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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program 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.
- *
- * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * stepper/L64xx.cpp
- * Stepper driver indirection for L64XX drivers
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if HAS_L64XX
-
- #include "L64xx.h"
-
- #if AXIS_IS_L64XX(X)
- L64XX_CLASS(X) stepperX(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(X2)
- L64XX_CLASS(X2) stepperX2(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(Y)
- L64XX_CLASS(Y) stepperY(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(Y2)
- L64XX_CLASS(Y2) stepperY2(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(Z)
- L64XX_CLASS(Z) stepperZ(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(Z2)
- L64XX_CLASS(Z2) stepperZ2(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(Z3)
- L64XX_CLASS(Z3) stepperZ3(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(E0)
- L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(E1)
- L64XX_CLASS(E1) stepperE1(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(E2)
- L64XX_CLASS(E2) stepperE2(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(E3)
- L64XX_CLASS(E3) stepperE3(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(E4)
- L64XX_CLASS(E4) stepperE4(L6470_CHAIN_SS_PIN);
- #endif
- #if AXIS_IS_L64XX(E5)
- L64XX_CLASS(E5) stepperE5(L6470_CHAIN_SS_PIN);
- #endif
-
- // Not using L64XX class init method because it
- // briefly sends power to the steppers
-
- inline void L6470_init_chip(L64XX &st, const int ms, const int oc, const int sc, const int mv, const int slew_rate) {
- st.set_handlers(L64xxManager.spi_init, L64xxManager.transfer_single, L64xxManager.transfer_chain); // specify which external SPI routines to use
- switch (st.L6470_status_layout) {
- case L6470_STATUS_LAYOUT: {
- st.resetDev();
- st.softFree();
- st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
- st.SetParam(L6470_KVAL_RUN, 0xFF);
- st.SetParam(L6470_KVAL_ACC, 0xFF);
- st.SetParam(L6470_KVAL_DEC, 0xFF);
- st.setMicroSteps(ms);
- st.setOverCurrent(oc);
- st.setStallCurrent(sc);
- st.SetParam(L6470_KVAL_HOLD, mv);
- st.SetParam(L6470_ABS_POS, 0);
- uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
- config_temp &= ~CONFIG_POW_SR;
- switch (slew_rate) {
- case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
- default:
- case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
- case 3:
- case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
- }
- st.getStatus();
- st.getStatus();
- break;
- }
-
- case L6474_STATUS_LAYOUT: {
- st.free();
- //st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
- //st.SetParam(L6474_TVAL, 0xFF);
- st.setMicroSteps(ms);
- st.setOverCurrent(oc);
- st.setTVALCurrent(sc);
- st.SetParam(L6470_ABS_POS, 0);
- uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
- config_temp &= ~CONFIG_POW_SR & ~CONFIG_EN_TQREG; // clear out slew rate and set current to be controlled by TVAL register
- switch (slew_rate) {
- case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
- default:
- case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
- case 3:
- case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
- //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_75V_us); break;
- //default:
- //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_110V_us); break;
- //case 3:
- //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_260V_us); break;
-
- //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
- //default:
- //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
- //case 3:
- //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
- }
- st.getStatus();
- st.getStatus();
- break;
- }
-
- case L6480_STATUS_LAYOUT: {
- st.resetDev();
- st.softFree();
- st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
- st.SetParam(L6470_KVAL_RUN, 0xFF);
- st.SetParam(L6470_KVAL_ACC, 0xFF);
- st.SetParam(L6470_KVAL_DEC, 0xFF);
- st.setMicroSteps(ms);
- st.setOverCurrent(oc);
- st.setStallCurrent(sc);
- st.SetParam(+-L6470_KVAL_HOLD, mv);
- st.SetParam(L6470_ABS_POS, 0);
- st.SetParam(st.L64XX_CONFIG,(st.GetParam(st.L64XX_CONFIG) | PWR_VCC_7_5V));
- st.getStatus(); // must clear out status bits before can set slew rate
- st.getStatus();
- switch (slew_rate) {
- case 0: st.SetParam(L6470_GATECFG1, CONFIG1_SR_220V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_220V_us); break;
- default:
- case 1: st.SetParam(L6470_GATECFG1, CONFIG1_SR_400V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_400V_us); break;
- case 2: st.SetParam(L6470_GATECFG1, CONFIG1_SR_520V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_520V_us); break;
- case 3: st.SetParam(L6470_GATECFG1, CONFIG1_SR_980V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_980V_us); break;
- }
- break;
- }
- }
- }
-
- #define L6470_INIT_CHIP(Q) L6470_init_chip(stepper##Q, Q##_MICROSTEPS, Q##_OVERCURRENT, Q##_STALLCURRENT, Q##_MAX_VOLTAGE, Q##_SLEW_RATE)
-
- void L64XX_Marlin::init_to_defaults() {
- #if AXIS_IS_L64XX(X)
- L6470_INIT_CHIP(X);
- #endif
- #if AXIS_IS_L64XX(X2)
- L6470_INIT_CHIP(X2);
- #endif
- #if AXIS_IS_L64XX(Y)
- L6470_INIT_CHIP(Y);
- #endif
- #if AXIS_IS_L64XX(Y2)
- L6470_INIT_CHIP(Y2);
- #endif
- #if AXIS_IS_L64XX(Z)
- L6470_INIT_CHIP(Z);
- #endif
- #if AXIS_IS_L64XX(Z2)
- L6470_INIT_CHIP(Z2);
- #endif
- #if AXIS_IS_L64XX(Z3)
- L6470_INIT_CHIP(Z3);
- #endif
- #if AXIS_IS_L64XX(E0)
- L6470_INIT_CHIP(E0);
- #endif
- #if AXIS_IS_L64XX(E1)
- L6470_INIT_CHIP(E1);
- #endif
- #if AXIS_IS_L64XX(E2)
- L6470_INIT_CHIP(E2);
- #endif
- #if AXIS_IS_L64XX(E3)
- L6470_INIT_CHIP(E3);
- #endif
- #if AXIS_IS_L64XX(E4)
- L6470_INIT_CHIP(E4);
- #endif
- #if AXIS_IS_L64XX(E5)
- L6470_INIT_CHIP(E5);
- #endif
- }
-
- #endif // HAS_L64XX
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