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141 lines
5.8 KiB
141 lines
5.8 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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 <https://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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#if !(L6470_LIBRARY_VERSION >= 0x000800)
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#error 'L6470_LIBRARY_VERSION 0x000800 or later required'
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#endif
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#define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
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#define dSPIN_STEP_CLOCK 0x58
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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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#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))
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#define _EN_ITEM(N) , E##N
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enum L64XX_axis_t : uint8_t { MAIN_AXIS_NAMES, X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM), MAX_L64XX };
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#undef _EN_ITEM
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class L64XX_Marlin : public L64XXHelper {
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public:
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static PGM_P const index_to_axis[MAX_L64XX];
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static const uint8_t index_to_dir[MAX_L64XX];
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static uint8_t dir_commands[MAX_L64XX];
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// Flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
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static volatile uint8_t spi_abort;
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static uint8_t spi_active;
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L64XX_Marlin() {}
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static void init();
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static void init_to_defaults();
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static uint16_t get_stepper_status(L64XX &st);
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static uint16_t get_status(const L64XX_axis_t axis);
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static uint32_t get_param(const L64XX_axis_t axis, const uint8_t param);
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static void set_param(const L64XX_axis_t axis, const uint8_t param, const uint32_t value);
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//static void send_command(const L64XX_axis_t axis, uint8_t command);
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static uint8_t get_user_input(uint8_t &driver_count, L64XX_axis_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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uint8_t over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold);
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static void transfer(uint8_t L6470_buf[], const uint8_t length);
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static void say_axis(const L64XX_axis_t axis, const uint8_t label=true);
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#if ENABLED(L6470_CHITCHAT)
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static void error_status_decode(
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const uint16_t status, const L64XX_axis_t axis,
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const uint16_t _status_axis_th_sd, const uint16_t _status_axis_th_wrn,
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const uint16_t _status_axis_step_loss_a, const uint16_t _status_axis_step_loss_b,
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const uint16_t _status_axis_ocd, const uint8_t _status_axis_layout
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);
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#else
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FORCE_INLINE static void error_status_decode(
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const uint16_t, const L64XX_axis_t,
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const uint16_t, const uint16_t,
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const uint16_t, const uint16_t,
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const uint16_t, const uint8_t
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){}
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#endif
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// ~40 bytes SRAM to simplify status decode routines
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typedef struct {
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uint8_t STATUS_AXIS_LAYOUT; // Copy of L6470_status_layout
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uint8_t AXIS_OCD_TH_MAX; // Size of OCD_TH field
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uint8_t AXIS_STALL_TH_MAX; // Size of STALL_TH field
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float AXIS_OCD_CURRENT_CONSTANT_INV; // mA per count
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float AXIS_STALL_CURRENT_CONSTANT_INV; // mA per count
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uint8_t L6470_AXIS_CONFIG, // Address of the CONFIG register
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L6470_AXIS_STATUS; // Address of the STATUS register
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uint16_t 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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L6474_ERROR_MASK, // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD | STATUS_OCD
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STATUS_AXIS_RAW, // Copy of status register contents
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STATUS_AXIS, // Copy of status register contents but with all error bits active low
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STATUS_AXIS_OCD, // Overcurrent detected bit position
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STATUS_AXIS_SCK_MOD, // Step clock mode is active bit position
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STATUS_AXIS_STEP_LOSS_A, // Stall detected on A bridge bit position
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STATUS_AXIS_STEP_LOSS_B, // Stall detected on B bridge bit position
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STATUS_AXIS_TH_SD, // Thermal shutdown bit position
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STATUS_AXIS_TH_WRN, // Thermal warning bit position
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STATUS_AXIS_UVLO, // Undervoltage lockout is active bit position
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STATUS_AXIS_WRONG_CMD, // Last command not valid bit position
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STATUS_AXIS_CMD_ERR, // Command error bit position
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STATUS_AXIS_NOTPERF_CMD; // Last command not performed bit position
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} L64XX_shadow_t;
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static L64XX_shadow_t shadow;
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#if ENABLED(MONITOR_L6470_DRIVER_STATUS)
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static bool monitor_paused;
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static void pause_monitor(const bool p) { monitor_paused = p; }
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static void monitor_update(L64XX_axis_t stepper_index);
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static void monitor_driver();
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#else
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static void pause_monitor(const bool) {}
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#endif
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//protected:
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// L64XXHelper methods
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static void spi_init();
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static uint8_t transfer_single(uint8_t data, int16_t ss_pin);
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static uint8_t transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position);
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private:
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static void append_stepper_err(char* &p, const uint8_t stepper_index, const char * const err=nullptr);
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};
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void echo_yes_no(const bool yes);
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extern L64XX_Marlin L64xxManager;
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