Clean up digital pots and microsteps
This commit is contained in:
Scott Lahteine
parent
cb48292338
commit
5fff8d148b
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@ -462,10 +462,13 @@
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#define HAS_SOLENOID_1 (PIN_EXISTS(SOL1))
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#define HAS_SOLENOID_2 (PIN_EXISTS(SOL2))
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#define HAS_SOLENOID_3 (PIN_EXISTS(SOL3))
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#define HAS_MICROSTEPS (PIN_EXISTS(X_MS1))
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#define HAS_MICROSTEPS_X (PIN_EXISTS(X_MS1))
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#define HAS_MICROSTEPS_Y (PIN_EXISTS(Y_MS1))
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#define HAS_MICROSTEPS_Z (PIN_EXISTS(Z_MS1))
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#define HAS_MICROSTEPS_E0 (PIN_EXISTS(E0_MS1))
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#define HAS_MICROSTEPS_E1 (PIN_EXISTS(E1_MS1))
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#define HAS_MICROSTEPS_E2 (PIN_EXISTS(E2_MS1))
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#define HAS_MICROSTEPS (HAS_MICROSTEPS_X || HAS_MICROSTEPS_Y || HAS_MICROSTEPS_Z || HAS_MICROSTEPS_E0 || HAS_MICROSTEPS_E1 || HAS_MICROSTEPS_E2)
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#define HAS_STEPPER_RESET (PIN_EXISTS(STEPPER_RESET))
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#define HAS_X_ENABLE (PIN_EXISTS(X_ENABLE))
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#define HAS_X2_ENABLE (PIN_EXISTS(X2_ENABLE))
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@ -6514,18 +6514,19 @@ inline void gcode_M503() {
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inline void gcode_M907() {
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#if HAS_DIGIPOTSS
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LOOP_XYZE(i)
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if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
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if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
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if (code_seen('B')) stepper.digipot_current(4, code_value_int());
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if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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if (code_seen('X')) stepper.digipot_current(0, code_value_int());
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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if (code_seen('E')) stepper.digipot_current(2, code_value_int());
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#elif HAS_MOTOR_CURRENT_PWM
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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if (code_seen('X')) stepper.digipot_current(0, code_value_int());
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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if (code_seen('E')) stepper.digipot_current(2, code_value_int());
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#endif
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#endif
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#if ENABLED(DIGIPOT_I2C)
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// this one uses actual amps in floating point
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@ -733,19 +733,27 @@ void Stepper::isr() {
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void Stepper::init() {
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digipot_init(); //Initialize Digipot Motor Current
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microstep_init(); //Initialize Microstepping Pins
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// Init Digipot Motor Current
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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digipot_init();
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#endif
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// initialise TMC Steppers
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// Init Microstepping Pins
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#if HAS_MICROSTEPS
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microstep_init();
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#endif
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// Init TMC Steppers
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#if ENABLED(HAVE_TMCDRIVER)
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tmc_init();
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#endif
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// initialise L6470 Steppers
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// Init L6470 Steppers
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#if ENABLED(HAVE_L6470DRIVER)
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L6470_init();
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#endif
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// Initialize Dir Pins
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// Init Dir Pins
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#if HAS_X_DIR
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X_DIR_INIT;
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#endif
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@ -777,8 +785,7 @@ void Stepper::init() {
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E3_DIR_INIT;
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#endif
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//Initialize Enable Pins - steppers default to disabled.
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// Init Enable Pins - steppers default to disabled.
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#if HAS_X_ENABLE
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X_ENABLE_INIT;
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if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
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@ -787,7 +794,6 @@ void Stepper::init() {
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if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
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#endif
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#endif
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#if HAS_Y_ENABLE
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Y_ENABLE_INIT;
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if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
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@ -796,7 +802,6 @@ void Stepper::init() {
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if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
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#endif
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#endif
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#if HAS_Z_ENABLE
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Z_ENABLE_INIT;
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if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
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@ -805,7 +810,6 @@ void Stepper::init() {
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if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
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#endif
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#endif
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#if HAS_E0_ENABLE
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E0_ENABLE_INIT;
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if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
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@ -823,9 +827,7 @@ void Stepper::init() {
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if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
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#endif
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//
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// Init endstops and pullups here
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//
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// Init endstops and pullups
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endstops.init();
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#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
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@ -839,7 +841,7 @@ void Stepper::init() {
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#define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
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// Initialize Step Pins
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// Init Step Pins
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#if HAS_X_STEP
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#if ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)
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X2_STEP_INIT;
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@ -1164,134 +1166,158 @@ void Stepper::report_positions() {
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#endif //HAS_DIGIPOTSS
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void Stepper::digipot_init() {
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#if HAS_DIGIPOTSS
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const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
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#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
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SPI.begin();
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pinMode(DIGIPOTSS_PIN, OUTPUT);
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for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
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//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
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digipot_current(i, digipot_motor_current[i]);
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}
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT);
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digipot_current(0, motor_current_setting[0]);
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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pinMode(MOTOR_CURRENT_PWM_Z_PIN, OUTPUT);
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digipot_current(1, motor_current_setting[1]);
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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pinMode(MOTOR_CURRENT_PWM_E_PIN, OUTPUT);
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digipot_current(2, motor_current_setting[2]);
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#endif
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//Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
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TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
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#endif
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}
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void Stepper::digipot_current(uint8_t driver, int current) {
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#if HAS_DIGIPOTSS
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const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
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digitalPotWrite(digipot_ch[driver], current);
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#elif HAS_MOTOR_CURRENT_PWM
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#define _WRITE_CURRENT_PWM(P) analogWrite(P, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
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switch (driver) {
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void Stepper::digipot_init() {
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#if HAS_DIGIPOTSS
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static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
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SPI.begin();
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SET_OUTPUT(DIGIPOTSS_PIN);
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for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
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//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
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digipot_current(i, digipot_motor_current[i]);
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}
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#elif HAS_MOTOR_CURRENT_PWM
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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case 0: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_XY_PIN); break;
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SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN);
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digipot_current(0, motor_current_setting[0]);
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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case 1: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_Z_PIN); break;
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SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
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digipot_current(1, motor_current_setting[1]);
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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case 2: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_E_PIN); break;
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SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
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digipot_current(2, motor_current_setting[2]);
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#endif
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}
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#else
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UNUSED(driver);
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UNUSED(current);
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#endif
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}
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//Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
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TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
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#endif
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}
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void Stepper::microstep_init() {
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#if HAS_MICROSTEPS_E1
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pinMode(E1_MS1_PIN, OUTPUT);
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pinMode(E1_MS2_PIN, OUTPUT);
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#endif
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void Stepper::digipot_current(uint8_t driver, int current) {
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#if HAS_DIGIPOTSS
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const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
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digitalPotWrite(digipot_ch[driver], current);
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#elif HAS_MOTOR_CURRENT_PWM
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#define _WRITE_CURRENT_PWM(P) analogWrite(P, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
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switch (driver) {
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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case 0: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_XY_PIN); break;
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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case 1: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_Z_PIN); break;
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#endif
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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case 2: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_E_PIN); break;
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#endif
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}
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#endif
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}
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#if HAS_MICROSTEPS
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pinMode(X_MS1_PIN, OUTPUT);
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pinMode(X_MS2_PIN, OUTPUT);
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pinMode(Y_MS1_PIN, OUTPUT);
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pinMode(Y_MS2_PIN, OUTPUT);
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pinMode(Z_MS1_PIN, OUTPUT);
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pinMode(Z_MS2_PIN, OUTPUT);
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pinMode(E0_MS1_PIN, OUTPUT);
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pinMode(E0_MS2_PIN, OUTPUT);
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const uint8_t microstep_modes[] = MICROSTEP_MODES;
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#endif
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#if HAS_MICROSTEPS
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/**
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* Software-controlled Microstepping
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*/
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void Stepper::microstep_init() {
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SET_OUTPUT(X_MS1_PIN);
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SET_OUTPUT(X_MS2_PIN);
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#if HAS_MICROSTEPS_Y
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SET_OUTPUT(Y_MS1_PIN);
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SET_OUTPUT(Y_MS2_PIN);
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#endif
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#if HAS_MICROSTEPS_Z
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SET_OUTPUT(Z_MS1_PIN);
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SET_OUTPUT(Z_MS2_PIN);
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#endif
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#if HAS_MICROSTEPS_E0
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SET_OUTPUT(E0_MS1_PIN);
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SET_OUTPUT(E0_MS2_PIN);
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#endif
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#if HAS_MICROSTEPS_E1
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SET_OUTPUT(E1_MS1_PIN);
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SET_OUTPUT(E1_MS2_PIN);
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#endif
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static const uint8_t microstep_modes[] = MICROSTEP_MODES;
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for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
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microstep_mode(i, microstep_modes[i]);
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#endif
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}
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}
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/**
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* Software-controlled Microstepping
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*/
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void Stepper::microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
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if (ms1 >= 0) switch (driver) {
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case 0: digitalWrite(X_MS1_PIN, ms1); break;
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#if HAS_MICROSTEPS_Y
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case 1: digitalWrite(Y_MS1_PIN, ms1); break;
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#endif
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#if HAS_MICROSTEPS_Z
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case 2: digitalWrite(Z_MS1_PIN, ms1); break;
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#endif
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#if HAS_MICROSTEPS_E0
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case 3: digitalWrite(E0_MS1_PIN, ms1); break;
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#endif
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#if HAS_MICROSTEPS_E1
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case 4: digitalWrite(E1_MS1_PIN, ms1); break;
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#endif
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}
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if (ms2 >= 0) switch (driver) {
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case 0: digitalWrite(X_MS2_PIN, ms2); break;
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#if HAS_MICROSTEPS_Y
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case 1: digitalWrite(Y_MS2_PIN, ms2); break;
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#endif
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#if HAS_MICROSTEPS_Z
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case 2: digitalWrite(Z_MS2_PIN, ms2); break;
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#endif
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#if HAS_MICROSTEPS_E0
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case 3: digitalWrite(E0_MS2_PIN, ms2); break;
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#endif
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#if HAS_MICROSTEPS_E1
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case 4: digitalWrite(E1_MS2_PIN, ms2); break;
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#endif
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}
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}
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void Stepper::microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
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if (ms1 >= 0) switch (driver) {
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case 0: digitalWrite(X_MS1_PIN, ms1); break;
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case 1: digitalWrite(Y_MS1_PIN, ms1); break;
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case 2: digitalWrite(Z_MS1_PIN, ms1); break;
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case 3: digitalWrite(E0_MS1_PIN, ms1); break;
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void Stepper::microstep_mode(uint8_t driver, uint8_t stepping_mode) {
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switch (stepping_mode) {
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case 1: microstep_ms(driver, MICROSTEP1); break;
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case 2: microstep_ms(driver, MICROSTEP2); break;
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case 4: microstep_ms(driver, MICROSTEP4); break;
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case 8: microstep_ms(driver, MICROSTEP8); break;
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case 16: microstep_ms(driver, MICROSTEP16); break;
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}
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}
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void Stepper::microstep_readings() {
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SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins");
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SERIAL_PROTOCOLPGM("X: ");
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SERIAL_PROTOCOL(READ(X_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(X_MS2_PIN));
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#if HAS_MICROSTEPS_Y
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SERIAL_PROTOCOLPGM("Y: ");
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SERIAL_PROTOCOL(READ(Y_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(Y_MS2_PIN));
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#endif
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#if HAS_MICROSTEPS_Z
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SERIAL_PROTOCOLPGM("Z: ");
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SERIAL_PROTOCOL(READ(Z_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(Z_MS2_PIN));
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#endif
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#if HAS_MICROSTEPS_E0
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SERIAL_PROTOCOLPGM("E0: ");
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SERIAL_PROTOCOL(READ(E0_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(E0_MS2_PIN));
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#endif
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#if HAS_MICROSTEPS_E1
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case 4: digitalWrite(E1_MS1_PIN, ms1); break;
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SERIAL_PROTOCOLPGM("E1: ");
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SERIAL_PROTOCOL(READ(E1_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(E1_MS2_PIN));
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#endif
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}
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if (ms2 >= 0) switch (driver) {
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case 0: digitalWrite(X_MS2_PIN, ms2); break;
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case 1: digitalWrite(Y_MS2_PIN, ms2); break;
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case 2: digitalWrite(Z_MS2_PIN, ms2); break;
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case 3: digitalWrite(E0_MS2_PIN, ms2); break;
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#if PIN_EXISTS(E1_MS2)
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case 4: digitalWrite(E1_MS2_PIN, ms2); break;
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#endif
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}
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}
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void Stepper::microstep_mode(uint8_t driver, uint8_t stepping_mode) {
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switch (stepping_mode) {
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case 1: microstep_ms(driver, MICROSTEP1); break;
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case 2: microstep_ms(driver, MICROSTEP2); break;
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case 4: microstep_ms(driver, MICROSTEP4); break;
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case 8: microstep_ms(driver, MICROSTEP8); break;
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case 16: microstep_ms(driver, MICROSTEP16); break;
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}
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}
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void Stepper::microstep_readings() {
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SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins");
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SERIAL_PROTOCOLPGM("X: ");
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SERIAL_PROTOCOL(READ(X_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(X_MS2_PIN));
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SERIAL_PROTOCOLPGM("Y: ");
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SERIAL_PROTOCOL(READ(Y_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(Y_MS2_PIN));
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SERIAL_PROTOCOLPGM("Z: ");
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SERIAL_PROTOCOL(READ(Z_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(Z_MS2_PIN));
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SERIAL_PROTOCOLPGM("E0: ");
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SERIAL_PROTOCOL(READ(E0_MS1_PIN));
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SERIAL_PROTOCOLLN(READ(E0_MS2_PIN));
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#if HAS_MICROSTEPS_E1
|
||||
SERIAL_PROTOCOLPGM("E1: ");
|
||||
SERIAL_PROTOCOL(READ(E1_MS1_PIN));
|
||||
SERIAL_PROTOCOLLN(READ(E1_MS2_PIN));
|
||||
#endif
|
||||
}
|
||||
#endif // HAS_MICROSTEPS
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
|
|
|
|||
|
|
@ -239,13 +239,16 @@ class Stepper {
|
|||
//
|
||||
static FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
|
||||
|
||||
#if HAS_DIGIPOTSS
|
||||
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
|
||||
static void digitalPotWrite(int address, int value);
|
||||
static void digipot_current(uint8_t driver, int current);
|
||||
#endif
|
||||
|
||||
#if HAS_MICROSTEPS
|
||||
static void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
|
||||
static void microstep_mode(uint8_t driver, uint8_t stepping);
|
||||
static void microstep_readings();
|
||||
#endif
|
||||
static void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
|
||||
static void digipot_current(uint8_t driver, int current);
|
||||
static void microstep_mode(uint8_t driver, uint8_t stepping);
|
||||
static void microstep_readings();
|
||||
|
||||
#if ENABLED(Z_DUAL_ENDSTOPS)
|
||||
static FORCE_INLINE void set_homing_flag(bool state) { performing_homing = state; }
|
||||
|
|
@ -380,7 +383,10 @@ class Stepper {
|
|||
}
|
||||
|
||||
static void digipot_init();
|
||||
static void microstep_init();
|
||||
|
||||
#if HAS_MICROSTEPS
|
||||
static void microstep_init();
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue