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stepper_indirection.cpp
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/*
stepper_indirection.c - stepper motor driver indirection
to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
Part of Marlin
Copyright (c) 2015 Dominik Wenger
Marlin 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.
Marlin 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 Marlin. If not, see <http://www.gnu.org/licenses/>.
*/
#include "stepper_indirection.h"
#include "MarlinFirmware.h"
#if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h>
#include <TMC26XStepper.h>
#endif
// Stepper objects of TMC steppers used
#if ENABLED(X_IS_TMC)
TMC26XStepper stepperX(200, X_ENABLE_PIN, X_STEP_PIN, X_DIR_PIN, X_MAX_CURRENT, X_SENSE_RESISTOR);
#endif
#if ENABLED(X2_IS_TMC)
TMC26XStepper stepperX2(200, X2_ENABLE_PIN, X2_STEP_PIN, X2_DIR_PIN, X2_MAX_CURRENT, X2_SENSE_RESISTOR);
#endif
#if ENABLED(Y_IS_TMC)
TMC26XStepper stepperY(200, Y_ENABLE_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_MAX_CURRENT, Y_SENSE_RESISTOR);
#endif
#if ENABLED(Y2_IS_TMC)
TMC26XStepper stepperY2(200, Y2_ENABLE_PIN, Y2_STEP_PIN, Y2_DIR_PIN, Y2_MAX_CURRENT, Y2_SENSE_RESISTOR);
#endif
#if ENABLED(Z_IS_TMC)
TMC26XStepper stepperZ(200, Z_ENABLE_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_MAX_CURRENT, Z_SENSE_RESISTOR);
#endif
#if ENABLED(Z2_IS_TMC)
TMC26XStepper stepperZ2(200, Z2_ENABLE_PIN, Z2_STEP_PIN, Z2_DIR_PIN, Z2_MAX_CURRENT, Z2_SENSE_RESISTOR);
#endif
#if ENABLED(E0_IS_TMC)
TMC26XStepper stepperE0(200, E0_ENABLE_PIN, E0_STEP_PIN, E0_DIR_PIN, E0_MAX_CURRENT, E0_SENSE_RESISTOR);
#endif
#if ENABLED(E1_IS_TMC)
TMC26XStepper stepperE1(200, E1_ENABLE_PIN, E1_STEP_PIN, E1_DIR_PIN, E1_MAX_CURRENT, E1_SENSE_RESISTOR);
#endif
#if ENABLED(E2_IS_TMC)
TMC26XStepper stepperE2(200, E2_ENABLE_PIN, E2_STEP_PIN, E2_DIR_PIN, E2_MAX_CURRENT, E2_SENSE_RESISTOR);
#endif
#if ENABLED(E3_IS_TMC)
TMC26XStepper stepperE3(200, E3_ENABLE_PIN, E3_STEP_PIN, E3_DIR_PIN, E3_MAX_CURRENT, E3_SENSE_RESISTOR);
#endif
#if ENABLED(HAVE_TMCDRIVER)
void tmc_init() {
#if ENABLED(X_IS_TMC)
stepperX.setMicrosteps(X_MICROSTEPS);
stepperX.start();
#endif
#if ENABLED(X2_IS_TMC)
stepperX2.setMicrosteps(X2_MICROSTEPS);
stepperX2.start();
#endif
#if ENABLED(Y_IS_TMC)
stepperY.setMicrosteps(Y_MICROSTEPS);
stepperY.start();
#endif
#if ENABLED(Y2_IS_TMC)
stepperY2.setMicrosteps(Y2_MICROSTEPS);
stepperY2.start();
#endif
#if ENABLED(Z_IS_TMC)
stepperZ.setMicrosteps(Z_MICROSTEPS);
stepperZ.start();
#endif
#if ENABLED(Z2_IS_TMC)
stepperZ2.setMicrosteps(Z2_MICROSTEPS);
stepperZ2.start();
#endif
#if ENABLED(E0_IS_TMC)
stepperE0.setMicrosteps(E0_MICROSTEPS);
stepperE0.start();
#endif
#if ENABLED(E1_IS_TMC)
stepperE1.setMicrosteps(E1_MICROSTEPS);
stepperE1.start();
#endif
#if ENABLED(E2_IS_TMC)
stepperE2.setMicrosteps(E2_MICROSTEPS);
stepperE2.start();
#endif
#if ENABLED(E3_IS_TMC)
stepperE3.setMicrosteps(E3_MICROSTEPS);
stepperE3.start();
#endif
}
#endif
// L6470 Driver objects and inits
#if ENABLED(HAVE_L6470DRIVER)
#include <SPI.h>
#include <L6470.h>
#endif
// L6470 Stepper objects
#if ENABLED(X_IS_L6470)
L6470 stepperX(X_ENABLE_PIN);
#endif
#if ENABLED(X2_IS_L6470)
L6470 stepperX2(X2_ENABLE_PIN);
#endif
#if ENABLED(Y_IS_L6470)
L6470 stepperY(Y_ENABLE_PIN);
#endif
#if ENABLED(Y2_IS_L6470)
L6470 stepperY2(Y2_ENABLE_PIN);
#endif
#if ENABLED(Z_IS_L6470)
L6470 stepperZ(Z_ENABLE_PIN);
#endif
#if ENABLED(Z2_IS_L6470)
L6470 stepperZ2(Z2_ENABLE_PIN);
#endif
#if ENABLED(E0_IS_L6470)
L6470 stepperE0(E0_ENABLE_PIN);
#endif
#if ENABLED(E1_IS_L6470)
L6470 stepperE1(E1_ENABLE_PIN);
#endif
#if ENABLED(E2_IS_L6470)
L6470 stepperE2(E2_ENABLE_PIN);
#endif
#if ENABLED(E3_IS_L6470)
L6470 stepperE3(E3_ENABLE_PIN);
#endif
// init routine
#if ENABLED(HAVE_L6470DRIVER)
void L6470_init() {
#if ENABLED(X_IS_L6470)
stepperX.init(X_K_VAL);
stepperX.softFree();
stepperX.setMicroSteps(X_MICROSTEPS);
stepperX.setOverCurrent(X_OVERCURRENT); //set overcurrent protection
stepperX.setStallCurrent(X_STALLCURRENT);
#endif
#if ENABLED(X2_IS_L6470)
stepperX2.init(X2_K_VAL);
stepperX2.softFree();
stepperX2.setMicroSteps(X2_MICROSTEPS);
stepperX2.setOverCurrent(X2_OVERCURRENT); //set overcurrent protection
stepperX2.setStallCurrent(X2_STALLCURRENT);
#endif
#if ENABLED(Y_IS_L6470)
stepperY.init(Y_K_VAL);
stepperY.softFree();
stepperY.setMicroSteps(Y_MICROSTEPS);
stepperY.setOverCurrent(Y_OVERCURRENT); //set overcurrent protection
stepperY.setStallCurrent(Y_STALLCURRENT);
#endif
#if ENABLED(Y2_IS_L6470)
stepperY2.init(Y2_K_VAL);
stepperY2.softFree();
stepperY2.setMicroSteps(Y2_MICROSTEPS);
stepperY2.setOverCurrent(Y2_OVERCURRENT); //set overcurrent protection
stepperY2.setStallCurrent(Y2_STALLCURRENT);
#endif
#if ENABLED(Z_IS_L6470)
stepperZ.init(Z_K_VAL);
stepperZ.softFree();
stepperZ.setMicroSteps(Z_MICROSTEPS);
stepperZ.setOverCurrent(Z_OVERCURRENT); //set overcurrent protection
stepperZ.setStallCurrent(Z_STALLCURRENT);
#endif
#if ENABLED(Z2_IS_L6470)
stepperZ2.init(Z2_K_VAL);
stepperZ2.softFree();
stepperZ2.setMicroSteps(Z2_MICROSTEPS);
stepperZ2.setOverCurrent(Z2_OVERCURRENT); //set overcurrent protection
stepperZ2.setStallCurrent(Z2_STALLCURRENT);
#endif
#if ENABLED(E0_IS_L6470)
stepperE0.init(E0_K_VAL);
stepperE0.softFree();
stepperE0.setMicroSteps(E0_MICROSTEPS);
stepperE0.setOverCurrent(E0_OVERCURRENT); //set overcurrent protection
stepperE0.setStallCurrent(E0_STALLCURRENT);
#endif
#if ENABLED(E1_IS_L6470)
stepperE1.init(E1_K_VAL);
stepperE1.softFree();
stepperE1.setMicroSteps(E1_MICROSTEPS);
stepperE1.setOverCurrent(E1_OVERCURRENT); //set overcurrent protection
stepperE1.setStallCurrent(E1_STALLCURRENT);
#endif
#if ENABLED(E2_IS_L6470)
stepperE2.init(E2_K_VAL);
stepperE2.softFree();
stepperE2.setMicroSteps(E2_MICROSTEPS);
stepperE2.setOverCurrent(E2_OVERCURRENT); //set overcurrent protection
stepperE2.setStallCurrent(E2_STALLCURRENT);
#endif
#if ENABLED(E3_IS_L6470)
stepperE3.init(E3_K_VAL);
stepperE3.softFree();
stepperE3.setMicroSteps(E3_MICROSTEPS);
stepperE3.setOverCurrent(E3_OVERCURRENT); //set overcurrent protection
stepperE3.setStallCurrent(E3_STALLCURRENT);
#endif
}
#endif