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DIGIPOTSS in motter current array with PWM, stored to eeprom, and G34 tested

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This commit is contained in:
InsanityAutomation
2020-08-09 16:43:08 -04:00
parent e29dbb946e
commit 8e79ea09e4
2 changed files with 58 additions and 50 deletions
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Marlin/src/module/stepper.cpp
+33 -28
View File
@@ -83,6 +83,10 @@ Stepper stepper; // Singleton
#define BABYSTEPPING_EXTRA_DIR_WAIT
#if HAS_MOTOR_CURRENT_PWM || HAS_DIGIPOTSS
bool Stepper::initialized; // = false
#endif
#ifdef __AVR__
#include "speed_lookuptable.h"
#endif
@@ -106,7 +110,7 @@ Stepper stepper; // Singleton
#include "../feature/dac/dac_dac084s085.h"
#endif
#if HAS_MOTOR_CURRENT_SPI
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
@@ -138,12 +142,11 @@ Stepper stepper; // Singleton
bool Stepper::separate_multi_axis = false;
#endif
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
bool Stepper::initialized; // = false
uint32_t Stepper::motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load()
#if HAS_MOTOR_CURRENT_SPI
constexpr uint32_t Stepper::digipot_count[];
#endif
#if HAS_MOTOR_CURRENT_PWM
uint32_t Stepper::motor_current_setting[3]; // Initialized by settings.load()
#elif HAS_DIGIPOTSS
constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
uint32_t Stepper::motor_current_setting[COUNT(digipot_count)]; // Initialized by settings.load()
#endif
// private:
@@ -155,7 +158,7 @@ uint8_t Stepper::last_direction_bits, // = 0
bool Stepper::abort_current_block;
#if DISABLED(MIXING_EXTRUDER) && HAS_MULTI_EXTRUDER
#if DISABLED(MIXING_EXTRUDER) && EXTRUDERS > 1
uint8_t Stepper::last_moved_extruder = 0xFF;
#endif
@@ -191,7 +194,7 @@ uint32_t Stepper::advance_divisor = 0,
Stepper::decelerate_after, // The count at which to start decelerating
Stepper::step_event_count; // The total event count for the current block
#if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
#if EXTRUDERS > 1 || ENABLED(MIXING_EXTRUDER)
uint8_t Stepper::stepper_extruder;
#else
constexpr uint8_t Stepper::stepper_extruder;
@@ -357,11 +360,11 @@ xyze_int8_t Stepper::count_direction{0};
#elif ENABLED(DUAL_X_CARRIAGE)
#define X_APPLY_DIR(v,ALWAYS) do{ \
if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(v); X2_DIR_WRITE(mirrored_duplication_mode ? !(v) : v); } \
else if (last_moved_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
else if (movement_extruder()) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
}while(0)
#define X_APPLY_STEP(v,ALWAYS) do{ \
if (extruder_duplication_enabled || ALWAYS) { X_STEP_WRITE(v); X2_STEP_WRITE(v); } \
else if (last_moved_extruder) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
else if (movement_extruder()) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
}while(0)
#else
#define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
@@ -2131,7 +2134,7 @@ uint32_t Stepper::block_phase_isr() {
MIXER_STEPPER_SETUP();
#endif
#if HAS_MULTI_EXTRUDER
#if EXTRUDERS > 1
stepper_extruder = current_block->extruder;
#endif
@@ -2156,7 +2159,7 @@ uint32_t Stepper::block_phase_isr() {
|| TERN(MIXING_EXTRUDER, false, stepper_extruder != last_moved_extruder)
) {
last_direction_bits = current_block->direction_bits;
#if HAS_MULTI_EXTRUDER
#if EXTRUDERS > 1
last_moved_extruder = stepper_extruder;
#endif
@@ -2590,7 +2593,7 @@ void Stepper::init() {
set_directions();
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
initialized = true;
digipot_init();
#endif
@@ -2930,10 +2933,10 @@ void Stepper::report_positions() {
* Software-controlled Stepper Motor Current
*/
#if HAS_MOTOR_CURRENT_SPI
#if HAS_DIGIPOTSS
// From Arduino DigitalPotControl example
void Stepper::set_digipot_value_spi(const int16_t address, const int16_t value) {
void Stepper::digitalPotWrite(const int16_t address, const int16_t value) {
WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip
SPI.transfer(address); // Send the address and value via SPI
SPI.transfer(value);
@@ -2941,7 +2944,7 @@ void Stepper::report_positions() {
//delay(10);
}
#endif // HAS_MOTOR_CURRENT_SPI
#endif // HAS_DIGIPOTSS
#if HAS_MOTOR_CURRENT_PWM
@@ -2958,7 +2961,7 @@ void Stepper::report_positions() {
#if ANY_PIN(MOTOR_CURRENT_PWM_E, MOTOR_CURRENT_PWM_E0, MOTOR_CURRENT_PWM_E1)
case 2:
#endif
set_digipot_current(i, motor_current_setting[i]);
digipot_current(i, motor_current_setting[i]);
default: break;
}
}
@@ -2968,23 +2971,23 @@ void Stepper::report_positions() {
#if !MB(PRINTRBOARD_G2)
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) {
void Stepper::digipot_current(const uint8_t driver, const int16_t current) {
if (WITHIN(driver, 0, COUNT(motor_current_setting) - 1))
motor_current_setting[driver] = current; // update motor_current_setting
if (!initialized) return;
#if HAS_MOTOR_CURRENT_SPI
//SERIAL_ECHOLNPAIR("Digipotss current ", current);
#if HAS_DIGIPOTSS
SERIAL_ECHOLNPAIR("Digipotss current ", current);
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
set_digipot_value_spi(digipot_ch[driver], current);
digitalPotWrite(digipot_ch[driver], current);
#elif HAS_MOTOR_CURRENT_PWM
#define _WRITE_CURRENT_PWM(P) analogWrite(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
switch (driver) {
case 0:
@@ -3020,13 +3023,15 @@ void Stepper::report_positions() {
void Stepper::digipot_init() {
#if HAS_MOTOR_CURRENT_SPI
#if HAS_DIGIPOTSS
SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
LOOP_L_N(i, COUNT(motor_current_setting))
set_digipot_current(i, motor_current_setting[i]);
LOOP_L_N(i, COUNT(motor_current_setting)) {
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
digipot_current(i, motor_current_setting[i]);
}
#elif HAS_MOTOR_CURRENT_PWM
Marlin/src/module/stepper.h
+25 -22
View File
@@ -245,25 +245,16 @@ class Stepper {
static bool separate_multi_axis;
#endif
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_PWM
#ifndef PWM_MOTOR_CURRENT
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
#endif
#define MOTOR_CURRENT_COUNT 3
#elif HAS_MOTOR_CURRENT_SPI
static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
#define MOTOR_CURRENT_COUNT COUNT(Stepper::digipot_count)
#if HAS_MOTOR_CURRENT_PWM
#ifndef PWM_MOTOR_CURRENT
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
#endif
static bool initialized;
static uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load()
#endif
// Last-moved extruder, as set when the last movement was fetched from planner
#if HAS_MULTI_EXTRUDER
static uint8_t last_moved_extruder;
#else
static constexpr uint8_t last_moved_extruder = 0;
static uint32_t motor_current_setting[3];
#elif HAS_DIGIPOTSS
static bool initialized;
static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
static uint32_t motor_current_setting[COUNT(digipot_count)]; // Initialized by settings.load()
#endif
private:
@@ -275,6 +266,13 @@ class Stepper {
static bool abort_current_block; // Signals to the stepper that current block should be aborted
// Last-moved extruder, as set when the last movement was fetched from planner
#if EXTRUDERS < 2
static constexpr uint8_t last_moved_extruder = 0;
#elif DISABLED(MIXING_EXTRUDER)
static uint8_t last_moved_extruder;
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
static bool locked_X_motor, locked_X2_motor;
#endif
@@ -310,7 +308,7 @@ class Stepper {
decelerate_after, // The point from where we need to start decelerating
step_event_count; // The total event count for the current block
#if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
#if EXTRUDERS > 1 || ENABLED(MIXING_EXTRUDER)
static uint8_t stepper_extruder;
#else
static constexpr uint8_t stepper_extruder = 0;
@@ -457,15 +455,20 @@ class Stepper {
// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
// The extruder associated to the last movement
FORCE_INLINE static uint8_t movement_extruder() {
return (EXTRUDERS > 1 && DISABLED(MIXING_EXTRUDER)) ? last_moved_extruder : 0;
}
// Handle a triggered endstop
static void endstop_triggered(const AxisEnum axis);
// Triggered position of an axis in steps
static int32_t triggered_position(const AxisEnum axis);
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
static void set_digipot_value_spi(const int16_t address, const int16_t value);
static void set_digipot_current(const uint8_t driver, const int16_t current);
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digitalPotWrite(const int16_t address, const int16_t value);
static void digipot_current(const uint8_t driver, const int16_t current);
#endif
#if HAS_MICROSTEPS
@@ -588,7 +591,7 @@ class Stepper {
static int32_t _eval_bezier_curve(const uint32_t curr_step);
#endif
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_PWM || HAS_DIGIPOTSS
static void digipot_init();
#endif