140 lines
5.8 KiB
C++
140 lines
5.8 KiB
C++
/**
|
|
* 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>
|
|
#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))
|
|
|
|
enum L64XX_axis_t : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, MAX_L64XX };
|
|
|
|
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 inline void pause_monitor(const bool p) { monitor_paused = p; }
|
|
static void monitor_update(L64XX_axis_t stepper_index);
|
|
static void monitor_driver();
|
|
#else
|
|
static inline 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;
|