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NOTE: INCOMPLETE MERGE - DOES NOT COMPILE: Updated board_stepper files for consistency; Some errors may still exist. [1] Quadratic still used TI drivers, not Trinamics, [2] Quintic Trinmaics do not take polarity initialization values. Perhaps they would not in any case. Also, stubbed in Enable Polarity settings in config_app.cpp

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This commit is contained in:
Alden Hart
2018-05-14 04:49:29 -04:00
parent 2a6c69b805
commit 58e105b458
16 changed files with 65 additions and 48 deletions
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g2core/board/Archim/board_stepper.cpp
+11 -8
View File
@@ -3,8 +3,8 @@
* For: /board/Archim
* This file is part of g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
@@ -37,7 +37,7 @@ StepDirStepper<Motate::kSocket1_StepPinNumber,
Motate::kSocket1_Microstep_1PinNumber,
Motate::kSocket1_Microstep_2PinNumber,
Motate::kSocket1_VrefPinNumber>
motor_1{};
motor_1{M1_STEP_POLARITY, M1_ENABLE_POLARITY};
StepDirStepper<Motate::kSocket2_StepPinNumber,
Motate::kSocket2_DirPinNumber,
@@ -46,7 +46,7 @@ StepDirStepper<Motate::kSocket2_StepPinNumber,
Motate::kSocket2_Microstep_1PinNumber,
Motate::kSocket2_Microstep_2PinNumber,
Motate::kSocket2_VrefPinNumber>
motor_2{};
motor_2{M2_STEP_POLARITY, M2_ENABLE_POLARITY};
StepDirStepper<Motate::kSocket3_StepPinNumber,
Motate::kSocket3_DirPinNumber,
@@ -55,7 +55,7 @@ StepDirStepper<Motate::kSocket3_StepPinNumber,
Motate::kSocket3_Microstep_1PinNumber,
Motate::kSocket3_Microstep_2PinNumber,
Motate::kSocket3_VrefPinNumber>
motor_3{};
motor_3{M3_STEP_POLARITY, M3_ENABLE_POLARITY};
StepDirStepper<Motate::kSocket4_StepPinNumber,
Motate::kSocket4_DirPinNumber,
@@ -64,7 +64,7 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
Motate::kSocket4_Microstep_1PinNumber,
Motate::kSocket4_Microstep_2PinNumber,
Motate::kSocket4_VrefPinNumber>
motor_4{};
motor_4{M4_STEP_POLARITY, M4_ENABLE_POLARITY};
// StepDirStepper<
// Motate::kSocket5_StepPinNumber,
@@ -73,7 +73,8 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
// Motate::kSocket5_Microstep_0PinNumber,
// Motate::kSocket5_Microstep_1PinNumber,
// Motate::kSocket5_Microstep_2PinNumber,
// Motate::kSocket5_VrefPinNumber> motor_5 {};
// Motate::kSocket5_VrefPinNumber>
// motor_5 {M5_STEP_POLARITY, M5_ENABLE_POLARITY};
// StepDirStepper<
// Motate::kSocket6_StepPinNumber,
@@ -82,7 +83,9 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
// Motate::kSocket6_Microstep_0PinNumber,
// Motate::kSocket6_Microstep_1PinNumber,
// Motate::kSocket6_Microstep_2PinNumber,
// Motate::kSocket6_VrefPinNumber> motor_6 {};
// Motate::kSocket6_VrefPinNumber>
// motor_6 {M6_STEP_POLARITY, M6_ENABLE_POLARITY};
Stepper* Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4};
g2core/board/Archim/board_stepper.h
+6 -4
View File
@@ -3,8 +3,8 @@
* For: /board/Archim
* This file is part of g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
@@ -75,7 +75,8 @@ extern StepDirStepper<Motate::kSocket4_StepPinNumber,
// Motate::kSocket5_Microstep_0PinNumber,
// Motate::kSocket5_Microstep_1PinNumber,
// Motate::kSocket5_Microstep_2PinNumber,
// Motate::kSocket5_VrefPinNumber> motor_5;
// Motate::kSocket5_VrefPinNumber>
// motor_5;
// extern StepDirStepper<
// Motate::kSocket6_StepPinNumber,
@@ -84,7 +85,8 @@ extern StepDirStepper<Motate::kSocket4_StepPinNumber,
// Motate::kSocket6_Microstep_0PinNumber,
// Motate::kSocket6_Microstep_1PinNumber,
// Motate::kSocket6_Microstep_2PinNumber,
// Motate::kSocket6_VrefPinNumber> motor_6 {};
// Motate::kSocket6_VrefPinNumber>
// motor_6;
extern Stepper* Motors[MOTORS];
g2core/board/ArduinoDue/board_stepper.cpp
+2 -2
View File
@@ -3,8 +3,8 @@
* For: /board/ArduinoDue
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
g2core/board/ArduinoDue/board_stepper.h
+2 -2
View File
@@ -3,8 +3,8 @@
* For: /board/ArduinoDue
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
g2core/board/G2v9/board_stepper.cpp
+6 -4
View File
@@ -3,8 +3,8 @@
* For: /board/g2v9
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
@@ -73,7 +73,8 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
// Motate::kSocket5_Microstep_0PinNumber,
// Motate::kSocket5_Microstep_1PinNumber,
// Motate::kSocket5_Microstep_2PinNumber,
// Motate::kSocket5_VrefPinNumber> motor_5 {M5_STEP_POLARITY, M5_ENABLE_POLARITY};
// Motate::kSocket5_VrefPinNumber>
// motor_5 {M5_STEP_POLARITY, M5_ENABLE_POLARITY};
// StepDirStepper<
// Motate::kSocket6_StepPinNumber,
@@ -82,7 +83,8 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
// Motate::kSocket6_Microstep_0PinNumber,
// Motate::kSocket6_Microstep_1PinNumber,
// Motate::kSocket6_Microstep_2PinNumber,
// Motate::kSocket6_VrefPinNumber> motor_6 {M6_STEP_POLARITY, M6_ENABLE_POLARITY};
// Motate::kSocket6_VrefPinNumber>
// motor_6 {M6_STEP_POLARITY, M6_ENABLE_POLARITY};
Stepper* Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4};
g2core/board/G2v9/board_stepper.h
+2 -2
View File
@@ -3,8 +3,8 @@
* For: /board/g2v9
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
g2core/board/gquadratic/board_stepper.cpp
+2 -2
View File
@@ -3,8 +3,8 @@
* For: /board/gQuadratic
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
g2core/board/gquadratic/board_stepper.h
+2 -2
View File
@@ -3,8 +3,8 @@
* For: /board/gQuadratic
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
g2core/board/gquintic/board_stepper.cpp
+6 -2
View File
@@ -3,8 +3,8 @@
* For: /board/gQuintic
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
@@ -43,21 +43,25 @@ Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket1_DirPinNumber,
Motate::kSocket1_EnablePinNumber>
motor_1{spiBus, spiCSPinMux.getCS(4)};
Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket2_StepPinNumber,
Motate::kSocket2_DirPinNumber,
Motate::kSocket2_EnablePinNumber>
motor_2{spiBus, spiCSPinMux.getCS(3)};
Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket3_StepPinNumber,
Motate::kSocket3_DirPinNumber,
Motate::kSocket3_EnablePinNumber>
motor_3{spiBus, spiCSPinMux.getCS(2)};
Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket4_StepPinNumber,
Motate::kSocket4_DirPinNumber,
Motate::kSocket4_EnablePinNumber>
motor_4{spiBus, spiCSPinMux.getCS(1)};
Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket5_StepPinNumber,
Motate::kSocket5_DirPinNumber,
g2core/board/gquintic/board_stepper.h
+6 -2
View File
@@ -3,8 +3,8 @@
* For: /board/gQuintic
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
@@ -40,21 +40,25 @@ extern Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket1_DirPinNumber,
Motate::kSocket1_EnablePinNumber>
motor_1;
extern Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket2_StepPinNumber,
Motate::kSocket2_DirPinNumber,
Motate::kSocket2_EnablePinNumber>
motor_2;
extern Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket3_StepPinNumber,
Motate::kSocket3_DirPinNumber,
Motate::kSocket3_EnablePinNumber>
motor_3;
extern Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket4_StepPinNumber,
Motate::kSocket4_DirPinNumber,
Motate::kSocket4_EnablePinNumber>
motor_4;
extern Trinamic2130<SPIBus_used_t::SPIBusDevice,
Motate::kSocket5_StepPinNumber,
Motate::kSocket5_DirPinNumber,
g2core/board/printrboardg2/board_stepper.cpp
+4 -4
View File
@@ -3,8 +3,8 @@
* For: /board/printrboardg2
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
@@ -74,7 +74,7 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
// Motate::kSocket5_Microstep_1PinNumber,
// Motate::kSocket5_Microstep_2PinNumber,
// Motate::kSocket5_VrefPinNumber>
// motor_5 {M5_ENABLE_POLARITY};
// motor_5 {M4_STEP_POLARITY, M4_ENABLE_POLARITY};
// StepDirStepper<
// Motate::kSocket6_StepPinNumber,
@@ -84,7 +84,7 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
// Motate::kSocket6_Microstep_1PinNumber,
// Motate::kSocket6_Microstep_2PinNumber,
// Motate::kSocket6_VrefPinNumber>
// motor_6 {M6_ENABLE_POLARITY};
// motor_6 {M4_STEP_POLARITY, M4_ENABLE_POLARITY};
Stepper* Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4};
g2core/board/printrboardg2/board_stepper.h
+2 -2
View File
@@ -3,8 +3,8 @@
* For: /board/printrboardg2
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
g2core/board/sbv300/board_stepper.cpp
+2 -2
View File
@@ -3,8 +3,8 @@
* For: /board/sbv300
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
g2core/board/sbv300/board_stepper.h
+2 -2
View File
@@ -3,8 +3,8 @@
* For: /board/sbv300
* This file is part of the g2core project
*
* Copyright (c) 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
* Copyright (c) 2016 - 2018 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2018 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
g2core/config_app.cpp
+6 -1
View File
@@ -406,7 +406,7 @@ const cfgItem_t cfgArray[] = {
{ "1","1su",_fipi,5, st_print_su, st_get_su, st_set_su, nullptr, M1_STEPS_PER_UNIT },
{ "1","1mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, nullptr, M1_MICROSTEPS },
{ "1","1po",_iip, 0, st_print_po, st_get_po, st_set_po, nullptr, M1_POLARITY },
{ "1","1ep",_fip, 0, st_print_ep, st_get_ep, st_set_ep, nullptr, M1_ENABLE_POLARITY },
// { "1","1ep",_fip, 0, st_print_ep, st_get_ep, st_set_ep, nullptr, M1_ENABLE_POLARITY },
{ "1","1pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, nullptr, M1_POWER_MODE },
{ "1","1pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, nullptr, M1_POWER_LEVEL },
{ "1","1sp",_fip, 0, st_print_sp, st_get_sp, st_set_sp, nullptr, M1_STEP_POLARITY },
@@ -419,6 +419,7 @@ const cfgItem_t cfgArray[] = {
{ "2","2su",_fipi,5, st_print_su, st_get_su, st_set_su, nullptr, M2_STEPS_PER_UNIT },
{ "2","2mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, nullptr, M2_MICROSTEPS },
{ "2","2po",_iip, 0, st_print_po, st_get_po, st_set_po, nullptr, M2_POLARITY },
// { "2","2ep",_fip, 0, st_print_ep, st_get_ep, st_set_ep, nullptr, M2_ENABLE_POLARITY },
{ "2","2pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, nullptr, M2_POWER_MODE },
{ "2","2pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, nullptr, M2_POWER_LEVEL},
{ "2","2sp",_fip, 0, st_print_sp, st_get_sp, st_set_sp, nullptr, M2_STEP_POLARITY },
@@ -432,6 +433,7 @@ const cfgItem_t cfgArray[] = {
{ "3","3su",_fipi,5, st_print_su, st_get_su, st_set_su, nullptr, M3_STEPS_PER_UNIT },
{ "3","3mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, nullptr, M3_MICROSTEPS },
{ "3","3po",_iip, 0, st_print_po, st_get_po, st_set_po, nullptr, M3_POLARITY },
// { "3","3ep",_fip, 0, st_print_ep, st_get_ep, st_set_ep, nullptr, M3_ENABLE_POLARITY },
{ "3","3pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, nullptr, M3_POWER_MODE },
{ "3","3pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, nullptr, M3_POWER_LEVEL },
{ "3","3sp",_fip, 0, st_print_sp, st_get_sp, st_set_sp, nullptr, M3_STEP_POLARITY },
@@ -445,6 +447,7 @@ const cfgItem_t cfgArray[] = {
{ "4","4su",_fipi,5, st_print_su, st_get_su, st_set_su, nullptr, M4_STEPS_PER_UNIT },
{ "4","4mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, nullptr, M4_MICROSTEPS },
{ "4","4po",_iip, 0, st_print_po, st_get_po, st_set_po, nullptr, M4_POLARITY },
// { "4","4ep",_fip, 0, st_print_ep, st_get_ep, st_set_ep, nullptr, M4_ENABLE_POLARITY },
{ "4","4pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, nullptr, M4_POWER_MODE },
{ "4","4pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, nullptr, M4_POWER_LEVEL },
{ "4","4sp",_fip, 0, st_print_sp, st_get_sp, st_set_sp, nullptr, M4_STEP_POLARITY },
@@ -458,6 +461,7 @@ const cfgItem_t cfgArray[] = {
{ "5","5su",_fipi,5, st_print_su, st_get_su, st_set_su, nullptr, M5_STEPS_PER_UNIT },
{ "5","5mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, nullptr, M5_MICROSTEPS },
{ "5","5po",_iip, 0, st_print_po, st_get_po, st_set_po, nullptr, M5_POLARITY },
// { "5","5ep",_fip, 0, st_print_ep, st_get_ep, st_set_ep, nullptr, M5_ENABLE_POLARITY },
{ "5","5pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, nullptr, M5_POWER_MODE },
{ "5","5pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, nullptr, M5_POWER_LEVEL },
{ "5","5sp",_fip, 0, st_print_sp, st_get_sp, st_set_sp, nullptr, M5_STEP_POLARITY },
@@ -471,6 +475,7 @@ const cfgItem_t cfgArray[] = {
{ "6","6su",_fipi,5, st_print_su, st_get_su, st_set_su, nullptr, M6_STEPS_PER_UNIT },
{ "6","6mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, nullptr, M6_MICROSTEPS },
{ "6","6po",_iip, 0, st_print_po, st_get_po, st_set_po, nullptr, M6_POLARITY },
// { "6","6ep",_fip, 0, st_print_ep, st_get_ep, st_set_ep, nullptr, M6_ENABLE_POLARITY },
{ "6","6pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, nullptr, M6_POWER_MODE },
{ "6","6pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, nullptr, M6_POWER_LEVEL },
{ "6","6sp",_fip, 0, st_print_sp, st_get_sp, st_set_sp, nullptr, M6_STEP_POLARITY },
g2core/stepper.h
+4 -7
View File
@@ -607,17 +607,14 @@ stat_t st_get_mi(nvObj_t *nv);
stat_t st_set_mi(nvObj_t *nv);
stat_t st_get_su(nvObj_t *nv);
stat_t st_set_su(nvObj_t *nv);
//<<<<<<< HEAD
stat_t st_set_ep(nvObj_t *nv);
stat_t st_get_ep(nvObj_t *nv);
//stat_t st_set_ep(nvObj_t *nv);
//stat_t st_get_ep(nvObj_t *nv);
stat_t st_set_sp(nvObj_t *nv);
stat_t st_get_sp(nvObj_t *nv);
stat_t st_set_pm(nvObj_t *nv);
/* =======
stat_t st_get_po(nvObj_t *nv);
stat_t st_set_po(nvObj_t *nv);
>>>>>>> refs/heads/edge
*/
stat_t st_get_pm(nvObj_t *nv);
stat_t st_set_pm(nvObj_t *nv);
stat_t st_get_pl(nvObj_t *nv);