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264 lines
8.2 KiB
264 lines
8.2 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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/**
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* stepper/L64xx.cpp
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* Stepper driver indirection for L64XX drivers
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_L64XX
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#include "L64xx.h"
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#if AXIS_IS_L64XX(X)
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L64XX_CLASS(X) stepperX(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(X2)
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L64XX_CLASS(X2) stepperX2(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(Y)
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L64XX_CLASS(Y) stepperY(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(Y2)
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L64XX_CLASS(Y2) stepperY2(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(Z)
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L64XX_CLASS(Z) stepperZ(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(Z2)
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L64XX_CLASS(Z2) stepperZ2(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(Z3)
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L64XX_CLASS(Z3) stepperZ3(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(Z4)
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L64XX_CLASS(Z4) stepperZ4(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(I)
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L64XX_CLASS(I) stepperI(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(J)
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L64XX_CLASS(J) stepperJ(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(K)
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L64XX_CLASS(K) stepperK(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(U)
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L64XX_CLASS(u) stepperU(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(V)
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L64XX_CLASS(v) stepperV(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(W)
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L64XX_CLASS(w) stepperW(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(E0)
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L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(E1)
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L64XX_CLASS(E1) stepperE1(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(E2)
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L64XX_CLASS(E2) stepperE2(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(E3)
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L64XX_CLASS(E3) stepperE3(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(E4)
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L64XX_CLASS(E4) stepperE4(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(E5)
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L64XX_CLASS(E5) stepperE5(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(E6)
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L64XX_CLASS(E6) stepperE6(L6470_CHAIN_SS_PIN);
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#endif
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#if AXIS_IS_L64XX(E7)
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L64XX_CLASS(E7) stepperE7(L6470_CHAIN_SS_PIN);
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#endif
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// Not using L64XX class init method because it
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// briefly sends power to the steppers
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inline void L6470_init_chip(L64XX &st, const int ms, const int oc, const int sc, const int mv, const int slew_rate) {
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st.set_handlers(L64xxManager.spi_init, L64xxManager.transfer_single, L64xxManager.transfer_chain); // specify which external SPI routines to use
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switch (st.L6470_status_layout) {
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case L6470_STATUS_LAYOUT: {
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st.resetDev();
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st.softFree();
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st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
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st.SetParam(L6470_KVAL_RUN, 0xFF);
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st.SetParam(L6470_KVAL_ACC, 0xFF);
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st.SetParam(L6470_KVAL_DEC, 0xFF);
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st.setMicroSteps(ms);
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st.setOverCurrent(oc);
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st.setStallCurrent(sc);
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st.SetParam(L6470_KVAL_HOLD, mv);
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st.SetParam(L6470_ABS_POS, 0);
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uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
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config_temp &= ~CONFIG_POW_SR;
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switch (slew_rate) {
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case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
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default:
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case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
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case 3:
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case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
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}
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st.getStatus();
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st.getStatus();
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break;
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}
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case L6474_STATUS_LAYOUT: {
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st.free();
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//st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
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//st.SetParam(L6474_TVAL, 0xFF);
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st.setMicroSteps(ms);
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st.setOverCurrent(oc);
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st.setTVALCurrent(sc);
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st.SetParam(L6470_ABS_POS, 0);
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uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
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config_temp &= ~CONFIG_POW_SR & ~CONFIG_EN_TQREG; // clear out slew rate and set current to be controlled by TVAL register
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switch (slew_rate) {
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case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
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default:
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case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
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case 3:
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case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
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//case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_75V_us); break;
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//default:
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//case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_110V_us); break;
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//case 3:
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//case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_260V_us); break;
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//case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
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//default:
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//case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
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//case 3:
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//case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
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}
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st.getStatus();
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st.getStatus();
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break;
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}
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case L6480_STATUS_LAYOUT: {
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st.resetDev();
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st.softFree();
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st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
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st.SetParam(L6470_KVAL_RUN, 0xFF);
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st.SetParam(L6470_KVAL_ACC, 0xFF);
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st.SetParam(L6470_KVAL_DEC, 0xFF);
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st.setMicroSteps(ms);
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st.setOverCurrent(oc);
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st.setStallCurrent(sc);
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st.SetParam(+-L6470_KVAL_HOLD, mv);
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st.SetParam(L6470_ABS_POS, 0);
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st.SetParam(st.L64XX_CONFIG,(st.GetParam(st.L64XX_CONFIG) | PWR_VCC_7_5V));
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st.getStatus(); // must clear out status bits before can set slew rate
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st.getStatus();
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switch (slew_rate) {
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case 0: st.SetParam(L6470_GATECFG1, CONFIG1_SR_220V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_220V_us); break;
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default:
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case 1: st.SetParam(L6470_GATECFG1, CONFIG1_SR_400V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_400V_us); break;
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case 2: st.SetParam(L6470_GATECFG1, CONFIG1_SR_520V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_520V_us); break;
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case 3: st.SetParam(L6470_GATECFG1, CONFIG1_SR_980V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_980V_us); break;
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}
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break;
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}
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}
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}
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#define L6470_INIT_CHIP(Q) L6470_init_chip(stepper##Q, Q##_MICROSTEPS, Q##_OVERCURRENT, Q##_STALLCURRENT, Q##_MAX_VOLTAGE, Q##_SLEW_RATE)
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void L64XX_Marlin::init_to_defaults() {
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#if AXIS_IS_L64XX(X)
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L6470_INIT_CHIP(X);
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#endif
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#if AXIS_IS_L64XX(X2)
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L6470_INIT_CHIP(X2);
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#endif
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#if AXIS_IS_L64XX(Y)
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L6470_INIT_CHIP(Y);
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#endif
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#if AXIS_IS_L64XX(Y2)
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L6470_INIT_CHIP(Y2);
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#endif
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#if AXIS_IS_L64XX(Z)
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L6470_INIT_CHIP(Z);
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#endif
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#if AXIS_IS_L64XX(Z2)
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L6470_INIT_CHIP(Z2);
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#endif
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#if AXIS_IS_L64XX(Z3)
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L6470_INIT_CHIP(Z3);
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#endif
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#if AXIS_IS_L64XX(Z4)
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L6470_INIT_CHIP(Z4);
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#endif
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#if AXIS_IS_L64XX(I)
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L6470_INIT_CHIP(I);
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#endif
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#if AXIS_IS_L64XX(J)
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L6470_INIT_CHIP(J);
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#endif
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#if AXIS_IS_L64XX(K)
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L6470_INIT_CHIP(K);
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#endif
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#if AXIS_IS_L64XX(U)
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L6470_INIT_CHIP(U);
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#endif
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#if AXIS_IS_L64XX(V)
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L6470_INIT_CHIP(V);
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#endif
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#if AXIS_IS_L64XX(W)
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L6470_INIT_CHIP(W);
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#endif
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#if AXIS_IS_L64XX(E0)
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L6470_INIT_CHIP(E0);
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#endif
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#if AXIS_IS_L64XX(E1)
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L6470_INIT_CHIP(E1);
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#endif
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#if AXIS_IS_L64XX(E2)
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L6470_INIT_CHIP(E2);
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#endif
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#if AXIS_IS_L64XX(E3)
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L6470_INIT_CHIP(E3);
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#endif
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#if AXIS_IS_L64XX(E4)
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L6470_INIT_CHIP(E4);
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#endif
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#if AXIS_IS_L64XX(E5)
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L6470_INIT_CHIP(E5);
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#endif
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#if AXIS_IS_L64XX(E6)
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L6470_INIT_CHIP(E6);
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#endif
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#if AXIS_IS_L64XX(E7)
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L6470_INIT_CHIP(E7);
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#endif
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}
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#endif // HAS_L64XX
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