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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/>.
- *
- */
- #pragma once
-
- #include "../../inc/MarlinConfig.h"
-
- #include <L6470.h>
- #if !(L6470_LIBRARY_VERSION >= 0x000800)
- #error 'L6470_LIBRARY_VERSION 0x000800 or later required'
- #endif
-
- #define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
-
- #define dSPIN_STEP_CLOCK 0x58
- #define dSPIN_STEP_CLOCK_FWD dSPIN_STEP_CLOCK
- #define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
- #define HAS_L64XX_EXTRUDER (AXIS_IS_L64XX(E0) || AXIS_IS_L64XX(E1) || AXIS_IS_L64XX(E2) || AXIS_IS_L64XX(E3) || AXIS_IS_L64XX(E4) || AXIS_IS_L64XX(E5) || AXIS_IS_L64XX(E6) || AXIS_IS_L64XX(E7))
-
- #define _EN_ITEM(N) , E##N
- enum L64XX_axis_t : uint8_t { MAIN_AXIS_NAMES, X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM), MAX_L64XX };
- #undef _EN_ITEM
-
- class L64XX_Marlin : public L64XXHelper {
- public:
- static PGM_P const index_to_axis[MAX_L64XX];
-
- static const uint8_t index_to_dir[MAX_L64XX];
-
- static uint8_t dir_commands[MAX_L64XX];
-
- // Flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
- static volatile uint8_t spi_abort;
- static uint8_t spi_active;
-
- L64XX_Marlin() {}
-
- static void init();
- static void init_to_defaults();
-
- static uint16_t get_stepper_status(L64XX &st);
-
- static uint16_t get_status(const L64XX_axis_t axis);
-
- static uint32_t get_param(const L64XX_axis_t axis, const uint8_t param);
-
- static void set_param(const L64XX_axis_t axis, const uint8_t param, const uint32_t value);
-
- //static void send_command(const L64XX_axis_t axis, uint8_t command);
-
- static uint8_t 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);
-
- static void transfer(uint8_t L6470_buf[], const uint8_t length);
-
- static void say_axis(const L64XX_axis_t axis, const uint8_t label=true);
- #if ENABLED(L6470_CHITCHAT)
- static void 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
- );
- #else
- FORCE_INLINE static void error_status_decode(
- const uint16_t, const L64XX_axis_t,
- const uint16_t, const uint16_t,
- const uint16_t, const uint16_t,
- const uint16_t, const uint8_t
- ){}
- #endif
-
- // ~40 bytes SRAM to simplify status decode routines
- typedef struct {
- uint8_t STATUS_AXIS_LAYOUT; // Copy of L6470_status_layout
- uint8_t AXIS_OCD_TH_MAX; // Size of OCD_TH field
- uint8_t AXIS_STALL_TH_MAX; // Size of STALL_TH field
- float AXIS_OCD_CURRENT_CONSTANT_INV; // mA per count
- float AXIS_STALL_CURRENT_CONSTANT_INV; // mA per count
- uint8_t L6470_AXIS_CONFIG, // Address of the CONFIG register
- L6470_AXIS_STATUS; // Address of the STATUS register
- uint16_t L6470_ERROR_MASK, // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD | STATUS_OCD | STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B
- L6474_ERROR_MASK, // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD | STATUS_OCD
- STATUS_AXIS_RAW, // Copy of status register contents
- STATUS_AXIS, // Copy of status register contents but with all error bits active low
- STATUS_AXIS_OCD, // Overcurrent detected bit position
- STATUS_AXIS_SCK_MOD, // Step clock mode is active bit position
- STATUS_AXIS_STEP_LOSS_A, // Stall detected on A bridge bit position
- STATUS_AXIS_STEP_LOSS_B, // Stall detected on B bridge bit position
- STATUS_AXIS_TH_SD, // Thermal shutdown bit position
- STATUS_AXIS_TH_WRN, // Thermal warning bit position
- STATUS_AXIS_UVLO, // Undervoltage lockout is active bit position
- STATUS_AXIS_WRONG_CMD, // Last command not valid bit position
- STATUS_AXIS_CMD_ERR, // Command error bit position
- STATUS_AXIS_NOTPERF_CMD; // Last command not performed bit position
- } L64XX_shadow_t;
-
- static L64XX_shadow_t shadow;
-
- #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
- static bool monitor_paused;
- static void pause_monitor(const bool p) { monitor_paused = p; }
- static void monitor_update(L64XX_axis_t stepper_index);
- static void monitor_driver();
- #else
- static void pause_monitor(const bool) {}
- #endif
-
- //protected:
- // L64XXHelper methods
- static void spi_init();
- static uint8_t transfer_single(uint8_t data, int16_t ss_pin);
- static uint8_t transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position);
-
- private:
- static void append_stepper_err(char* &p, const uint8_t stepper_index, const char * const err=nullptr);
-
- };
-
- void echo_yes_no(const bool yes);
-
- extern L64XX_Marlin L64xxManager;
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