110,10 @@
#define Y_MS2_PIN 77 // PA28 MODE1
#define Y_MS3_PIN 76 // PA27 MODE2
#define Z_MS1_PIN 52 // PB21 MODE0 MOTOR 1
#define Z_MS2_PIN 52 // PB21 MODE1
#define Z_MS3_PIN 65 // PB20 MODE2
#define E0_MS1_PIN 38 // PB11 MODE0 MOTOR 4
#define E0_MS2_PIN 38 // PB11 MODE1
#define E0_MS3_PIN 39 // PB10 MODE2

1
ini/features.ini
View file

@ -22,6 +22,7 @@ POSTMORTEM_DEBUGGING = build_src_filter=+<src/HAL/shared/cpu_e
MKS_WIFI_MODULE = QRCode=https://github.com/makerbase-mks/QRCode/archive/261c5a696a.zip
HAS_TRINAMIC_CONFIG = TMCStepper=https://github.com/MarlinFirmware/TMCStepper/archive/marlin-2.1.3.x.zip
build_src_filter=+<src/module/stepper/trinamic.cpp> +<src/gcode/feature/trinamic/M122.cpp> +<src/gcode/feature/trinamic/M906.cpp> +<src/gcode/feature/trinamic/M911-M914.cpp> +<src/gcode/feature/trinamic/M919.cpp>
HAS_STEPPER_CONTROL = build_src_filter=+<src/module/stepper/control.cpp>
HAS_T(RINAMIC_CONFIG|MC_SPI) = build_src_filter=+<src/feature/tmc_util.cpp>
EDITABLE_HOMING_CURRENT = build_src_filter=+<src/gcode/feature/trinamic/M920.cpp>
SR_LCD_3W_NL = SailfishLCD=https://github.com/mikeshub/SailfishLCD/archive/6f53c19a8a.zip