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72 lines
2.4 KiB
72 lines
2.4 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../../inc/MarlinConfig.h"
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#include <L6470.h>
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#define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
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enum L6470_driver_enum : unsigned char { X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5, MAX_L6470 };
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#define L6470_ERROR_MASK (STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD | STATUS_OCD | STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B)
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#define dSPIN_STEP_CLOCK_FWD dSPIN_STEP_CLOCK
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#define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
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class L6470_Marlin {
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public:
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static bool index_to_dir[MAX_L6470];
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static uint8_t axis_xref[MAX_L6470];
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static char index_to_axis[MAX_L6470][3];
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static uint8_t dir_commands[MAX_L6470];
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// Flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
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static volatile bool spi_abort;
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static bool spi_active;
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L6470_Marlin() {}
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static uint16_t get_status(const uint8_t axis);
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static uint32_t get_param(uint8_t axis, uint8_t param);
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static void set_param(uint8_t axis, uint8_t param, uint32_t value);
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static bool get_user_input(uint8_t &driver_count, uint8_t axis_index[3], char axis_mon[3][3],
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float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
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bool over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold);
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static void error_status_decode(const uint16_t status, const uint8_t axis);
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static void monitor_driver();
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static void init();
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static void init_to_defaults();
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static void say_axis(const uint8_t axis, const bool label=true);
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private:
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void populate_chain_array();
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};
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extern L6470_Marlin L6470;
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