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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../../inc/MarlinConfig.h"
-
- #if HAS_L64XX
-
- #include "../../gcode.h"
- #include "../../../libs/L64XX/L64XX_Marlin.h"
- #include "../../../module/stepper/indirection.h"
- #include "../../../module/planner.h"
-
- #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
- #include "../../../core/debug_out.h"
-
- /**
- * M906: report or set KVAL_HOLD which sets the maximum effective voltage provided by the
- * PWMs to the steppers
- *
- * On L6474 this sets the TVAL register (same address).
- *
- * I - select which driver(s) to change on multi-driver axis
- * 0 - (default) all drivers on the axis or E0
- * 1 - monitor only X, Y, Z or E1
- * 2 - monitor only X2, Y2, Z2 or E2
- * 3 - monitor only Z3 or E3
- * 4 - monitor only Z4 or E4
- * 5 - monitor only E5
- * Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional)
- * L6474 - current in mA (4A max)
- * All others - 0-255
- */
-
- /**
- * Sets KVAL_HOLD wich affects the current being driven through the stepper.
- *
- * L6470 is used in the STEP-CLOCK mode. KVAL_HOLD is the only KVAL_xxx
- * that affects the effective voltage seen by the stepper.
- */
-
- /**
- * MACRO to fetch information on the items associated with current limiting
- * and maximum voltage output.
- *
- * L6470 can be setup to shutdown if either current threshold is exceeded.
- *
- * L6470 output current can not be set directly. It is set indirectly by
- * setting the maximum effective output voltage.
- *
- * Effective output voltage is set by PWM duty cycle.
- *
- * Maximum effective output voltage is affected by MANY variables. The main ones are:
- * KVAL_HOLD
- * KVAL_RUN
- * KVAL_ACC
- * KVAL_DEC
- * Vs compensation (if enabled)
- */
- void L64XX_report_current(L64XX &motor, const L64XX_axis_t axis) {
-
- if (L64xxManager.spi_abort) return; // don't do anything if set_directions() has occurred
-
- const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
- const uint16_t status = L64xxManager.get_status(axis); //also populates shadow structure
- const uint8_t OverCurrent_Threshold = uint8_t(motor.GetParam(L6470_OCD_TH));
-
- auto say_axis_status = [](const L64XX_axis_t axis, const uint16_t status) {
- L64xxManager.say_axis(axis);
- #if ENABLED(L6470_CHITCHAT)
- char tmp[10];
- sprintf_P(tmp, PSTR("%4x "), status);
- DEBUG_ECHOPAIR(" status: ", tmp);
- print_bin(status);
- #else
- UNUSED(status);
- #endif
- SERIAL_EOL();
- };
-
- char temp_buf[10];
-
- switch (sh.STATUS_AXIS_LAYOUT) {
- case L6470_STATUS_LAYOUT: // L6470
- case L6480_STATUS_LAYOUT: { // L6480 & powerstep01
- const uint16_t Stall_Threshold = (uint8_t)motor.GetParam(L6470_STALL_TH),
- motor_status = (status & (STATUS_MOT_STATUS)) >> 5,
- L6470_ADC_out = motor.GetParam(L6470_ADC_OUT),
- L6470_ADC_out_limited = constrain(L6470_ADC_out, 8, 24);
- const float comp_coef = 1600.0f / L6470_ADC_out_limited;
- const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07);
-
- say_axis_status(axis, sh.STATUS_AXIS_RAW);
-
- SERIAL_ECHOPGM("...OverCurrent Threshold: ");
- sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold);
- SERIAL_ECHO(temp_buf);
- SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV);
- SERIAL_ECHOPGM(" mA)");
- SERIAL_ECHOPGM(" Stall Threshold: ");
- sprintf_P(temp_buf, PSTR("%2d ("), Stall_Threshold);
- SERIAL_ECHO(temp_buf);
- SERIAL_ECHO((Stall_Threshold + 1) * motor.STALL_CURRENT_CONSTANT_INV);
- SERIAL_ECHOPGM(" mA)");
- SERIAL_ECHOPGM(" Motor Status: ");
- switch (motor_status) {
- case 0: SERIAL_ECHOPGM("stopped"); break;
- case 1: SERIAL_ECHOPGM("accelerating"); break;
- case 2: SERIAL_ECHOPGM("decelerating"); break;
- case 3: SERIAL_ECHOPGM("at constant speed"); break;
- }
- SERIAL_EOL();
-
- SERIAL_ECHOPAIR("...MicroSteps: ", MicroSteps,
- " ADC_OUT: ", L6470_ADC_out);
- SERIAL_ECHOPGM(" Vs_compensation: ");
- serialprintPGM((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_EN_VSCOMP) ? PSTR("ENABLED ") : PSTR("DISABLED"));
- SERIAL_ECHOLNPAIR(" Compensation coefficient: ~", comp_coef * 0.01f);
-
- SERIAL_ECHOPAIR("...KVAL_HOLD: ", motor.GetParam(L6470_KVAL_HOLD),
- " KVAL_RUN : ", motor.GetParam(L6470_KVAL_RUN),
- " KVAL_ACC: ", motor.GetParam(L6470_KVAL_ACC),
- " KVAL_DEC: ", motor.GetParam(L6470_KVAL_DEC),
- " V motor max = ");
- switch (motor_status) {
- case 0: SERIAL_ECHO(motor.GetParam(L6470_KVAL_HOLD) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break;
- case 1: SERIAL_ECHO(motor.GetParam(L6470_KVAL_RUN) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_RUN)"); break;
- case 2: SERIAL_ECHO(motor.GetParam(L6470_KVAL_ACC) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_ACC)"); break;
- case 3: SERIAL_ECHO(motor.GetParam(L6470_KVAL_DEC) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break;
- }
- SERIAL_EOL();
-
- #if ENABLED(L6470_CHITCHAT)
- DEBUG_ECHOPGM("...SLEW RATE: ");
- switch (sh.STATUS_AXIS_LAYOUT) {
- case L6470_STATUS_LAYOUT: {
- switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) {
- case 0: { DEBUG_ECHOLNPGM("320V/uS") ; break; }
- case 1: { DEBUG_ECHOLNPGM("75V/uS") ; break; }
- case 2: { DEBUG_ECHOLNPGM("110V/uS") ; break; }
- case 3: { DEBUG_ECHOLNPGM("260V/uS") ; break; }
- }
- break;
- }
- case L6480_STATUS_LAYOUT: {
- switch (motor.GetParam(L6470_GATECFG1) & CONFIG1_SR ) {
- case CONFIG1_SR_220V_us: { DEBUG_ECHOLNPGM("220V/uS") ; break; }
- case CONFIG1_SR_400V_us: { DEBUG_ECHOLNPGM("400V/uS") ; break; }
- case CONFIG1_SR_520V_us: { DEBUG_ECHOLNPGM("520V/uS") ; break; }
- case CONFIG1_SR_980V_us: { DEBUG_ECHOLNPGM("980V/uS") ; break; }
- default: { DEBUG_ECHOLNPGM("unknown") ; break; }
- }
- }
- }
- #endif
- SERIAL_EOL();
- break;
- }
-
- case L6474_STATUS_LAYOUT: { // L6474
- const uint16_t L6470_ADC_out = motor.GetParam(L6470_ADC_OUT) & 0x1F,
- L6474_TVAL_val = motor.GetParam(L6474_TVAL) & 0x7F;
-
- say_axis_status(axis, sh.STATUS_AXIS_RAW);
-
- SERIAL_ECHOPGM("...OverCurrent Threshold: ");
- sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold);
- SERIAL_ECHO(temp_buf);
- SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV);
- SERIAL_ECHOPGM(" mA)");
- SERIAL_ECHOPGM(" TVAL: ");
- sprintf_P(temp_buf, PSTR("%2d ("), L6474_TVAL_val);
- SERIAL_ECHO(temp_buf);
- SERIAL_ECHO((L6474_TVAL_val + 1) * motor.STALL_CURRENT_CONSTANT_INV);
- SERIAL_ECHOLNPGM(" mA) Motor Status: NA");
-
- const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07); //NOMORE(MicroSteps, 16);
- SERIAL_ECHOPAIR("...MicroSteps: ", MicroSteps,
- " ADC_OUT: ", L6470_ADC_out);
-
- SERIAL_ECHOLNPGM(" Vs_compensation: NA\n");
- SERIAL_ECHOLNPGM("...KVAL_HOLD: NA"
- " KVAL_RUN : NA"
- " KVAL_ACC: NA"
- " KVAL_DEC: NA"
- " V motor max = NA");
-
- #if ENABLED(L6470_CHITCHAT)
- DEBUG_ECHOPGM("...SLEW RATE: ");
- switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) {
- case 0: DEBUG_ECHOLNPGM("320V/uS") ; break;
- case 1: DEBUG_ECHOLNPGM("75V/uS") ; break;
- case 2: DEBUG_ECHOLNPGM("110V/uS") ; break;
- case 3: DEBUG_ECHOLNPGM("260V/uS") ; break;
- default: DEBUG_ECHOLNPAIR("slew rate: ", (motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT); break;
- }
- #endif
- SERIAL_EOL();
- SERIAL_EOL();
- break;
- }
- }
- }
-
- void GcodeSuite::M906() {
-
- L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-
- #define L6470_SET_KVAL_HOLD(Q) (AXIS_IS_L64XX(Q) ? stepper##Q.setTVALCurrent(value) : stepper##Q.SetParam(L6470_KVAL_HOLD, uint8_t(value)))
-
- DEBUG_ECHOLNPGM("M906");
-
- uint8_t report_current = true;
-
- #if HAS_L64XX
- const uint8_t index = parser.byteval('I');
- #endif
-
- LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) {
-
- report_current = false;
-
- if (planner.has_blocks_queued() || planner.cleaning_buffer_counter) {
- SERIAL_ECHOLNPGM("Test aborted. Can't set KVAL_HOLD while steppers are moving.");
- return;
- }
-
- switch (i) {
- case X_AXIS:
- #if AXIS_IS_L64XX(X)
- if (index == 0) L6470_SET_KVAL_HOLD(X);
- #endif
- #if AXIS_IS_L64XX(X2)
- if (index == 1) L6470_SET_KVAL_HOLD(X2);
- #endif
- break;
- case Y_AXIS:
- #if AXIS_IS_L64XX(Y)
- if (index == 0) L6470_SET_KVAL_HOLD(Y);
- #endif
- #if AXIS_IS_L64XX(Y2)
- if (index == 1) L6470_SET_KVAL_HOLD(Y2);
- #endif
- break;
- case Z_AXIS:
- #if AXIS_IS_L64XX(Z)
- if (index == 0) L6470_SET_KVAL_HOLD(Z);
- #endif
- #if AXIS_IS_L64XX(Z2)
- if (index == 1) L6470_SET_KVAL_HOLD(Z2);
- #endif
- #if AXIS_IS_L64XX(Z3)
- if (index == 2) L6470_SET_KVAL_HOLD(Z3);
- #endif
- #if AXIS_DRIVER_TYPE_Z4(L6470)
- if (index == 3) L6470_SET_KVAL_HOLD(Z4);
- #endif
- break;
- case E_AXIS: {
- const int8_t target_extruder = get_target_extruder_from_command();
- if (target_extruder < 0) return;
- switch (target_extruder) {
- #if AXIS_IS_L64XX(E0)
- case 0: L6470_SET_KVAL_HOLD(E0); break;
- #endif
- #if AXIS_IS_L64XX(E1)
- case 1: L6470_SET_KVAL_HOLD(E1); break;
- #endif
- #if AXIS_IS_L64XX(E2)
- case 2: L6470_SET_KVAL_HOLD(E2); break;
- #endif
- #if AXIS_IS_L64XX(E3)
- case 3: L6470_SET_KVAL_HOLD(E3); break;
- #endif
- #if AXIS_IS_L64XX(E4)
- case 4: L6470_SET_KVAL_HOLD(E4); break;
- #endif
- #if AXIS_IS_L64XX(E5)
- case 5: L6470_SET_KVAL_HOLD(E5); break;
- #endif
- #if AXIS_IS_L64XX(E6)
- case 6: L6470_SET_KVAL_HOLD(E6); break;
- #endif
- #if AXIS_IS_L64XX(E7)
- case 7: L6470_SET_KVAL_HOLD(E7); break;
- #endif
- }
- } break;
- }
- }
-
- if (report_current) {
- #define L64XX_REPORT_CURRENT(Q) L64XX_report_current(stepper##Q, Q)
-
- L64xxManager.spi_active = true; // Tell set_directions() a series of SPI transfers is underway
-
- #if AXIS_IS_L64XX(X)
- L64XX_REPORT_CURRENT(X);
- #endif
- #if AXIS_IS_L64XX(X2)
- L64XX_REPORT_CURRENT(X2);
- #endif
- #if AXIS_IS_L64XX(Y)
- L64XX_REPORT_CURRENT(Y);
- #endif
- #if AXIS_IS_L64XX(Y2)
- L64XX_REPORT_CURRENT(Y2);
- #endif
- #if AXIS_IS_L64XX(Z)
- L64XX_REPORT_CURRENT(Z);
- #endif
- #if AXIS_IS_L64XX(Z2)
- L64XX_REPORT_CURRENT(Z2);
- #endif
- #if AXIS_IS_L64XX(Z3)
- L64XX_REPORT_CURRENT(Z3);
- #endif
- #if AXIS_IS_L64XX(Z4)
- L64XX_REPORT_CURRENT(Z4);
- #endif
- #if AXIS_IS_L64XX(E0)
- L64XX_REPORT_CURRENT(E0);
- #endif
- #if AXIS_IS_L64XX(E1)
- L64XX_REPORT_CURRENT(E1);
- #endif
- #if AXIS_IS_L64XX(E2)
- L64XX_REPORT_CURRENT(E2);
- #endif
- #if AXIS_IS_L64XX(E3)
- L64XX_REPORT_CURRENT(E3);
- #endif
- #if AXIS_IS_L64XX(E4)
- L64XX_REPORT_CURRENT(E4);
- #endif
- #if AXIS_IS_L64XX(E5)
- L64XX_REPORT_CURRENT(E5);
- #endif
- #if AXIS_IS_L64XX(E6)
- L64XX_REPORT_CURRENT(E6);
- #endif
- #if AXIS_IS_L64XX(E7)
- L64XX_REPORT_CURRENT(E7);
- #endif
-
- L64xxManager.spi_active = false; // done with all SPI transfers - clear handshake flags
- L64xxManager.spi_abort = false;
- L64xxManager.pause_monitor(false);
- }
- }
-
- #endif // HAS_L64XX
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