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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/>.
- *
- */
-
- /**
- * The monitor_driver routines are a close copy of the TMC code
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if HAS_L64XX
-
- #include "L64XX_Marlin.h"
-
- L64XX_Marlin L64xxManager;
-
- #include "../../module/stepper/indirection.h"
- #include "../../gcode/gcode.h"
- #include "../../module/planner.h"
- #include "../../HAL/shared/Delay.h"
-
- void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); }
-
- char L64XX_Marlin::index_to_axis[MAX_L64XX][3] = { "X ", "Y ", "Z ", "X2", "Y2", "Z2", "Z3", "Z4", "E0", "E1", "E2", "E3", "E4", "E5", "E6", "E7" };
-
- #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
- #include "../../core/debug_out.h"
-
- uint8_t L64XX_Marlin::dir_commands[MAX_L64XX]; // array to hold direction command for each driver
-
- uint8_t L64XX_Marlin::index_to_dir[MAX_L64XX] = { (INVERT_X_DIR), // 0 X
- (INVERT_Y_DIR), // 1 Y
- (INVERT_Z_DIR), // 2 Z
- #if ENABLED(X_DUAL_STEPPER_DRIVERS) // 3 X2
- (INVERT_X_DIR) ^ (INVERT_X2_VS_X_DIR),
- #else
- (INVERT_X_DIR),
- #endif
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS) // 4 Y2
- (INVERT_Y_DIR) ^ (INVERT_Y2_VS_Y_DIR),
- #else
- (INVERT_Y_DIR),
- #endif
- (INVERT_Z_DIR), // 5 Z2
- (INVERT_Z_DIR), // 6 Z3
- (INVERT_Z_DIR), // 7 Z4
-
- (INVERT_E0_DIR), // 8 E0
- (INVERT_E1_DIR), // 9 E1
- (INVERT_E2_DIR), // 10 E2
- (INVERT_E3_DIR), // 11 E3
- (INVERT_E4_DIR), // 12 E4
- (INVERT_E5_DIR), // 13 E5
- (INVERT_E6_DIR), // 14 E6
- (INVERT_E7_DIR) // 15 E7
- };
-
- volatile uint8_t L64XX_Marlin::spi_abort = false;
- uint8_t L64XX_Marlin::spi_active = false;
-
- L64XX_Marlin::L64XX_shadow_t L64XX_Marlin::shadow;
-
- //uint32_t UVLO_ADC = 0x0400; // ADC undervoltage event
-
- void L6470_populate_chain_array() {
-
- #define _L6470_INIT_SPI(Q) do{ stepper##Q.set_chain_info(Q, Q##_CHAIN_POS); }while(0)
-
- #if AXIS_IS_L64XX(X)
- _L6470_INIT_SPI(X);
- #endif
- #if AXIS_IS_L64XX(X2)
- _L6470_INIT_SPI(X2);
- #endif
- #if AXIS_IS_L64XX(Y)
- _L6470_INIT_SPI(Y);
- #endif
- #if AXIS_IS_L64XX(Y2)
- _L6470_INIT_SPI(Y2);
- #endif
- #if AXIS_IS_L64XX(Z)
- _L6470_INIT_SPI(Z);
- #endif
- #if AXIS_IS_L64XX(Z2)
- _L6470_INIT_SPI(Z2);
- #endif
- #if AXIS_IS_L64XX(Z3)
- _L6470_INIT_SPI(Z3);
- #endif
- #if AXIS_IS_L64XX(Z4)
- _L6470_INIT_SPI(Z4);
- #endif
- #if AXIS_IS_L64XX(E0)
- _L6470_INIT_SPI(E0);
- #endif
- #if AXIS_IS_L64XX(E1)
- _L6470_INIT_SPI(E1);
- #endif
- #if AXIS_IS_L64XX(E2)
- _L6470_INIT_SPI(E2);
- #endif
- #if AXIS_IS_L64XX(E3)
- _L6470_INIT_SPI(E3);
- #endif
- #if AXIS_IS_L64XX(E4)
- _L6470_INIT_SPI(E4);
- #endif
- #if AXIS_IS_L64XX(E5)
- _L6470_INIT_SPI(E5);
- #endif
- }
-
-
- /**
- * Some status bit positions & definitions differ per driver.
- * Copy info to known locations to simplfy check/display logic.
- * 1. Copy stepper status
- * 2. Copy status bit definitions
- * 3. Copy status layout
- * 4. Make all error bits active low (as needed)
- */
- uint16_t L64XX_Marlin::get_stepper_status(L64XX &st) {
- shadow.STATUS_AXIS_RAW = st.getStatus();
- shadow.STATUS_AXIS = shadow.STATUS_AXIS_RAW;
- shadow.STATUS_AXIS_LAYOUT = st.L6470_status_layout;
- shadow.AXIS_OCD_TH_MAX = st.OCD_TH_MAX;
- shadow.AXIS_STALL_TH_MAX = st.STALL_TH_MAX;
- shadow.AXIS_OCD_CURRENT_CONSTANT_INV = st.OCD_CURRENT_CONSTANT_INV;
- shadow.AXIS_STALL_CURRENT_CONSTANT_INV = st.STALL_CURRENT_CONSTANT_INV;
- shadow.L6470_AXIS_CONFIG = st.L64XX_CONFIG;
- shadow.L6470_AXIS_STATUS = st.L64XX_STATUS;
- shadow.STATUS_AXIS_OCD = st.STATUS_OCD;
- shadow.STATUS_AXIS_SCK_MOD = st.STATUS_SCK_MOD;
- shadow.STATUS_AXIS_STEP_LOSS_A = st.STATUS_STEP_LOSS_A;
- shadow.STATUS_AXIS_STEP_LOSS_B = st.STATUS_STEP_LOSS_B;
- shadow.STATUS_AXIS_TH_SD = st.STATUS_TH_SD;
- shadow.STATUS_AXIS_TH_WRN = st.STATUS_TH_WRN;
- shadow.STATUS_AXIS_UVLO = st.STATUS_UVLO;
- shadow.STATUS_AXIS_WRONG_CMD = st.STATUS_WRONG_CMD;
- shadow.STATUS_AXIS_CMD_ERR = st.STATUS_CMD_ERR;
- shadow.STATUS_AXIS_NOTPERF_CMD = st.STATUS_NOTPERF_CMD;
-
- switch (shadow.STATUS_AXIS_LAYOUT) {
- case L6470_STATUS_LAYOUT: { // L6470
- shadow.L6470_ERROR_MASK = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD | shadow.STATUS_AXIS_STEP_LOSS_A | shadow.STATUS_AXIS_STEP_LOSS_B;
- shadow.STATUS_AXIS ^= (shadow.STATUS_AXIS_WRONG_CMD | shadow.STATUS_AXIS_NOTPERF_CMD); // invert just error bits that are active high
- break;
- }
- case L6474_STATUS_LAYOUT: { // L6474
- shadow.L6470_ERROR_MASK = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD ;
- shadow.STATUS_AXIS ^= (shadow.STATUS_AXIS_WRONG_CMD | shadow.STATUS_AXIS_NOTPERF_CMD); // invert just error bits that are active high
- break;
- }
- case L6480_STATUS_LAYOUT: { // L6480 & powerSTEP01
- shadow.L6470_ERROR_MASK = shadow.STATUS_AXIS_UVLO | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD | shadow.STATUS_AXIS_OCD | shadow.STATUS_AXIS_STEP_LOSS_A | shadow.STATUS_AXIS_STEP_LOSS_B;
- shadow.STATUS_AXIS ^= (shadow.STATUS_AXIS_CMD_ERR | shadow.STATUS_AXIS_TH_WRN | shadow.STATUS_AXIS_TH_SD); // invert just error bits that are active high
- break;
- }
- }
- return shadow.STATUS_AXIS;
- }
-
-
- void L64XX_Marlin::init() { // Set up SPI and then init chips
- ENABLE_RESET_L64XX_CHIPS(LOW); // hardware reset of drivers
- DELAY_US(100);
- ENABLE_RESET_L64XX_CHIPS(HIGH);
- DELAY_US(1000); // need about 650µs for the chip(s) to fully start up
- L6470_populate_chain_array(); // Set up array to control where in the SPI transfer sequence a particular stepper's data goes
-
- spi_init(); // Since L64XX SPI pins are unset we must init SPI here
-
- init_to_defaults(); // init the chips
- }
-
- uint16_t L64XX_Marlin::get_status(const L64XX_axis_t axis) {
-
- #define STATUS_L6470(Q) get_stepper_status(stepper##Q)
-
- switch (axis) {
- default: break;
- #if AXIS_IS_L64XX(X)
- case X : return STATUS_L6470(X);
- #endif
- #if AXIS_IS_L64XX(Y)
- case Y : return STATUS_L6470(Y);
- #endif
- #if AXIS_IS_L64XX(Z)
- case Z : return STATUS_L6470(Z);
- #endif
- #if AXIS_IS_L64XX(X2)
- case X2: return STATUS_L6470(X2);
- #endif
- #if AXIS_IS_L64XX(Y2)
- case Y2: return STATUS_L6470(Y2);
- #endif
- #if AXIS_IS_L64XX(Z2)
- case Z2: return STATUS_L6470(Z2);
- #endif
- #if AXIS_IS_L64XX(Z3)
- case Z3: return STATUS_L6470(Z3);
- #endif
- #if AXIS_IS_L64XX(Z4)
- case Z4: return STATUS_L6470(Z4);
- #endif
- #if AXIS_IS_L64XX(E0)
- case E0: return STATUS_L6470(E0);
- #endif
- #if AXIS_IS_L64XX(E1)
- case E1: return STATUS_L6470(E1);
- #endif
- #if AXIS_IS_L64XX(E2)
- case E2: return STATUS_L6470(E2);
- #endif
- #if AXIS_IS_L64XX(E3)
- case E3: return STATUS_L6470(E3);
- #endif
- #if AXIS_IS_L64XX(E4)
- case E4: return STATUS_L6470(E4);
- #endif
- #if AXIS_IS_L64XX(E5)
- case E5: return STATUS_L6470(E5);
- #endif
- }
-
- return 0; // Not needed but kills a compiler warning
- }
-
- uint32_t L64XX_Marlin::get_param(const L64XX_axis_t axis, const uint8_t param) {
-
- #define GET_L6470_PARAM(Q) L6470_GETPARAM(param, Q)
-
- switch (axis) {
- default: break;
- #if AXIS_IS_L64XX(X)
- case X : return GET_L6470_PARAM(X);
- #endif
- #if AXIS_IS_L64XX(Y)
- case Y : return GET_L6470_PARAM(Y);
- #endif
- #if AXIS_IS_L64XX(Z)
- case Z : return GET_L6470_PARAM(Z);
- #endif
- #if AXIS_IS_L64XX(X2)
- case X2: return GET_L6470_PARAM(X2);
- #endif
- #if AXIS_IS_L64XX(Y2)
- case Y2: return GET_L6470_PARAM(Y2);
- #endif
- #if AXIS_IS_L64XX(Z2)
- case Z2: return GET_L6470_PARAM(Z2);
- #endif
- #if AXIS_IS_L64XX(Z3)
- case Z3: return GET_L6470_PARAM(Z3);
- #endif
- #if AXIS_IS_L64XX(Z4)
- case Z4: return GET_L6470_PARAM(Z4);
- #endif
- #if AXIS_IS_L64XX(E0)
- case E0: return GET_L6470_PARAM(E0);
- #endif
- #if AXIS_IS_L64XX(E1)
- case E1: return GET_L6470_PARAM(E1);
- #endif
- #if AXIS_IS_L64XX(E2)
- case E2: return GET_L6470_PARAM(E2);
- #endif
- #if AXIS_IS_L64XX(E3)
- case E3: return GET_L6470_PARAM(E3);
- #endif
- #if AXIS_IS_L64XX(E4)
- case E4: return GET_L6470_PARAM(E4);
- #endif
- #if AXIS_IS_L64XX(E5)
- case E5: return GET_L6470_PARAM(E5);
- #endif
- }
-
- return 0; // not needed but kills a compiler warning
- }
-
- void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const uint32_t value) {
-
- #define SET_L6470_PARAM(Q) stepper##Q.SetParam(param, value)
-
- switch (axis) {
- default: break;
- #if AXIS_IS_L64XX(X)
- case X : SET_L6470_PARAM(X); break;
- #endif
- #if AXIS_IS_L64XX(Y)
- case Y : SET_L6470_PARAM(Y); break;
- #endif
- #if AXIS_IS_L64XX(Z)
- case Z : SET_L6470_PARAM(Z); break;
- #endif
- #if AXIS_IS_L64XX(X2)
- case X2: SET_L6470_PARAM(X2); break;
- #endif
- #if AXIS_IS_L64XX(Y2)
- case Y2: SET_L6470_PARAM(Y2); break;
- #endif
- #if AXIS_IS_L64XX(Z2)
- case Z2: SET_L6470_PARAM(Z2); break;
- #endif
- #if AXIS_IS_L64XX(Z3)
- case Z3: SET_L6470_PARAM(Z3); break;
- #endif
- #if AXIS_IS_L64XX(Z4)
- case Z4: SET_L6470_PARAM(Z4); break;
- #endif
- #if AXIS_IS_L64XX(E0)
- case E0: SET_L6470_PARAM(E0); break;
- #endif
- #if AXIS_IS_L64XX(E1)
- case E1: SET_L6470_PARAM(E1); break;
- #endif
- #if AXIS_IS_L64XX(E2)
- case E2: SET_L6470_PARAM(E2); break;
- #endif
- #if AXIS_IS_L64XX(E3)
- case E3: SET_L6470_PARAM(E3); break;
- #endif
- #if AXIS_IS_L64XX(E4)
- case E4: SET_L6470_PARAM(E4); break;
- #endif
- #if AXIS_IS_L64XX(E5)
- case E5: SET_L6470_PARAM(E5); break;
- #endif
- }
- }
-
- inline void echo_min_max(const char a, const float &min, const float &max) {
- DEBUG_CHAR(' '); DEBUG_CHAR(a);
- DEBUG_ECHOPAIR(" min = ", min);
- DEBUG_ECHOLNPAIR(" max = ", max);
- }
- inline void echo_oct_used(const float &oct, const uint8_t stall) {
- DEBUG_ECHOPAIR("over_current_threshold used : ", oct);
- serialprintPGM(stall ? PSTR(" (Stall") : PSTR(" (OCD"));
- DEBUG_ECHOLNPGM(" threshold)");
- }
- inline void err_out_of_bounds() { DEBUG_ECHOLNPGM("Test aborted - motion out of bounds"); }
-
- uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_index[3], char axis_mon[3][3],
- float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
- uint8_t over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold
- ) {
- // Return TRUE if the calling routine needs to abort/kill
-
- uint16_t displacement = 0; // " = 0" to eliminate compiler warning
- uint8_t j; // general purpose counter
-
- if (!all_axes_homed()) {
- DEBUG_ECHOLNPGM("Test aborted - home all before running this command");
- return true;
- }
-
- uint8_t found_displacement = false;
- LOOP_XYZE(i) if (uint16_t _displacement = parser.intval(axis_codes[i])) {
- found_displacement = true;
- displacement = _displacement;
- uint8_t axis_offset = parser.byteval('J');
- axis_mon[0][0] = axis_codes[i]; // axis ASCII value (target character)
- uint8_t driver_count_local = 0; // Can't use "driver_count" directly as a subscript because it's passed by reference
- if (axis_offset >= 2 || axis_mon[0][0] == 'E') { // Single axis, E0, or E1
- axis_mon[0][1] = axis_offset + '0';
- for (j = 0; j < MAX_L64XX; j++) { // See how many drivers on this axis
- const char * const str = index_to_axis[j];
- if (axis_mon[0][0] == str[0]) {
- char * const mon = axis_mon[driver_count_local];
- mon[0] = str[0];
- mon[1] = str[1];
- mon[2] = str[2]; // append end of string
- axis_index[driver_count_local] = (L64XX_axis_t)j; // set axis index
- driver_count_local++;
- }
- }
- }
- else if (axis_offset == 0) { // One or more axes
- for (j = 0; j < MAX_L64XX; j++) { // See how many drivers on this axis
- const char * const str = index_to_axis[j];
- if (axis_mon[0][0] == str[0]) {
- char * const mon = axis_mon[driver_count_local];
- mon[0] = str[0];
- mon[1] = str[1];
- mon[2] = str[2]; // append end of string
- axis_index[driver_count_local] = (L64XX_axis_t)j; // set axis index
- driver_count_local++;
- }
- }
- driver_count = driver_count_local;
- }
- break; // only take first axis found
- }
-
- if (!found_displacement) {
- DEBUG_ECHOLNPGM("Test aborted - AXIS with displacement is required");
- return true;
- }
-
- //
- // Position calcs & checks
- //
-
- const float X_center = LOGICAL_X_POSITION(current_position.x),
- Y_center = LOGICAL_Y_POSITION(current_position.y),
- Z_center = LOGICAL_Z_POSITION(current_position.z),
- E_center = current_position.e;
-
- switch (axis_mon[0][0]) {
- default: position_max = position_min = 0; break;
-
- case 'X': {
- position_min = X_center - displacement;
- position_max = X_center + displacement;
- echo_min_max('X', position_min, position_max);
- if (false
- #ifdef X_MIN_POS
- || position_min < (X_MIN_POS)
- #endif
- #ifdef X_MAX_POS
- || position_max > (X_MAX_POS)
- #endif
- ) {
- err_out_of_bounds();
- return true;
- }
- } break;
-
- case 'Y': {
- position_min = Y_center - displacement;
- position_max = Y_center + displacement;
- echo_min_max('Y', position_min, position_max);
- if (false
- #ifdef Y_MIN_POS
- || position_min < (Y_MIN_POS)
- #endif
- #ifdef Y_MAX_POS
- || position_max > (Y_MAX_POS)
- #endif
- ) {
- err_out_of_bounds();
- return true;
- }
- } break;
-
- case 'Z': {
- position_min = Z_center - displacement;
- position_max = Z_center + displacement;
- echo_min_max('Z', position_min, position_max);
- if (false
- #ifdef Z_MIN_POS
- || position_min < (Z_MIN_POS)
- #endif
- #ifdef Z_MAX_POS
- || position_max > (Z_MAX_POS)
- #endif
- ) {
- err_out_of_bounds();
- return true;
- }
- } break;
-
- case 'E': {
- position_min = E_center - displacement;
- position_max = E_center + displacement;
- echo_min_max('E', position_min, position_max);
- } break;
- }
-
- //
- // Work on the drivers
- //
-
- for (uint8_t k = 0; k < driver_count; k++) {
- uint8_t not_found = true;
- for (j = 1; j <= L64XX::chain[0]; j++) {
- const char * const ind_axis = index_to_axis[L64XX::chain[j]];
- if (ind_axis[0] == axis_mon[k][0] && ind_axis[1] == axis_mon[k][1]) { // See if a L6470 driver
- not_found = false;
- break;
- }
- }
- if (not_found) {
- driver_count = k;
- axis_mon[k][0] = ' '; // mark this entry invalid
- break;
- }
- }
-
- if (driver_count == 0) {
- DEBUG_ECHOLNPGM("Test aborted - not a L6470 axis");
- return true;
- }
-
- DEBUG_ECHOPGM("Monitoring:");
- for (j = 0; j < driver_count; j++) DEBUG_ECHOPAIR(" ", axis_mon[j]);
- DEBUG_EOL();
-
- // now have a list of driver(s) to monitor
-
- //
- // TVAL & kVAL_HOLD checks & settings
- //
- const L64XX_shadow_t &sh = shadow;
- get_status(axis_index[0]); // populate shadow array
-
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // L6474 - use TVAL
- uint16_t TVAL_current = parser.ushortval('T');
- if (TVAL_current) {
- uint8_t TVAL_count = (TVAL_current / sh.AXIS_STALL_CURRENT_CONSTANT_INV) - 1;
- LIMIT(TVAL_count, 0, sh.AXIS_STALL_TH_MAX);
- for (j = 0; j < driver_count; j++)
- set_param(axis_index[j], L6474_TVAL, TVAL_count);
- }
- // only print the tval from one of the drivers
- kval_hold = get_param(axis_index[0], L6474_TVAL);
- DEBUG_ECHOLNPAIR("TVAL current (mA) = ", (kval_hold + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV);
- }
- else {
- kval_hold = parser.byteval('K');
- if (kval_hold) {
- DEBUG_ECHOLNPAIR("kval_hold = ", kval_hold);
- for (j = 0; j < driver_count; j++)
- set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
- }
- else {
- // only print the KVAL_HOLD from one of the drivers
- kval_hold = get_param(axis_index[0], L6470_KVAL_HOLD);
- DEBUG_ECHOLNPAIR("KVAL_HOLD = ", kval_hold);
- }
- }
-
- //
- // Overcurrent checks & settings
- //
-
- if (over_current_flag) {
-
- uint8_t OCD_TH_val_local = 0, // compiler thinks OCD_TH_val is unused if use it directly
- STALL_TH_val_local = 0; // just in case ...
-
- over_current_threshold = parser.intval('I');
-
- if (over_current_threshold) {
-
- OCD_TH_val_local = over_current_threshold/375;
- LIMIT(OCD_TH_val_local, 0, 15);
- STALL_TH_val_local = over_current_threshold/31.25;
- LIMIT(STALL_TH_val_local, 0, 127);
- uint16_t OCD_TH_actual = (OCD_TH_val_local + 1) * 375,
- STALL_TH_actual = (STALL_TH_val_local + 1) * 31.25;
- if (OCD_TH_actual < STALL_TH_actual) {
- OCD_TH_val_local++;
- OCD_TH_actual = (OCD_TH_val_local + 1) * 375;
- }
-
- DEBUG_ECHOLNPAIR("over_current_threshold specified: ", over_current_threshold);
- if (!(sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)) echo_oct_used((STALL_TH_val_local + 1) * 31.25, true);
- echo_oct_used((OCD_TH_val_local + 1) * 375, false);
-
- #define SET_OVER_CURRENT(Q) do { stepper##Q.SetParam(L6470_STALL_TH, STALL_TH_val_local); stepper##Q.SetParam(L6470_OCD_TH, OCD_TH_val_local);} while (0)
-
- for (j = 0; j < driver_count; j++) {
- set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
- set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
- }
- }
- else {
- // only get & print the OVER_CURRENT values from one of the drivers
- STALL_TH_val_local = get_param(axis_index[0], L6470_STALL_TH);
- OCD_TH_val_local = get_param(axis_index[0], L6470_OCD_TH);
-
- if (!(sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)) echo_oct_used((STALL_TH_val_local + 1) * 31.25, true);
- echo_oct_used((OCD_TH_val_local + 1) * 375, false);
- } // over_current_threshold
-
- for (j = 0; j < driver_count; j++) { // set all drivers on axis the same
- set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
- set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
- }
-
- OCD_TH_val = OCD_TH_val_local; // force compiler to update the main routine's copy
- STALL_TH_val = STALL_TH_val_local; // force compiler to update the main routine's copy
- } // end of overcurrent
-
- //
- // Feedrate
- //
-
- final_feedrate = parser.floatval('F');
- if (final_feedrate == 0) {
- static constexpr float default_max_feedrate[] = DEFAULT_MAX_FEEDRATE;
- const uint8_t num_feedrates = COUNT(default_max_feedrate);
- for (j = 0; j < num_feedrates; j++) {
- if (axis_codes[j] == axis_mon[0][0]) {
- final_feedrate = default_max_feedrate[j];
- break;
- }
- }
- if (j == 3 && num_feedrates > 4) { // have more than one extruder feedrate
- uint8_t extruder_num = axis_mon[0][1] - '0';
- if (j <= num_feedrates - extruder_num) // have a feedrate specifically for this extruder
- final_feedrate = default_max_feedrate[j + extruder_num];
- else
- final_feedrate = default_max_feedrate[3]; // use E0 feedrate for this extruder
- }
- final_feedrate *= 60; // convert to mm/minute
- } // end of feedrate
-
- return false; // FALSE indicates no user input problems
- }
-
- void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*/) {
- if (label) SERIAL_ECHOPGM("AXIS:");
- const char * const str = L64xxManager.index_to_axis[axis];
- SERIAL_CHAR(' ', str[0], str[1], ' ');
- }
-
- #if ENABLED(L6470_CHITCHAT)
-
- // Assumes status bits have been inverted
- void L64XX_Marlin::error_status_decode(const uint16_t status, const L64XX_axis_t axis,
- const uint16_t _status_axis_th_sd, const uint16_t _status_axis_th_wrn,
- const uint16_t _status_axis_step_loss_a, const uint16_t _status_axis_step_loss_b,
- const uint16_t _status_axis_ocd, const uint8_t _status_axis_layout
- ) {
- say_axis(axis);
- DEBUG_ECHOPGM(" THERMAL: ");
- serialprintPGM((status & _status_axis_th_sd) ? PSTR("SHUTDOWN") : (status & _status_axis_th_wrn) ? PSTR("WARNING ") : PSTR("OK "));
- DEBUG_ECHOPGM(" OVERCURRENT: ");
- echo_yes_no((status & _status_axis_ocd) != 0);
- if (!(_status_axis_layout == L6474_STATUS_LAYOUT)) { // L6474 doesn't have these bits
- DEBUG_ECHOPGM(" STALL: ");
- echo_yes_no((status & (_status_axis_step_loss_a | _status_axis_step_loss_b)) != 0);
- }
- DEBUG_EOL();
- }
-
- #endif
-
- //////////////////////////////////////////////////////////////////////////////////////////////////
- ////
- //// MONITOR_L6470_DRIVER_STATUS routines
- ////
- //////////////////////////////////////////////////////////////////////////////////////////////////
-
- #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
-
- bool L64XX_Marlin::monitor_paused = false; // Flag to skip monitor during M122, M906, M916, M917, M918, etc.
-
- struct L6470_driver_data {
- uint8_t driver_index;
- uint32_t driver_status;
- uint8_t is_otw;
- uint8_t otw_counter;
- uint8_t is_ot;
- uint8_t is_hi_Z;
- uint8_t com_counter;
- };
-
- L6470_driver_data driver_L6470_data[] = {
- #if AXIS_IS_L64XX(X)
- { 0, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(Y)
- { 1, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(Z)
- { 2, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(X2)
- { 3, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(Y2)
- { 4, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(Z2)
- { 5, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(Z3)
- { 6, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(Z4)
- { 6, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(E0)
- { 7, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(E1)
- { 8, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(E2)
- { 9, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(E3)
- { 10, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(E4)
- { 11, 0, 0, 0, 0, 0, 0 },
- #endif
- #if AXIS_IS_L64XX(E5)
- { 12, 0, 0, 0, 0, 0, 0 }
- #endif
- };
-
- void L64XX_Marlin::append_stepper_err(char* &p, const uint8_t stepper_index, const char * const err/*=nullptr*/) {
- p += sprintf_P(p, PSTR("Stepper %c%c "), index_to_axis[stepper_index][0], index_to_axis[stepper_index][1]);
- if (err) p += sprintf_P(p, err);
- }
-
- void L64XX_Marlin::monitor_update(L64XX_axis_t stepper_index) {
- if (spi_abort) return; // don't do anything if set_directions() has occurred
- const L64XX_shadow_t &sh = shadow;
- get_status(stepper_index); // get stepper status and details
- uint16_t status = sh.STATUS_AXIS;
- uint8_t kval_hold, tval;
- char temp_buf[120], *p = temp_buf;
- uint8_t j;
- for (j = 0; j < L64XX::chain[0]; j++) // find the table for this stepper
- if (driver_L6470_data[j].driver_index == stepper_index) break;
-
- driver_L6470_data[j].driver_status = status;
- uint16_t _status = ~status; // all error bits are active low
-
- if (status == 0 || status == 0xFFFF) { // com problem
- if (driver_L6470_data[j].com_counter == 0) { // warn user when it first happens
- driver_L6470_data[j].com_counter++;
- append_stepper_err(p, stepper_index, PSTR(" - communications lost\n"));
- DEBUG_ECHO(temp_buf);
- }
- else {
- driver_L6470_data[j].com_counter++;
- if (driver_L6470_data[j].com_counter > 240) { // remind of com problem about every 2 minutes
- driver_L6470_data[j].com_counter = 1;
- append_stepper_err(p, stepper_index, PSTR(" - still no communications\n"));
- DEBUG_ECHO(temp_buf);
- }
- }
- }
- else {
- if (driver_L6470_data[j].com_counter) { // comms re-established
- driver_L6470_data[j].com_counter = 0;
- append_stepper_err(p, stepper_index, PSTR(" - communications re-established\n.. setting all drivers to default values\n"));
- DEBUG_ECHO(temp_buf);
- init_to_defaults();
- }
- else {
- // no com problems - do the usual checks
- if (_status & sh.L6470_ERROR_MASK) {
- append_stepper_err(p, stepper_index);
-
- if (status & STATUS_HIZ) { // The driver has shut down. HiZ is active high
- driver_L6470_data[j].is_hi_Z = true;
- p += sprintf_P(p, PSTR("%cIS SHUT DOWN"), ' ');
- //if (_status & sh.STATUS_AXIS_TH_SD) { // strange - TH_SD never seems to go active, must be implied by the HiZ and TH_WRN
- if (_status & sh.STATUS_AXIS_TH_WRN) { // over current shutdown
- p += sprintf_P(p, PSTR("%cdue to over temperature"), ' ');
- driver_L6470_data[j].is_ot = true;
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // L6474
- tval = get_param(stepper_index, L6474_TVAL) - 2 * KVAL_HOLD_STEP_DOWN;
- set_param(stepper_index, L6474_TVAL, tval); // reduce TVAL
- p += sprintf_P(p, PSTR(" - TVAL reduced by %d to %d mA"), uint16_t (2 * KVAL_HOLD_STEP_DOWN * sh.AXIS_STALL_CURRENT_CONSTANT_INV), uint16_t ((tval + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV)); // let user know
- }
- else {
- kval_hold = get_param(stepper_index, L6470_KVAL_HOLD) - 2 * KVAL_HOLD_STEP_DOWN;
- set_param(stepper_index, L6470_KVAL_HOLD, kval_hold); // reduce KVAL_HOLD
- p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), 2 * KVAL_HOLD_STEP_DOWN, kval_hold); // let user know
- }
- }
- else
- driver_L6470_data[j].is_ot = false;
- }
- else {
- driver_L6470_data[j].is_hi_Z = false;
-
- if (_status & sh.STATUS_AXIS_TH_WRN) { // have an over temperature warning
- driver_L6470_data[j].is_otw = true;
- driver_L6470_data[j].otw_counter++;
- kval_hold = get_param(stepper_index, L6470_KVAL_HOLD);
- if (driver_L6470_data[j].otw_counter > 4) { // otw present for 2 - 2.5 seconds, reduce KVAL_HOLD
- driver_L6470_data[j].otw_counter = 0;
- driver_L6470_data[j].is_otw = true;
- if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // L6474
- tval = get_param(stepper_index, L6474_TVAL) - KVAL_HOLD_STEP_DOWN;
- set_param(stepper_index, L6474_TVAL, tval); // reduce TVAL
- p += sprintf_P(p, PSTR(" - TVAL reduced by %d to %d mA"), uint16_t (KVAL_HOLD_STEP_DOWN * sh.AXIS_STALL_CURRENT_CONSTANT_INV), uint16_t ((tval + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV)); // let user know
- }
- else {
- kval_hold = get_param(stepper_index, L6470_KVAL_HOLD) - KVAL_HOLD_STEP_DOWN;
- set_param(stepper_index, L6470_KVAL_HOLD, kval_hold); // reduce KVAL_HOLD
- p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), KVAL_HOLD_STEP_DOWN, kval_hold); // let user know
- }
- }
- else if (driver_L6470_data[j].otw_counter)
- p += sprintf_P(p, PSTR("%c- thermal warning"), ' '); // warn user
- }
- }
-
- #if ENABLED(L6470_STOP_ON_ERROR)
- if (_status & (sh.STATUS_AXIS_UVLO | sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD))
- kill(temp_buf);
- #endif
-
- #if ENABLED(L6470_CHITCHAT)
- if (_status & sh.STATUS_AXIS_OCD)
- p += sprintf_P(p, PSTR("%c over current"), ' ');
-
- if (_status & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B))
- p += sprintf_P(p, PSTR("%c stall"), ' ');
-
- if (_status & sh.STATUS_AXIS_UVLO)
- p += sprintf_P(p, PSTR("%c under voltage lock out"), ' ');
-
- p += sprintf_P(p, PSTR("%c\n"), ' ');
- #endif
-
- DEBUG_ECHOLN(temp_buf); // print the error message
- }
- else {
- driver_L6470_data[j].is_ot = false;
- driver_L6470_data[j].otw_counter = 0; //clear out warning indicators
- driver_L6470_data[j].is_otw = false;
- } // end usual checks
-
- } // comms established but have errors
- } // comms re-established
- } // end monitor_update()
-
-
- void L64XX_Marlin::monitor_driver() {
- static millis_t next_cOT = 0;
- if (ELAPSED(millis(), next_cOT)) {
- next_cOT = millis() + 500;
-
- if (!monitor_paused) { // Skip during M122, M906, M916, M917 or M918 (could steal status result from test)
-
- spi_active = true; // Tell set_directions() a series of SPI transfers is underway
-
- #if AXIS_IS_L64XX(X)
- monitor_update(X);
- #endif
- #if AXIS_IS_L64XX(Y)
- monitor_update(Y);
- #endif
- #if AXIS_IS_L64XX(Z)
- monitor_update(Z);
- #endif
- #if AXIS_IS_L64XX(X2)
- monitor_update(X2);
- #endif
- #if AXIS_IS_L64XX(Y2)
- monitor_update(Y2);
- #endif
- #if AXIS_IS_L64XX(Z2)
- monitor_update(Z2);
- #endif
- #if AXIS_IS_L64XX(Z3)
- monitor_update(Z3);
- #endif
- #if AXIS_IS_L64XX(Z4)
- monitor_update(Z4);
- #endif
- #if AXIS_IS_L64XX(E0)
- monitor_update(E0);
- #endif
- #if AXIS_IS_L64XX(E1)
- monitor_update(E1);
- #endif
- #if AXIS_IS_L64XX(E2)
- monitor_update(E2);
- #endif
- #if AXIS_IS_L64XX(E3)
- monitor_update(E3);
- #endif
- #if AXIS_IS_L64XX(E4)
- monitor_update(E4);
- #endif
- #if AXIS_IS_L64XX(E5)
- monitor_update(E5);
- #endif
-
- #if ENABLED(L6470_DEBUG)
- if (report_L6470_status) DEBUG_EOL();
- #endif
-
- spi_active = false; // done with all SPI transfers - clear handshake flags
- spi_abort = false;
- }
- }
- }
-
- #endif // MONITOR_L6470_DRIVER_STATUS
-
- #endif // HAS_L64XX
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