diff options
Diffstat (limited to 'Marlin/src/module/stepper/trinamic.h')
| -rw-r--r-- | Marlin/src/module/stepper/trinamic.h | 362 |
1 files changed, 362 insertions, 0 deletions
diff --git a/Marlin/src/module/stepper/trinamic.h b/Marlin/src/module/stepper/trinamic.h new file mode 100644 index 0000000..9f7445e --- /dev/null +++ b/Marlin/src/module/stepper/trinamic.h @@ -0,0 +1,362 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 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/>. + * + */ +#pragma once + +/** + * stepper/trinamic.h + * Stepper driver indirection for Trinamic + */ + +#include <TMCStepper.h> +#if TMCSTEPPER_VERSION < 0x000500 + #error "Update TMCStepper library to 0.5.0 or newer." +#endif + +#include "../../inc/MarlinConfig.h" +#include "../../feature/tmc_util.h" + +#define CLASS_TMC2130 TMC2130Stepper +#define CLASS_TMC2160 TMC2160Stepper +#define CLASS_TMC2208 TMC2208Stepper +#define CLASS_TMC2209 TMC2209Stepper +#define CLASS_TMC2660 TMC2660Stepper +#define CLASS_TMC5130 TMC5130Stepper +#define CLASS_TMC5160 TMC5160Stepper + +#define TMC_X_LABEL 'X', '0' +#define TMC_Y_LABEL 'Y', '0' +#define TMC_Z_LABEL 'Z', '0' + +#define TMC_X2_LABEL 'X', '2' +#define TMC_Y2_LABEL 'Y', '2' +#define TMC_Z2_LABEL 'Z', '2' +#define TMC_Z3_LABEL 'Z', '3' +#define TMC_Z4_LABEL 'Z', '4' + +#define TMC_E0_LABEL 'E', '0' +#define TMC_E1_LABEL 'E', '1' +#define TMC_E2_LABEL 'E', '2' +#define TMC_E3_LABEL 'E', '3' +#define TMC_E4_LABEL 'E', '4' +#define TMC_E5_LABEL 'E', '5' +#define TMC_E6_LABEL 'E', '6' +#define TMC_E7_LABEL 'E', '7' + +#define __TMC_CLASS(TYPE, L, I, A) TMCMarlin<CLASS_##TYPE, L, I, A> +#define _TMC_CLASS(TYPE, LandI, A) __TMC_CLASS(TYPE, LandI, A) +#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS) +#if ENABLED(DISTINCT_E_FACTORS) + #define TMC_CLASS_E(N) TMC_CLASS(E##N, E##N) +#else + #define TMC_CLASS_E(N) TMC_CLASS(E##N, E) +#endif + +typedef struct { + uint8_t toff; + int8_t hend; + uint8_t hstrt; +} chopper_timing_t; + +#ifndef CHOPPER_TIMING_X + #define CHOPPER_TIMING_X CHOPPER_TIMING +#endif +#ifndef CHOPPER_TIMING_Y + #define CHOPPER_TIMING_Y CHOPPER_TIMING +#endif +#ifndef CHOPPER_TIMING_Z + #define CHOPPER_TIMING_Z CHOPPER_TIMING +#endif +#ifndef CHOPPER_TIMING_E + #define CHOPPER_TIMING_E CHOPPER_TIMING +#endif + +#if HAS_TMC220x + void tmc_serial_begin(); +#endif + +void restore_trinamic_drivers(); +void reset_trinamic_drivers(); + +#define AXIS_HAS_SQUARE_WAVE(A) (AXIS_IS_TMC(A) && ENABLED(SQUARE_WAVE_STEPPING)) + +// X Stepper +#if AXIS_IS_TMC(X) + extern TMC_CLASS(X, X) stepperX; + static constexpr chopper_timing_t chopper_timing_X = CHOPPER_TIMING_X; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define X_ENABLE_INIT() NOOP + #define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing_X.toff : 0) + #define X_ENABLE_READ() stepperX.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(X) + #define X_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X_STEP_PIN); }while(0) + #endif +#endif + +// Y Stepper +#if AXIS_IS_TMC(Y) + extern TMC_CLASS(Y, Y) stepperY; + static constexpr chopper_timing_t chopper_timing_Y = CHOPPER_TIMING_Y; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Y_ENABLE_INIT() NOOP + #define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing_Y.toff : 0) + #define Y_ENABLE_READ() stepperY.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Y) + #define Y_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y_STEP_PIN); }while(0) + #endif +#endif + +// Z Stepper +#if AXIS_IS_TMC(Z) + extern TMC_CLASS(Z, Z) stepperZ; + static constexpr chopper_timing_t chopper_timing_Z = CHOPPER_TIMING_Z; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Z_ENABLE_INIT() NOOP + #define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z.toff : 0) + #define Z_ENABLE_READ() stepperZ.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Z) + #define Z_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z_STEP_PIN); }while(0) + #endif +#endif + +// X2 Stepper +#if HAS_X2_ENABLE && AXIS_IS_TMC(X2) + extern TMC_CLASS(X2, X) stepperX2; + #ifndef CHOPPER_TIMING_X2 + #define CHOPPER_TIMING_X2 CHOPPER_TIMING_X + #endif + static constexpr chopper_timing_t chopper_timing_X2 = CHOPPER_TIMING_X2; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define X2_ENABLE_INIT() NOOP + #define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing_X2.toff : 0) + #define X2_ENABLE_READ() stepperX2.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(X2) + #define X2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X2_STEP_PIN); }while(0) + #endif +#endif + +// Y2 Stepper +#if HAS_Y2_ENABLE && AXIS_IS_TMC(Y2) + extern TMC_CLASS(Y2, Y) stepperY2; + #ifndef CHOPPER_TIMING_Y2 + #define CHOPPER_TIMING_Y2 CHOPPER_TIMING_Y + #endif + static constexpr chopper_timing_t chopper_timing_Y2 = CHOPPER_TIMING_Y2; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Y2_ENABLE_INIT() NOOP + #define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing_Y2.toff : 0) + #define Y2_ENABLE_READ() stepperY2.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Y2) + #define Y2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Y2_STEP_PIN); }while(0) + #endif +#endif + +// Z2 Stepper +#if HAS_Z2_ENABLE && AXIS_IS_TMC(Z2) + extern TMC_CLASS(Z2, Z) stepperZ2; + #ifndef CHOPPER_TIMING_Z2 + #define CHOPPER_TIMING_Z2 CHOPPER_TIMING_Z + #endif + static constexpr chopper_timing_t chopper_timing_Z2 = CHOPPER_TIMING_Z2; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2) + #define Z2_ENABLE_INIT() NOOP + #define Z2_ENABLE_WRITE(STATE) stepperZ2.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z2.toff : 0) + #define Z2_ENABLE_READ() stepperZ2.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Z2) + #define Z2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z2_STEP_PIN); }while(0) + #endif +#endif + +// Z3 Stepper +#if HAS_Z3_ENABLE && AXIS_IS_TMC(Z3) + extern TMC_CLASS(Z3, Z) stepperZ3; + #ifndef CHOPPER_TIMING_Z3 + #define CHOPPER_TIMING_Z3 CHOPPER_TIMING_Z + #endif + static constexpr chopper_timing_t chopper_timing_Z3 = CHOPPER_TIMING_Z3; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Z3_ENABLE_INIT() NOOP + #define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z3.toff : 0) + #define Z3_ENABLE_READ() stepperZ3.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Z3) + #define Z3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z3_STEP_PIN); }while(0) + #endif +#endif + +// Z4 Stepper +#if HAS_Z4_ENABLE && AXIS_IS_TMC(Z4) + extern TMC_CLASS(Z4, Z) stepperZ4; + #ifndef CHOPPER_TIMING_Z4 + #define CHOPPER_TIMING_Z4 CHOPPER_TIMING_Z + #endif + static constexpr chopper_timing_t chopper_timing_Z4 = CHOPPER_TIMING_Z4; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Z4_ENABLE_INIT() NOOP + #define Z4_ENABLE_WRITE(STATE) stepperZ4.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z4.toff : 0) + #define Z4_ENABLE_READ() stepperZ4.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Z4) + #define Z4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z4_STEP_PIN); }while(0) + #endif +#endif + +// E0 Stepper +#if AXIS_IS_TMC(E0) + extern TMC_CLASS_E(0) stepperE0; + #ifndef CHOPPER_TIMING_E0 + #define CHOPPER_TIMING_E0 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E0 = CHOPPER_TIMING_E0; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0) + #define E0_ENABLE_INIT() NOOP + #define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E_ENABLE_ON ? chopper_timing_E0.toff : 0) + #define E0_ENABLE_READ() stepperE0.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E0) + #define E0_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E0_STEP_PIN); }while(0) + #endif +#endif + +// E1 Stepper +#if AXIS_IS_TMC(E1) + extern TMC_CLASS_E(1) stepperE1; + #ifndef CHOPPER_TIMING_E1 + #define CHOPPER_TIMING_E1 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E1 = CHOPPER_TIMING_E1; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1) + #define E1_ENABLE_INIT() NOOP + #define E1_ENABLE_WRITE(STATE) stepperE1.toff((STATE)==E_ENABLE_ON ? chopper_timing_E1.toff : 0) + #define E1_ENABLE_READ() stepperE1.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E1) + #define E1_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E1_STEP_PIN); }while(0) + #endif +#endif + +// E2 Stepper +#if AXIS_IS_TMC(E2) + extern TMC_CLASS_E(2) stepperE2; + #ifndef CHOPPER_TIMING_E2 + #define CHOPPER_TIMING_E2 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E2 = CHOPPER_TIMING_E2; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2) + #define E2_ENABLE_INIT() NOOP + #define E2_ENABLE_WRITE(STATE) stepperE2.toff((STATE)==E_ENABLE_ON ? chopper_timing_E2.toff : 0) + #define E2_ENABLE_READ() stepperE2.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E2) + #define E2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E2_STEP_PIN); }while(0) + #endif +#endif + +// E3 Stepper +#if AXIS_IS_TMC(E3) + extern TMC_CLASS_E(3) stepperE3; + #ifndef CHOPPER_TIMING_E3 + #define CHOPPER_TIMING_E3 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E3 = CHOPPER_TIMING_E3; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3) + #define E3_ENABLE_INIT() NOOP + #define E3_ENABLE_WRITE(STATE) stepperE3.toff((STATE)==E_ENABLE_ON ? chopper_timing_E3.toff : 0) + #define E3_ENABLE_READ() stepperE3.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E3) + #define E3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E3_STEP_PIN); }while(0) + #endif +#endif + +// E4 Stepper +#if AXIS_IS_TMC(E4) + extern TMC_CLASS_E(4) stepperE4; + #ifndef CHOPPER_TIMING_E4 + #define CHOPPER_TIMING_E4 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E4 = CHOPPER_TIMING_E4; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4) + #define E4_ENABLE_INIT() NOOP + #define E4_ENABLE_WRITE(STATE) stepperE4.toff((STATE)==E_ENABLE_ON ? chopper_timing_E4.toff : 0) + #define E4_ENABLE_READ() stepperE4.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E4) + #define E4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E4_STEP_PIN); }while(0) + #endif +#endif + +// E5 Stepper +#if AXIS_IS_TMC(E5) + extern TMC_CLASS_E(5) stepperE5; + #ifndef CHOPPER_TIMING_E5 + #define CHOPPER_TIMING_E5 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E5 = CHOPPER_TIMING_E5; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5) + #define E5_ENABLE_INIT() NOOP + #define E5_ENABLE_WRITE(STATE) stepperE5.toff((STATE)==E_ENABLE_ON ? chopper_timing_E5.toff : 0) + #define E5_ENABLE_READ() stepperE5.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E5) + #define E5_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E5_STEP_PIN); }while(0) + #endif +#endif + +// E6 Stepper +#if AXIS_IS_TMC(E6) + extern TMC_CLASS_E(6) stepperE6; + #ifndef CHOPPER_TIMING_E6 + #define CHOPPER_TIMING_E6 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E6 = CHOPPER_TIMING_E6; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E6) + #define E6_ENABLE_INIT() NOOP + #define E6_ENABLE_WRITE(STATE) stepperE6.toff((STATE)==E_ENABLE_ON ? chopper_timing_E6.toff : 0) + #define E6_ENABLE_READ() stepperE6.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E6) + #define E6_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E6_STEP_PIN); }while(0) + #endif +#endif + +// E7 Stepper +#if AXIS_IS_TMC(E7) + extern TMC_CLASS_E(7) stepperE7; + #ifndef CHOPPER_TIMING_E7 + #define CHOPPER_TIMING_E7 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E7 = CHOPPER_TIMING_E7; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E7) + #define E7_ENABLE_INIT() NOOP + #define E7_ENABLE_WRITE(STATE) stepperE7.toff((STATE)==E_ENABLE_ON ? chopper_timing_E7.toff : 0) + #define E7_ENABLE_READ() stepperE7.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E7) + #define E7_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E7_STEP_PIN); }while(0) + #endif +#endif |