From 5fff8d148bd50bf2791ee809932dfad6d2a480b1 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 25 Sep 2016 06:32:58 -0500 Subject: [PATCH] Clean up digital pots and microsteps --- Marlin/Conditionals_post.h | 5 +- Marlin/Marlin_main.cpp | 21 +-- Marlin/stepper.cpp | 274 ++++++++++++++++++++----------------- Marlin/stepper.h | 18 ++- 4 files changed, 177 insertions(+), 141 deletions(-) diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h index 1b5e4188e..d23c82299 100644 --- a/Marlin/Conditionals_post.h +++ b/Marlin/Conditionals_post.h @@ -462,10 +462,13 @@ #define HAS_SOLENOID_1 (PIN_EXISTS(SOL1)) #define HAS_SOLENOID_2 (PIN_EXISTS(SOL2)) #define HAS_SOLENOID_3 (PIN_EXISTS(SOL3)) - #define HAS_MICROSTEPS (PIN_EXISTS(X_MS1)) + #define HAS_MICROSTEPS_X (PIN_EXISTS(X_MS1)) + #define HAS_MICROSTEPS_Y (PIN_EXISTS(Y_MS1)) + #define HAS_MICROSTEPS_Z (PIN_EXISTS(Z_MS1)) #define HAS_MICROSTEPS_E0 (PIN_EXISTS(E0_MS1)) #define HAS_MICROSTEPS_E1 (PIN_EXISTS(E1_MS1)) #define HAS_MICROSTEPS_E2 (PIN_EXISTS(E2_MS1)) + #define HAS_MICROSTEPS (HAS_MICROSTEPS_X || HAS_MICROSTEPS_Y || HAS_MICROSTEPS_Z || HAS_MICROSTEPS_E0 || HAS_MICROSTEPS_E1 || HAS_MICROSTEPS_E2) #define HAS_STEPPER_RESET (PIN_EXISTS(STEPPER_RESET)) #define HAS_X_ENABLE (PIN_EXISTS(X_ENABLE)) #define HAS_X2_ENABLE (PIN_EXISTS(X2_ENABLE)) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 1b3550d48..ced906472 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -6514,18 +6514,19 @@ inline void gcode_M503() { inline void gcode_M907() { #if HAS_DIGIPOTSS LOOP_XYZE(i) - if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int()); + if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int()); if (code_seen('B')) stepper.digipot_current(4, code_value_int()); if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int()); - #endif - #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) - if (code_seen('X')) stepper.digipot_current(0, code_value_int()); - #endif - #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) - if (code_seen('Z')) stepper.digipot_current(1, code_value_int()); - #endif - #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) - if (code_seen('E')) stepper.digipot_current(2, code_value_int()); + #elif HAS_MOTOR_CURRENT_PWM + #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) + if (code_seen('X')) stepper.digipot_current(0, code_value_int()); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + if (code_seen('Z')) stepper.digipot_current(1, code_value_int()); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + if (code_seen('E')) stepper.digipot_current(2, code_value_int()); + #endif #endif #if ENABLED(DIGIPOT_I2C) // this one uses actual amps in floating point diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index f0c4f27fe..06183a7f5 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -733,19 +733,27 @@ void Stepper::isr() { void Stepper::init() { - digipot_init(); //Initialize Digipot Motor Current - microstep_init(); //Initialize Microstepping Pins + // Init Digipot Motor Current + #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM + digipot_init(); + #endif - // initialise TMC Steppers + // Init Microstepping Pins + #if HAS_MICROSTEPS + microstep_init(); + #endif + + // Init TMC Steppers #if ENABLED(HAVE_TMCDRIVER) tmc_init(); #endif - // initialise L6470 Steppers + + // Init L6470 Steppers #if ENABLED(HAVE_L6470DRIVER) L6470_init(); #endif - // Initialize Dir Pins + // Init Dir Pins #if HAS_X_DIR X_DIR_INIT; #endif @@ -777,8 +785,7 @@ void Stepper::init() { E3_DIR_INIT; #endif - //Initialize Enable Pins - steppers default to disabled. - + // Init Enable Pins - steppers default to disabled. #if HAS_X_ENABLE X_ENABLE_INIT; if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH); @@ -787,7 +794,6 @@ void Stepper::init() { if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH); #endif #endif - #if HAS_Y_ENABLE Y_ENABLE_INIT; if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH); @@ -796,7 +802,6 @@ void Stepper::init() { if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH); #endif #endif - #if HAS_Z_ENABLE Z_ENABLE_INIT; if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH); @@ -805,7 +810,6 @@ void Stepper::init() { if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH); #endif #endif - #if HAS_E0_ENABLE E0_ENABLE_INIT; if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH); @@ -823,9 +827,7 @@ void Stepper::init() { if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH); #endif - // - // Init endstops and pullups here - // + // Init endstops and pullups endstops.init(); #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT @@ -839,7 +841,7 @@ void Stepper::init() { #define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E) - // Initialize Step Pins + // Init Step Pins #if HAS_X_STEP #if ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE) X2_STEP_INIT; @@ -1164,134 +1166,158 @@ void Stepper::report_positions() { #endif //HAS_DIGIPOTSS -void Stepper::digipot_init() { - #if HAS_DIGIPOTSS - const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT; +#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM - SPI.begin(); - pinMode(DIGIPOTSS_PIN, OUTPUT); - for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) { - //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]); - digipot_current(i, digipot_motor_current[i]); - } - #endif - #if HAS_MOTOR_CURRENT_PWM - #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) - pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT); - digipot_current(0, motor_current_setting[0]); - #endif - #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) - pinMode(MOTOR_CURRENT_PWM_Z_PIN, OUTPUT); - digipot_current(1, motor_current_setting[1]); - #endif - #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) - pinMode(MOTOR_CURRENT_PWM_E_PIN, OUTPUT); - digipot_current(2, motor_current_setting[2]); - #endif - //Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise) - TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50); - #endif -} - -void Stepper::digipot_current(uint8_t driver, int current) { - #if HAS_DIGIPOTSS - const uint8_t digipot_ch[] = DIGIPOT_CHANNELS; - digitalPotWrite(digipot_ch[driver], current); - #elif HAS_MOTOR_CURRENT_PWM - #define _WRITE_CURRENT_PWM(P) analogWrite(P, 255L * current / (MOTOR_CURRENT_PWM_RANGE)) - switch (driver) { + void Stepper::digipot_init() { + #if HAS_DIGIPOTSS + static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT; + SPI.begin(); + SET_OUTPUT(DIGIPOTSS_PIN); + for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) { + //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]); + digipot_current(i, digipot_motor_current[i]); + } + #elif HAS_MOTOR_CURRENT_PWM #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) - case 0: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_XY_PIN); break; + SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN); + digipot_current(0, motor_current_setting[0]); #endif #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) - case 1: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_Z_PIN); break; + SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN); + digipot_current(1, motor_current_setting[1]); #endif #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) - case 2: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_E_PIN); break; + SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN); + digipot_current(2, motor_current_setting[2]); #endif - } - #else - UNUSED(driver); - UNUSED(current); - #endif -} + //Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise) + TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50); + #endif + } -void Stepper::microstep_init() { - #if HAS_MICROSTEPS_E1 - pinMode(E1_MS1_PIN, OUTPUT); - pinMode(E1_MS2_PIN, OUTPUT); - #endif + void Stepper::digipot_current(uint8_t driver, int current) { + #if HAS_DIGIPOTSS + const uint8_t digipot_ch[] = DIGIPOT_CHANNELS; + digitalPotWrite(digipot_ch[driver], current); + #elif HAS_MOTOR_CURRENT_PWM + #define _WRITE_CURRENT_PWM(P) analogWrite(P, 255L * current / (MOTOR_CURRENT_PWM_RANGE)) + switch (driver) { + #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) + case 0: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_XY_PIN); break; + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + case 1: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_Z_PIN); break; + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + case 2: _WRITE_CURRENT_PWM(MOTOR_CURRENT_PWM_E_PIN); break; + #endif + } + #endif + } - #if HAS_MICROSTEPS - pinMode(X_MS1_PIN, OUTPUT); - pinMode(X_MS2_PIN, OUTPUT); - pinMode(Y_MS1_PIN, OUTPUT); - pinMode(Y_MS2_PIN, OUTPUT); - pinMode(Z_MS1_PIN, OUTPUT); - pinMode(Z_MS2_PIN, OUTPUT); - pinMode(E0_MS1_PIN, OUTPUT); - pinMode(E0_MS2_PIN, OUTPUT); - const uint8_t microstep_modes[] = MICROSTEP_MODES; - for (uint16_t i = 0; i < COUNT(microstep_modes); i++) - microstep_mode(i, microstep_modes[i]); - #endif -} +#endif -/** - * Software-controlled Microstepping - */ +#if HAS_MICROSTEPS + + /** + * Software-controlled Microstepping + */ -void Stepper::microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) { - if (ms1 >= 0) switch (driver) { - case 0: digitalWrite(X_MS1_PIN, ms1); break; - case 1: digitalWrite(Y_MS1_PIN, ms1); break; - case 2: digitalWrite(Z_MS1_PIN, ms1); break; - case 3: digitalWrite(E0_MS1_PIN, ms1); break; + void Stepper::microstep_init() { + SET_OUTPUT(X_MS1_PIN); + SET_OUTPUT(X_MS2_PIN); + #if HAS_MICROSTEPS_Y + SET_OUTPUT(Y_MS1_PIN); + SET_OUTPUT(Y_MS2_PIN); + #endif + #if HAS_MICROSTEPS_Z + SET_OUTPUT(Z_MS1_PIN); + SET_OUTPUT(Z_MS2_PIN); + #endif + #if HAS_MICROSTEPS_E0 + SET_OUTPUT(E0_MS1_PIN); + SET_OUTPUT(E0_MS2_PIN); + #endif #if HAS_MICROSTEPS_E1 - case 4: digitalWrite(E1_MS1_PIN, ms1); break; + SET_OUTPUT(E1_MS1_PIN); + SET_OUTPUT(E1_MS2_PIN); #endif + static const uint8_t microstep_modes[] = MICROSTEP_MODES; + for (uint16_t i = 0; i < COUNT(microstep_modes); i++) + microstep_mode(i, microstep_modes[i]); } - if (ms2 >= 0) switch (driver) { - case 0: digitalWrite(X_MS2_PIN, ms2); break; - case 1: digitalWrite(Y_MS2_PIN, ms2); break; - case 2: digitalWrite(Z_MS2_PIN, ms2); break; - case 3: digitalWrite(E0_MS2_PIN, ms2); break; - #if PIN_EXISTS(E1_MS2) - case 4: digitalWrite(E1_MS2_PIN, ms2); break; - #endif + + void Stepper::microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) { + if (ms1 >= 0) switch (driver) { + case 0: digitalWrite(X_MS1_PIN, ms1); break; + #if HAS_MICROSTEPS_Y + case 1: digitalWrite(Y_MS1_PIN, ms1); break; + #endif + #if HAS_MICROSTEPS_Z + case 2: digitalWrite(Z_MS1_PIN, ms1); break; + #endif + #if HAS_MICROSTEPS_E0 + case 3: digitalWrite(E0_MS1_PIN, ms1); break; + #endif + #if HAS_MICROSTEPS_E1 + case 4: digitalWrite(E1_MS1_PIN, ms1); break; + #endif + } + if (ms2 >= 0) switch (driver) { + case 0: digitalWrite(X_MS2_PIN, ms2); break; + #if HAS_MICROSTEPS_Y + case 1: digitalWrite(Y_MS2_PIN, ms2); break; + #endif + #if HAS_MICROSTEPS_Z + case 2: digitalWrite(Z_MS2_PIN, ms2); break; + #endif + #if HAS_MICROSTEPS_E0 + case 3: digitalWrite(E0_MS2_PIN, ms2); break; + #endif + #if HAS_MICROSTEPS_E1 + case 4: digitalWrite(E1_MS2_PIN, ms2); break; + #endif + } } -} -void Stepper::microstep_mode(uint8_t driver, uint8_t stepping_mode) { - switch (stepping_mode) { - case 1: microstep_ms(driver, MICROSTEP1); break; - case 2: microstep_ms(driver, MICROSTEP2); break; - case 4: microstep_ms(driver, MICROSTEP4); break; - case 8: microstep_ms(driver, MICROSTEP8); break; - case 16: microstep_ms(driver, MICROSTEP16); break; + void Stepper::microstep_mode(uint8_t driver, uint8_t stepping_mode) { + switch (stepping_mode) { + case 1: microstep_ms(driver, MICROSTEP1); break; + case 2: microstep_ms(driver, MICROSTEP2); break; + case 4: microstep_ms(driver, MICROSTEP4); break; + case 8: microstep_ms(driver, MICROSTEP8); break; + case 16: microstep_ms(driver, MICROSTEP16); break; + } } -} -void Stepper::microstep_readings() { - SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins"); - SERIAL_PROTOCOLPGM("X: "); - SERIAL_PROTOCOL(READ(X_MS1_PIN)); - SERIAL_PROTOCOLLN(READ(X_MS2_PIN)); - SERIAL_PROTOCOLPGM("Y: "); - SERIAL_PROTOCOL(READ(Y_MS1_PIN)); - SERIAL_PROTOCOLLN(READ(Y_MS2_PIN)); - SERIAL_PROTOCOLPGM("Z: "); - SERIAL_PROTOCOL(READ(Z_MS1_PIN)); - SERIAL_PROTOCOLLN(READ(Z_MS2_PIN)); - SERIAL_PROTOCOLPGM("E0: "); - SERIAL_PROTOCOL(READ(E0_MS1_PIN)); - SERIAL_PROTOCOLLN(READ(E0_MS2_PIN)); - #if HAS_MICROSTEPS_E1 - SERIAL_PROTOCOLPGM("E1: "); - SERIAL_PROTOCOL(READ(E1_MS1_PIN)); - SERIAL_PROTOCOLLN(READ(E1_MS2_PIN)); - #endif -} + void Stepper::microstep_readings() { + SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins"); + SERIAL_PROTOCOLPGM("X: "); + SERIAL_PROTOCOL(READ(X_MS1_PIN)); + SERIAL_PROTOCOLLN(READ(X_MS2_PIN)); + #if HAS_MICROSTEPS_Y + SERIAL_PROTOCOLPGM("Y: "); + SERIAL_PROTOCOL(READ(Y_MS1_PIN)); + SERIAL_PROTOCOLLN(READ(Y_MS2_PIN)); + #endif + #if HAS_MICROSTEPS_Z + SERIAL_PROTOCOLPGM("Z: "); + SERIAL_PROTOCOL(READ(Z_MS1_PIN)); + SERIAL_PROTOCOLLN(READ(Z_MS2_PIN)); + #endif + #if HAS_MICROSTEPS_E0 + SERIAL_PROTOCOLPGM("E0: "); + SERIAL_PROTOCOL(READ(E0_MS1_PIN)); + SERIAL_PROTOCOLLN(READ(E0_MS2_PIN)); + #endif + #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) diff --git a/Marlin/stepper.h b/Marlin/stepper.h index 995aaea82..a1c62fe94 100644 --- a/Marlin/stepper.h +++ b/Marlin/stepper.h @@ -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 };