mirror of
https://github.com/bdring/Grbl_Esp32.git
synced 2025-01-17 22:28:29 +01:00
Manually snyc'ing with Devt
This commit is contained in:
bdring
parent
98cd90dd01
commit
4c6125f860
@ -384,8 +384,6 @@ void motors_set_direction_pins(uint8_t onMask) {
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}
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}
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}
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}
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// for testing
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#ifndef USE_TRINAMIC
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// returns the next spi index. We cannot preassign to axes because ganged (X2 type axes) might
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// returns the next spi index. We cannot preassign to axes because ganged (X2 type axes) might
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// need to be inserted into the order of axes.
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// need to be inserted into the order of axes.
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uint8_t get_next_trinamic_driver_index() {
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uint8_t get_next_trinamic_driver_index() {
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@ -447,8 +445,6 @@ void TMC2130Stepper::switchCSpin(bool state) {
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}
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}
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#endif
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#endif
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#endif
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// ============================== Class Methods ================================================
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// ============================== Class Methods ================================================
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Motor :: Motor() {
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Motor :: Motor() {
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@ -92,10 +92,6 @@
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#include "servo_axis.h"
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#include "servo_axis.h"
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#endif
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#endif
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#ifdef USE_TRINAMIC
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#include "grbl_trinamic.h"
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#endif
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#ifdef USE_UNIPOLAR
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#ifdef USE_UNIPOLAR
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#include "grbl_unipolar.h"
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#include "grbl_unipolar.h"
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#endif
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#endif
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@ -1,536 +0,0 @@
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/*
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grbl_trinamic.cpp - Support for Trinamic Stepper Drivers SPI Mode
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using the TMCStepper library
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Part of Grbl_ESP32
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Copyright (c) 2019 Barton Dring for Buildlog.net LLC
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Grbl_ESP32 is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "grbl.h"
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#ifdef USE_TRINAMIC
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/*
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The drivers can use SPI daisy chaining to allow the use of a single CS_PIN.
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The PCB must be designed for this, with SDO pins connected to the
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next driver's SDI pin and the final SDO going back to the CPU.
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To set this up, #define TRINAMIC_DAISY_CHAIN in your machine definition
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file (Machines/something.h).
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Set the CS_PIN definition for every axis to the same pin, like this...
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#define X_CS_PIN GPIO_NUM_17
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#define Y_CS_PIN GPIO_NUM_17
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...etc.
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Indexes are assigned to each axis in daisy chain mode as shown below.
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This assumes your first SPI driver axis is X and there are no gaps until
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the last SPI driver.
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*/
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// TODO try to use the #define ## method to clean this up
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//#define DRIVER(driver, axis) driver##Stepper = TRINAMIC_axis## = driver##Stepper(axis##_CS_PIN, axis##_RSENSE);
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#ifdef X_TRINAMIC
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#ifdef X_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_X = TMC2130Stepper(X_CS_PIN, X_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef X_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_X = TMC2209Stepper(X_CS_PIN, X_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef X_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_X = TMC5160Stepper(X_CS_PIN, X_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef X2_TRINAMIC
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#ifdef X2_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_X2 = TMC2130Stepper(X2_CS_PIN, X2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef X2_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_X2 = TMC2209Stepper(X2_CS_PIN, X2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef X2_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_X2 = TMC5160Stepper(X2_CS_PIN, X2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef Y_TRINAMIC
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#ifdef Y_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_Y = TMC2130Stepper(Y_CS_PIN, Y_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef Y_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_Y = TMC2209Stepper(Y_CS_PIN, Y_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef Y_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_Y = TMC5160Stepper(Y_CS_PIN, Y_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef Y2_TRINAMIC
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#ifdef Y2_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_Y2 = TMC2130Stepper(Y2_CS_PIN, Y2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef Y2_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_Y2 = TMC2209Stepper(Y2_CS_PIN, Y2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef Y2_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_Y2 = TMC5160Stepper(Y2_CS_PIN, Y2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef Z_TRINAMIC
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#ifdef Z_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_Z = TMC2130Stepper(Z_CS_PIN, Z_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef Z_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_Z = TMC2209Stepper(Z_CS_PIN, Z_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef Z_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_Z = TMC5160Stepper(Z_CS_PIN, Z_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef Z2_TRINAMIC
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#ifdef Z2_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_Z2 = TMC2130Stepper(Z2_CS_PIN, Z2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef Z2_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_Z2 = TMC2209Stepper(Z2_CS_PIN, Z2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef Z2_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_Z2 = TMC5160Stepper(Z2_CS_PIN, Z2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef A_TRINAMIC
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#ifdef A_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_A = TMC2130Stepper(A_CS_PIN, A_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef A_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_A = TMC2209Stepper(A_CS_PIN, A_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef A_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_A = TMC5160Stepper(A_CS_PIN, A_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef A2_TRINAMIC
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#ifdef A2_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_A2 = TMC2130Stepper(A2_CS_PIN, A2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef A2_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_A2 = TMC2209Stepper(A2_CS_PIN, A_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef A2_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_A2 = TMC5160Stepper(A2_CS_PIN, A2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef B_TRINAMIC
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#ifdef B_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_B = TMC2130Stepper(B_CS_PIN, B_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef B_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_B = TMC2209Stepper(B_CS_PIN, B_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef B_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_B = TMC5160Stepper(B_CS_PIN, B_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef B2_TRINAMIC
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#ifdef B2_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_B2 = TMC2130Stepper(B2_CS_PIN, B2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef B2_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_B2 = TMC2209Stepper(B2_CS_PIN, B2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef B2_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_B2 = TMC5160Stepper(B2_CS_PIN, B2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef C_TRINAMIC
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#ifdef C_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_C = TMC2130Stepper(C_CS_PIN, C_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef C_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_C = TMC2209Stepper(C_CS_PIN, C_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef C_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_C = TMC5160Stepper(C_CS_PIN, C_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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#ifdef C2_TRINAMIC
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#ifdef C2_DRIVER_TMC2130
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TMC2130Stepper TRINAMIC_C2 = TMC2130Stepper(C2_CS_PIN, C2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef C2_DRIVER_TMC2209
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TMC2209Stepper TRINAMIC_C2 = TMC2209Stepper(C2_CS_PIN, C2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#ifdef C2_DRIVER_TMC5160
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TMC5160Stepper TRINAMIC_C2 = TMC5160Stepper(C2_CS_PIN, C2_RSENSE, get_next_trinamic_driver_index());
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#endif
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#endif
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void Trinamic_Init() {
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grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TMCStepper Init using Library Ver 0x%06x", TMCSTEPPER_VERSION);
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// On Slack Grbl_Esp32 channel, Mitch Bradley suggested.
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// "Any pin that could possibly be implemented with a GPIO pin needs
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// a pinMode before the first active use. pinMode(OUTPUT) does not have to
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// precede digitalWrite(HIGH), as the following sequence is useful:
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// digitalWrite(GPIOn, HIGH);
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// pinMode(GPIOn, OUTPUT);
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// The reason for that sequence is that, for pins that default to input mode/tri-state,
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// setting it HIGH first prevents a low-going transition if the pin output register
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// happens to be LOW when you select OUTPUT mode."
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// Notes on using I2S out:
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// The TMC connected to the I2S out requires SPI clocking down (approximately 100 KHz)
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// to work in concert with slow CS operations by I2S out.
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#ifdef X_DRIVER_TMC2130
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digitalWrite(X_CS_PIN, HIGH);
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pinMode(X_CS_PIN, OUTPUT);
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TRINAMIC_X.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef X2_DRIVER_TMC2130
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digitalWrite(X2_CS_PIN, HIGH);
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pinMode(X2_CS_PIN, OUTPUT);
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TRINAMIC_X2.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef Y_DRIVER_TMC2130
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digitalWrite(Y_CS_PIN, HIGH);
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pinMode(Y_CS_PIN, OUTPUT);
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TRINAMIC_Y.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef Y2_DRIVER_TMC2130
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digitalWrite(Y2_CS_PIN, HIGH);
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pinMode(Y2_CS_PIN, OUTPUT);
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TRINAMIC_Y2.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef Z_DRIVER_TMC2130
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digitalWrite(Z_CS_PIN, HIGH);
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pinMode(Z_CS_PIN, OUTPUT);
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TRINAMIC_Z.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef Z2_DRIVER_TMC2130
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digitalWrite(Z2_CS_PIN, HIGH);
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pinMode(Z2_CS_PIN, OUTPUT);
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TRINAMIC_Z2.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef A_DRIVER_TMC2130
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digitalWrite(A_CS_PIN, HIGH);
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pinMode(A_CS_PIN, OUTPUT);
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TRINAMIC_A.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef A2_DRIVER_TMC2130
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digitalWrite(A2_CS_PIN, HIGH);
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pinMode(A2_CS_PIN, OUTPUT);
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TRINAMIC_A2.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef B_DRIVER_TMC2130
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digitalWrite(B_CS_PIN, HIGH);
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pinMode(B_CS_PIN, OUTPUT);
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TRINAMIC_B.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef B2_DRIVER_TMC2130
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digitalWrite(B2_CS_PIN, HIGH);
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pinMode(B2_CS_PIN, OUTPUT);
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TRINAMIC_B2.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef C_DRIVER_TMC2130
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digitalWrite(C_CS_PIN, HIGH);
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pinMode(C_CS_PIN, OUTPUT);
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TRINAMIC_C.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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#ifdef C2_DRIVER_TMC2130
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digitalWrite(C2_CS_PIN, HIGH);
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pinMode(C2_CS_PIN, OUTPUT);
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TRINAMIC_C2.setSPISpeed(TRINAMIC_SPI_FREQ);
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#endif
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SPI.begin();
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#ifdef USE_MACHINE_TRINAMIC_INIT
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machine_trinamic_setup();
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return;
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#endif
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#ifdef X_TRINAMIC
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TRINAMIC_X.begin(); // Initiate pins and registries
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trinamic_test_response(TRINAMIC_X.test_connection(), "X");
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TRINAMIC_X.toff(TRINAMIC_DEFAULT_TOFF);
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TRINAMIC_X.microsteps(axis_settings[X_AXIS]->microsteps->get());
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TRINAMIC_X.rms_current(axis_settings[X_AXIS]->run_current->get() * 1000.0, axis_settings[X_AXIS]->hold_current->get() / 100.0);
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TRINAMIC_X.en_pwm_mode(1); // Enable extremely quiet stepping
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TRINAMIC_X.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
#ifdef X2_TRINAMIC
|
|
||||||
TRINAMIC_X2.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_X2.test_connection(), "X2");
|
|
||||||
TRINAMIC_X2.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_X2.microsteps(axis_settings[X_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_X2.rms_current(axis_settings[X_AXIS]->run_current->get() * 1000.0, axis_settings[X_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_X2.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_X2.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef Y_TRINAMIC
|
|
||||||
TRINAMIC_Y.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_Y.test_connection(), "Y");
|
|
||||||
TRINAMIC_Y.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_Y.microsteps(axis_settings[Y_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_Y.rms_current(axis_settings[Y_AXIS]->run_current->get() * 1000.0, axis_settings[Y_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_Y.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_Y.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
#ifdef Y2_TRINAMIC
|
|
||||||
TRINAMIC_Y2.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_Y2.test_connection(), "Y2");
|
|
||||||
TRINAMIC_Y2.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_Y2.microsteps(axis_settings[Y_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_Y2.rms_current(axis_settings[Y_AXIS]->run_current->get() * 1000.0, axis_settings[Y_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_Y2.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_Y2.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef Z_TRINAMIC
|
|
||||||
TRINAMIC_Z.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_Z.test_connection(), "Z");
|
|
||||||
TRINAMIC_Z.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_Z.microsteps(axis_settings[Z_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_Z.rms_current(axis_settings[Z_AXIS]->run_current->get() * 1000.0, axis_settings[Z_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_Z.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_Z.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
#ifdef Z2_TRINAMIC
|
|
||||||
TRINAMIC_Z2.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_Z2.test_connection(), "Z2");
|
|
||||||
TRINAMIC_Z2.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_Z2.microsteps(axis_settings[Z_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_Z2.rms_current(axis_settings[Z_AXIS]->run_current->get() * 1000.0, axis_settings[Z_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_Z2.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_Z2.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef A_TRINAMIC
|
|
||||||
TRINAMIC_A.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_A.test_connection(), "A");
|
|
||||||
TRINAMIC_A.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_A.microsteps(axis_settings[A_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_A.rms_current(axis_settings[A_AXIS]->run_current->get() * 1000.0, axis_settings[A_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_A.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_A.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
#ifdef A2_TRINAMIC
|
|
||||||
TRINAMIC_A2.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_A2.test_connection(), "A2");
|
|
||||||
TRINAMIC_A2.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_A2.microsteps(axis_settings[A_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_A2.rms_current(axis_settings[A_AXIS]->run_current->get() * 1000.0, axis_settings[A_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_A2.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_A2.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef B_TRINAMIC
|
|
||||||
TRINAMIC_B.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_B.test_connection(), "B");
|
|
||||||
TRINAMIC_B.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_B.microsteps(axis_settings[B_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_B.rms_current(axis_settings[B_AXIS]->run_current->get() * 1000.0, axis_settings[B_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_B.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_B.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
#ifdef B2_TRINAMIC
|
|
||||||
TRINAMIC_B2.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_B2.test_connection(), "B2");
|
|
||||||
TRINAMIC_B2.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_B2.microsteps(axis_settings[B_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_B2.rms_current(axis_settings[B_AXIS]->run_current->get() * 1000.0, axis_settings[B_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_B2.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_B2.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef C_TRINAMIC
|
|
||||||
TRINAMIC_C.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_C.test_connection(), "C");
|
|
||||||
TRINAMIC_C.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_C.microsteps(axis_settings[C_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_C.rms_current(axis_settings[C_AXIS]->run_current->get() * 1000.0, axis_settings[C_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_C.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_C.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
#ifdef C2_TRINAMIC
|
|
||||||
TRINAMIC_C2.begin(); // Initiate pins and registries
|
|
||||||
trinamic_test_response(TRINAMIC_C2.test_connection(), "C2");
|
|
||||||
TRINAMIC_C2.toff(TRINAMIC_DEFAULT_TOFF);
|
|
||||||
TRINAMIC_C2.microsteps(axis_settings[C_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_C2.rms_current(axis_settings[C_AXIS]->run_current->get() * 1000.0, axis_settings[C_AXIS]->hold_current->get() / 100.0);
|
|
||||||
TRINAMIC_C2.en_pwm_mode(1); // Enable extremely quiet stepping
|
|
||||||
TRINAMIC_C2.pwm_autoscale(1);
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
// Call this function called whenever $$ settings that affect the drivers are changed
|
|
||||||
void trinamic_change_settings() {
|
|
||||||
#ifdef X_TRINAMIC
|
|
||||||
TRINAMIC_X.microsteps(axis_settings[X_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_X.rms_current(axis_settings[X_AXIS]->run_current->get() * 1000.0, axis_settings[X_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
#ifdef X2_TRINAMIC
|
|
||||||
TRINAMIC_X2.microsteps(axis_settings[X_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_X2.rms_current(axis_settings[X_AXIS]->run_current->get() * 1000.0, axis_settings[X_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef Y_TRINAMIC
|
|
||||||
TRINAMIC_Y.microsteps(axis_settings[Y_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_Y.rms_current(axis_settings[Y_AXIS]->run_current->get() * 1000.0, axis_settings[Y_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
#ifdef Y2_TRINAMIC
|
|
||||||
TRINAMIC_Y2.microsteps(axis_settings[Y_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_Y2.rms_current(axis_settings[Y_AXIS]->run_current->get() * 1000.0, axis_settings[Y_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
#ifdef Z_TRINAMIC
|
|
||||||
TRINAMIC_Z.microsteps(axis_settings[Z_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_Z.rms_current(axis_settings[Z_AXIS]->run_current->get() * 1000.0, axis_settings[Z_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
#ifdef Z2_TRINAMIC
|
|
||||||
TRINAMIC_Z2.microsteps(axis_settings[Z_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_Z2.rms_current(axis_settings[Z_AXIS]->run_current->get() * 1000.0, axis_settings[Z_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef A_TRINAMIC
|
|
||||||
TRINAMIC_A.microsteps(axis_settings[A_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_A.rms_current(axis_settings[A_AXIS]->run_current->get() * 1000.0, axis_settings[A_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
#ifdef A2_TRINAMIC
|
|
||||||
TRINAMIC_A2.microsteps(axis_settings[A_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_A2.rms_current(axis_settings[A_AXIS]->run_current->get() * 1000.0, axis_settings[A_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef B_TRINAMIC
|
|
||||||
TRINAMIC_B.microsteps(axis_settings[B_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_B.rms_current(axis_settings[B_AXIS]->run_current->get() * 1000.0, axis_settings[B_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
#ifdef B2_TRINAMIC
|
|
||||||
TRINAMIC_B2.microsteps(axis_settings[B_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_B2.rms_current(axis_settings[B_AXIS]->run_current->get() * 1000.0, axis_settings[B_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef C_TRINAMIC
|
|
||||||
TRINAMIC_C.microsteps(axis_settings[C_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_C.rms_current(axis_settings[C_AXIS]->run_current->get() * 1000.0, axis_settings[C_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
#ifdef C2_TRINAMIC
|
|
||||||
TRINAMIC_C2.microsteps(axis_settings[C_AXIS]->microsteps->get());
|
|
||||||
TRINAMIC_C2.rms_current(axis_settings[C_AXIS]->run_current->get() * 1000.0, axis_settings[C_AXIS]->hold_current->get() / 100.0);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Display the response of the attempt to connect to a Trinamic driver
|
|
||||||
void trinamic_test_response(uint8_t result, const char* axis) {
|
|
||||||
if (result) {
|
|
||||||
switch (result) {
|
|
||||||
case 1:
|
|
||||||
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check connection", axis);
|
|
||||||
break;
|
|
||||||
case 2:
|
|
||||||
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check motor power", axis);
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
} else
|
|
||||||
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test passed", axis);
|
|
||||||
}
|
|
||||||
|
|
||||||
void trinamic_stepper_enable(bool enable) {
|
|
||||||
// Trinamic_Init() has already enabled the drivers in case #define USE_TRINAMIC_ENABLE is not used
|
|
||||||
// so the previous_state is set accordingly
|
|
||||||
static bool previous_state = true;
|
|
||||||
uint8_t toff;
|
|
||||||
if (enable == previous_state)
|
|
||||||
return;
|
|
||||||
previous_state = enable;
|
|
||||||
if (enable)
|
|
||||||
toff = TRINAMIC_DEFAULT_TOFF;
|
|
||||||
else
|
|
||||||
toff = 0; // diables driver
|
|
||||||
#ifdef X_TRINAMIC
|
|
||||||
TRINAMIC_X.toff(toff);
|
|
||||||
#endif
|
|
||||||
#ifdef X2_TRINAMIC
|
|
||||||
TRINAMIC_X2.toff(toff);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef Y_TRINAMIC
|
|
||||||
TRINAMIC_Y.toff(toff);
|
|
||||||
#endif
|
|
||||||
#ifdef Y2_TRINAMIC
|
|
||||||
TRINAMIC_Y2.toff(toff);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef Z_TRINAMIC
|
|
||||||
TRINAMIC_Z.toff(toff);
|
|
||||||
#endif
|
|
||||||
#ifdef Z2_TRINAMIC
|
|
||||||
TRINAMIC_Z2.toff(toff);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef A_TRINAMIC
|
|
||||||
TRINAMIC_A.toff(toff);
|
|
||||||
#endif
|
|
||||||
#ifdef A2_TRINAMIC
|
|
||||||
TRINAMIC_A2.toff(toff);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef B_TRINAMIC
|
|
||||||
TRINAMIC_B.toff(toff);
|
|
||||||
#endif
|
|
||||||
#ifdef B2_TRINAMIC
|
|
||||||
TRINAMIC_B2.toff(toff);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef C_TRINAMIC
|
|
||||||
TRINAMIC_C.toff(toff);
|
|
||||||
#endif
|
|
||||||
#ifdef C2_TRINAMIC
|
|
||||||
TRINAMIC_C2.toff(toff);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// returns the next spi index. We cannot preassign to axes because ganged (X2 type axes) might
|
|
||||||
// need to be inserted into the order of axes.
|
|
||||||
uint8_t get_next_trinamic_driver_index() {
|
|
||||||
#ifdef TRINAMIC_DAISY_CHAIN
|
|
||||||
static uint8_t index = 1; // they start at 1
|
|
||||||
return index++;
|
|
||||||
#else
|
|
||||||
return -1;
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
#ifdef USE_I2S_OUT
|
|
||||||
//
|
|
||||||
// Override default function and insert a short delay
|
|
||||||
//
|
|
||||||
void TMC2130Stepper::switchCSpin(bool state) {
|
|
||||||
digitalWrite(_pinCS, state);
|
|
||||||
delay(I2S_OUT_DELAY_MS);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@ -1,47 +0,0 @@
|
|||||||
/*
|
|
||||||
grbl_trinamic.h - Support for TMC2130 Stepper Drivers SPI Mode
|
|
||||||
Part of Grbl_ESP32
|
|
||||||
|
|
||||||
Copyright (c) 2019 Barton Dring for Buildlog.net LLC
|
|
||||||
|
|
||||||
GrblESP32 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.
|
|
||||||
|
|
||||||
Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
||||||
*/
|
|
||||||
#define TRINAMIC_DEFAULT_TOFF 5
|
|
||||||
|
|
||||||
|
|
||||||
#ifndef GRBL_TRINAMIC_h
|
|
||||||
#define GRBL_TRINAMIC_h
|
|
||||||
|
|
||||||
#include "grbl.h"
|
|
||||||
|
|
||||||
// the default current sense resistors used on most driver modules
|
|
||||||
#define TMC2130_RSENSE_DEFAULT 0.11f
|
|
||||||
#define TMC5160_RSENSE_DEFAULT 0.075f
|
|
||||||
|
|
||||||
#define TRINAMIC_SPI_FREQ 100000
|
|
||||||
|
|
||||||
#ifdef USE_TRINAMIC
|
|
||||||
#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
|
|
||||||
void Trinamic_Init();
|
|
||||||
void trinamic_change_settings();
|
|
||||||
void trinamic_test_response(uint8_t result, const char* axis);
|
|
||||||
void trinamic_stepper_enable(bool enable);
|
|
||||||
#ifdef USE_MACHINE_TRINAMIC_INIT
|
|
||||||
void machine_trinamic_setup();
|
|
||||||
#endif
|
|
||||||
|
|
||||||
uint8_t get_next_trinamic_driver_index();
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#endif // GRBL_TRIAMINIC_h
|
|
||||||
@ -74,12 +74,3 @@ uint8_t get_step_pin_mask(uint8_t axis_idx) {
|
|||||||
uint8_t get_direction_pin_mask(uint8_t axis_idx) {
|
uint8_t get_direction_pin_mask(uint8_t axis_idx) {
|
||||||
return bit(axis_idx);
|
return bit(axis_idx);
|
||||||
}
|
}
|
||||||
|
|
||||||
// this allows a conditional re-init of the trinamic settings
|
|
||||||
void settings_spi_driver_init() {
|
|
||||||
#ifdef USE_TRINAMIC
|
|
||||||
trinamic_change_settings();
|
|
||||||
#else
|
|
||||||
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "No SPI drivers setup");
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|||||||
@ -80,6 +80,5 @@ uint8_t get_step_pin_mask(uint8_t i);
|
|||||||
// Returns the direction pin mask according to Grbl's internal axis numbering
|
// Returns the direction pin mask according to Grbl's internal axis numbering
|
||||||
uint8_t get_direction_pin_mask(uint8_t i);
|
uint8_t get_direction_pin_mask(uint8_t i);
|
||||||
|
|
||||||
void settings_spi_driver_init();
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|||||||
@ -441,9 +441,6 @@ void stepper_init() {
|
|||||||
timer_enable_intr(STEP_TIMER_GROUP, STEP_TIMER_INDEX);
|
timer_enable_intr(STEP_TIMER_GROUP, STEP_TIMER_INDEX);
|
||||||
timer_isr_register(STEP_TIMER_GROUP, STEP_TIMER_INDEX, onStepperDriverTimer, NULL, 0, NULL);
|
timer_isr_register(STEP_TIMER_GROUP, STEP_TIMER_INDEX, onStepperDriverTimer, NULL, 0, NULL);
|
||||||
#endif
|
#endif
|
||||||
#ifdef USE_TRINAMIC
|
|
||||||
Trinamic_Init();
|
|
||||||
#endif
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
Loading…
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Reference in New Issue
Block a user