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Merge pull request repetier#724 from alexsomesan/tmc2130
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 Preliminary support for Trinamic TMC2130 drivers
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@repetier
repetier authored Jan 6, 2018
2 parents 95b5a97 + 5edf438 commit c3d34bc
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Showing 15 changed files with 938 additions and 12 deletions.
254 changes: 250 additions & 4 deletions src/ArduinoAVR/Repetier/Commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -488,6 +488,88 @@ void motorCurrentControlInit() { //Initialize Motor Current
}
#endif

#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_TMC2130
TMC2130Stepper* tmcDriverByIndex(uint8_t index) {
switch(index) {
#if TMC2130_ON_X
case 0: // X Axis
return Printer::tmc_driver_x;
break;
#endif
#if TMC2130_ON_Y
case 1: // Y Axis
return Printer::tmc_driver_y;
break;
#endif
#if TMC2130_ON_Z
case 2: // Z Axis
return Printer::tmc_driver_z;
break;
#endif
#if TMC2130_ON_EXT0
case 3: // E0 Axis
return Printer::tmc_driver_e0;
break;
#endif
#if TMC2130_ON_EXT1
case 4: // E1 Axis
return Printer::tmc_driver_e1;
break;
#endif
#if TMC2130_ON_EXT2
case 5: // E2 Axis
return Printer::tmc_driver_e2;
break;
#endif
default:
return NULL;
break;
}
}

void setMotorCurrent( uint8_t driver, uint16_t level ) {
TMC2130Stepper* tmc_driver = tmcDriverByIndex(driver);
if(tmc_driver) {
tmc_driver->rms_current(level);
}
}

void setMotorCurrentPercent( uint8_t channel, float level ) {
const uint16_t tmc_motor_current[] = MOTOR_CURRENT;
uint16_t raw_level = ( level * tmc_motor_current[channel] / 100 );
setMotorCurrent(channel, raw_level);
}

void motorCurrentControlInit() {
const uint16_t tmc_motor_current[] = MOTOR_CURRENT;
for(uint8_t i = 0; i < (sizeof(tmc_motor_current) / sizeof(uint16_t)); i++) {
setMotorCurrent(i, tmc_motor_current[i]);
}
}

void motorCurrentReadings() {
Com::printF(Com::tTrinamicMotorCurrent);
#if TMC2130_ON_X
Com::printF(Com::tSpaceXColon, (uint32_t)(Printer::tmc_driver_x->rms_current()));
#endif
#if TMC2130_ON_Y
Com::printF(Com::tSpaceYColon, (uint32_t)(Printer::tmc_driver_y->rms_current()));
#endif
#if TMC2130_ON_Z
Com::printF(Com::tSpaceZColon, (uint32_t)(Printer::tmc_driver_z->rms_current()));
#endif
#if TMC2130_ON_EXT0
Com::printF(Com::tSpaceEColon, (uint32_t)(Printer::tmc_driver_e0->rms_current()));
#endif
#if TMC2130_ON_EXT1
Com::printF(PSTR(" E1:"), (uint32_t)(Printer::tmc_driver_e1->rms_current()));
#endif
#if TMC2130_ON_EXT2
Com::printF(PSTR(" E2:"), (uint32_t)(Printer::tmc_driver_e2->rms_current()));
#endif
Com::printFLN(Com::tSpace);
}
#endif // CURRENT_CONTROL_TMC2130

#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_MCP4728
uint8_t _intVref[] = {MCP4728_VREF, MCP4728_VREF, MCP4728_VREF, MCP4728_VREF};
Expand Down Expand Up @@ -608,6 +690,43 @@ void motorCurrentControlInit() { //Initialize MCP4728 Motor Current
}
#endif

#if defined(DRV_TMC2130)
void microstepMode(uint8_t driver, uint16_t stepping_mode) {
TMC2130Stepper* tmc_driver;
if(tmc_driver = tmcDriverByIndex(driver))
tmc_driver->microsteps(stepping_mode);
}

void microstepInit() {
const uint16_t microstep_modes[] = MICROSTEP_MODES;
for(uint8_t i = 0; i < (sizeof(microstep_modes) / sizeof(uint16_t)); i++) {
microstepMode(i, microstep_modes[i]);
}
}

void microstepReadings() {
Com::printF(Com::tTrinamicMicrostepMode);
#if TMC2130_ON_X
Com::printF(Com::tSpaceXColon, (uint32_t)(Printer::tmc_driver_x->microsteps()));
#endif
#if TMC2130_ON_Y
Com::printF(Com::tSpaceYColon, (uint32_t)(Printer::tmc_driver_y->microsteps()));
#endif
#if TMC2130_ON_Z
Com::printF(Com::tSpaceZColon, (uint32_t)(Printer::tmc_driver_z->microsteps()));
#endif
#if TMC2130_ON_EXT0
Com::printF(Com::tSpaceEColon, (uint32_t)(Printer::tmc_driver_e0->microsteps()));
#endif
#if TMC2130_ON_EXT1
Com::printF(PSTR(" E1:"), (uint32_t)(Printer::tmc_driver_e1->microsteps()));
#endif
#if TMC2130_ON_EXT2
Com::printF(PSTR(" E1:"), (uint32_t)(Printer::tmc_driver_e2->microsteps()));
#endif
Com::printFLN(Com::tSpace);
}
#else
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
void microstepMS(uint8_t driver, int8_t ms1, int8_t ms2) {
if(ms1 > -1) switch(driver) {
Expand Down Expand Up @@ -760,7 +879,7 @@ void microstepInit() {
for(int i = 0; i <= 4; i++) microstepMode(i, microstep_modes[i]);
#endif
}

#endif
/**
\brief Execute the Arc command stored in com.
*/
Expand Down Expand Up @@ -2287,13 +2406,14 @@ void Commands::processMCode(GCode *com) {
break;
#endif // FEATURE_SERVO
case 350: { // M350 Set micro stepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
#if (defined(X_MS1_PIN) && X_MS1_PIN > -1) || defined(DRV_TMC2130)
if(com->hasS()) for(int i = 0; i <= 4; i++) microstepMode(i, com->S);
if(com->hasX()) microstepMode(0, (uint8_t)com->X);
if(com->hasY()) microstepMode(1, (uint8_t)com->Y);
if(com->hasZ()) microstepMode(2, (uint8_t)com->Z);
if(com->hasE()) microstepMode(3, (uint8_t)com->E);
if(com->hasP()) microstepMode(4, com->P); // Original B but is not supported here
if(com->hasP()) microstepMode(4, (uint8_t)com->P); // Original B but is not supported here
if(com->hasR()) microstepMode(5, (uint8_t)com->R);
microstepReadings();
#endif
}
Expand Down Expand Up @@ -2551,8 +2671,12 @@ void Commands::processMCode(GCode *com) {
case 908: { // M908 Control digital trimpot directly.
#if STEPPER_CURRENT_CONTROL != CURRENT_CONTROL_MANUAL
uint8_t channel, current;
if(com->hasP() && com->hasS())
if(com->hasP() && com->hasS()) {
setMotorCurrent((uint8_t)com->P, (unsigned int)com->S);
}
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_TMC2130
motorCurrentReadings();
#endif
#endif
}
break;
Expand Down Expand Up @@ -2602,6 +2726,128 @@ void Commands::processMCode(GCode *com) {
else
GCode::resetFatalError();
break;
#if defined(DRV_TMC2130)
case 914: // Configure stallguard threshold on Trinamic TMC2130
Com::printF(PSTR("Trinamic SGT"));
if(com->hasNoXYZ()) {
#if TMC2130_ON_X
Com::printF(PSTR(" X:"), Printer::tmc_driver_x->sg_stall_value());
#endif
#if TMC2130_ON_Y
Com::printF(PSTR(" Y:"), Printer::tmc_driver_y->sg_stall_value());
#endif
#if TMC2130_ON_Z
Com::printF(PSTR(" Z:"), Printer::tmc_driver_z->sg_stall_value());
#endif
#if TMC2130_ON_EXT0
Com::printF(PSTR(" E0:"), Printer::tmc_driver_e0->sg_stall_value());
#endif
#if TMC2130_ON_EXT1
Com::printF(PSTR(" E1:"), Printer::tmc_driver_e1->sg_stall_value());
#endif
#if TMC2130_ON_EXT2
Com::printF(PSTR(" E2:"), Printer::tmc_driver_e2->sg_stall_value());
#endif
}
#if TMC2130_ON_X
if(com->hasX()) {
Com::printF(PSTR(" X:"), com->X);
Printer::tmc_driver_x->sg_stall_value(com->X);
}
#endif
#if TMC2130_ON_Y
if(com->hasY()) {
Com::printF(PSTR(" Y:"), com->Y);
Printer::tmc_driver_y->sg_stall_value(com->Y);
}
#endif
#if TMC2130_ON_Z
if(com->hasZ()) {
Com::printF(PSTR(" Z:"), com->Z);
Printer::tmc_driver_z->sg_stall_value(com->Z);
}
#endif
#if TMC2130_ON_EXT0
if(com->hasE()) {
Com::printF(PSTR(" E0:"), com->E);
Printer::tmc_driver_e0->sg_stall_value(com->E);
}
#endif
#if TMC2130_ON_EXT1
if(com->hasE()) {
Com::printF(PSTR(" E1:"), com->F);
Printer::tmc_driver_e1->sg_stall_value(com->F);
}
#endif
#if TMC2130_ON_EXT2
if(com->hasE()) {
Com::printF(PSTR(" E2:"), com->G);
Printer::tmc_driver_e2->sg_stall_value(com->G);
}
#endif
Com::println();
break;
case 915: // Configure StealthChop on Trinamic TMC2130
Com::printF(PSTR("Trinamic StealthChop"));
if(com->hasNoXYZ()) {
#if TMC2130_ON_X
Com::printF(PSTR(" X:"), Printer::tmc_driver_x->stealthChop());
#endif
#if TMC2130_ON_Y
Com::printF(PSTR(" Y:"), Printer::tmc_driver_y->stealthChop());
#endif
#if TMC2130_ON_Z
Com::printF(PSTR(" Z:"), Printer::tmc_driver_z->stealthChop());
#endif
#if TMC2130_ON_EXT0
Com::printF(PSTR(" E0:"), Printer::tmc_driver_e0->stealthChop());
#endif
#if TMC2130_ON_EXT1
Com::printF(PSTR(" E1:"), Printer::tmc_driver_e1->stealthChop());
#endif
#if TMC2130_ON_EXT2
Com::printF(PSTR(" E2:"), Printer::tmc_driver_e2->stealthChop());
#endif
}
#if TMC2130_ON_X
if(com->hasX()) {
Com::printF(PSTR(" X:"), com->X);
Printer::tmc_driver_x->stealthChop((bool)(com->X));
}
#endif
#if TMC2130_ON_Y
if(com->hasY()) {
Com::printF(PSTR(" Y:"), com->Y);
Printer::tmc_driver_y->stealthChop((bool)(com->Y));
}
#endif
#if TMC2130_ON_Z
if(com->hasZ()) {
Com::printF(PSTR(" Z:"), com->Z);
Printer::tmc_driver_z->stealthChop((bool)(com->Z));
}
#endif
#if TMC2130_ON_EXT0
if(com->hasE()) {
Com::printF(PSTR(" E0:"), com->E);
Printer::tmc_driver_e0->stealthChop((bool)(com->E));
}
#endif
#if TMC2130_ON_EXT1
if(com->hasE()) {
Com::printF(PSTR(" E1:"), com->F);
Printer::tmc_driver_e1->stealthChop((bool)(com->F));
}
#endif
#if TMC2130_ON_EXT2
if(com->hasE()) {
Com::printF(PSTR(" E2:"), com->G);
Printer::tmc_driver_e2->stealthChop((bool)(com->G));
}
#endif
Com::println();
break;
#endif
default:
if(Printer::debugErrors()) {
Com::writeToAll = false;
Expand Down
5 changes: 4 additions & 1 deletion src/ArduinoAVR/Repetier/Communication.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -465,7 +465,10 @@ FSTRINGVALUE(Com::tPrinterModeCNC, "PrinterMode:CNC")
#ifdef STARTUP_GCODE
FSTRINGVALUE(Com::tStartupGCode, STARTUP_GCODE)
#endif

#ifdef DRV_TMC2130
FSTRINGVALUE(Com::tTrinamicMotorCurrent, "Trinamic motor current:")
FSTRINGVALUE(Com::tTrinamicMicrostepMode, "Trinamic microstep mode:")
#endif
bool Com::writeToAll = true; // transmit start messages to all devices!

void Com::cap(FSTRINGPARAM(text)) {
Expand Down
4 changes: 4 additions & 0 deletions src/ArduinoAVR/Repetier/Communication.h
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Original file line number Diff line number Diff line change
Expand Up @@ -476,6 +476,10 @@ FSTRINGVAR(tStartupGCode)
FSTRINGVAR(tEPRSegmentsPerSecondPrint)
FSTRINGVAR(tEPRSegmentsPerSecondTravel)
#endif
#ifdef DRV_TMC2130
FSTRINGVAR(tTrinamicMotorCurrent)
FSTRINGVAR(tTrinamicMicrostepMode)
#endif

static void cap(FSTRINGPARAM(text));
static void config(FSTRINGPARAM(text));
Expand Down
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