@ -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
// Init ialize 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)
// Init ialize Step Pins
// Init Step Pins
# if HAS_X_STEP
# if ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)
X2_STEP_INIT ;
@ -1155,143 +1157,167 @@ void Stepper::report_positions() {
// From Arduino DigitalPotControl example
void Stepper : : digitalPotWrite ( int address , int value ) {
digitalWrite ( DIGIPOTSS_PIN , LOW ) ; // take the SS pin low to select the chip
WRITE ( DIGIPOTSS_PIN , LOW ) ; // take the SS pin low to select the chip
SPI . transfer ( address ) ; // send in the address and value via SPI:
SPI . transfer ( value ) ;
digitalWrite ( DIGIPOTSS_PIN , HIGH ) ; // take the SS pin high to de-select the chip:
WRITE ( DIGIPOTSS_PIN , HIGH ) ; // take the SS pin high to de-select the chip:
//delay(10);
}
# 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 ( digitalRead ( X_MS1_PIN ) ) ;
SERIAL_PROTOCOLLN ( digitalRead ( X_MS2_PIN ) ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( digitalRead ( Y_MS1_PIN ) ) ;
SERIAL_PROTOCOLLN ( digitalRead ( Y_MS2_PIN ) ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( digitalRead ( Z_MS1_PIN ) ) ;
SERIAL_PROTOCOLLN ( digitalRead ( Z_MS2_PIN ) ) ;
SERIAL_PROTOCOLPGM ( " E0: " ) ;
SERIAL_PROTOCOL ( digitalRead ( E0_MS1_PIN ) ) ;
SERIAL_PROTOCOLLN ( digitalRead ( E0_MS2_PIN ) ) ;
# if HAS_MICROSTEPS_E1
SERIAL_PROTOCOLPGM ( " E1: " ) ;
SERIAL_PROTOCOL ( digitalRead ( E1_MS1_PIN ) ) ;
SERIAL_PROTOCOLLN ( digitalRead ( 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)
Scott Lahteine
8 years ago
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