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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/>.
- *
- */
- #pragma once
-
- #include "../../inc/MarlinConfig.h"
-
- #include <L6470.h>
-
- #define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
-
- enum L6470_driver_enum : unsigned char { X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5, MAX_L6470 };
-
- #define L6470_ERROR_MASK (STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD | STATUS_OCD | STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B)
- #define dSPIN_STEP_CLOCK_FWD dSPIN_STEP_CLOCK
- #define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
-
- class L6470_Marlin {
- public:
- static bool index_to_dir[MAX_L6470];
- static uint8_t axis_xref[MAX_L6470];
- static char index_to_axis[MAX_L6470][3];
- static uint8_t dir_commands[MAX_L6470];
-
- // Flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
- static volatile bool spi_abort;
- static bool spi_active;
-
- L6470_Marlin() {}
-
- static uint16_t get_status(const uint8_t axis);
-
- static uint32_t get_param(uint8_t axis, uint8_t param);
-
- static void set_param(uint8_t axis, uint8_t param, uint32_t value);
-
- static bool get_user_input(uint8_t &driver_count, uint8_t axis_index[3], char axis_mon[3][3],
- float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
- bool over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold);
-
- static void error_status_decode(const uint16_t status, const uint8_t axis);
-
- static void monitor_driver();
-
- static void init();
- static void init_to_defaults();
-
- static void say_axis(const uint8_t axis, const bool label=true);
-
- private:
- void populate_chain_array();
- };
-
- extern L6470_Marlin L6470;
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