Initial commit

1 files changed, 225 insertions, 0 deletions

diff --git a/Marlin/src/module/stepper/L64xx.cpp b/Marlin/src/module/stepper/L64xx.cpp
new file mode 100644
index 0000000..3e2bf09
--- /dev/null
+++ b/Marlin/src/module/stepper/L64xx.cpp
@@ -0,0 +1,225 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * stepper/L64xx.cpp
+ * Stepper driver indirection for L64XX drivers
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_L64XX
+
+#include "L64xx.h"
+
+#if AXIS_IS_L64XX(X)
+  L64XX_CLASS(X) stepperX(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(X2)
+  L64XX_CLASS(X2) stepperX2(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Y)
+  L64XX_CLASS(Y) stepperY(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Y2)
+  L64XX_CLASS(Y2) stepperY2(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Z)
+  L64XX_CLASS(Z) stepperZ(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Z2)
+  L64XX_CLASS(Z2) stepperZ2(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Z3)
+  L64XX_CLASS(Z3) stepperZ3(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(Z4)
+  L64XX_CLASS(Z4) stepperZ4(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E0)
+  L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E1)
+  L64XX_CLASS(E1) stepperE1(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E2)
+  L64XX_CLASS(E2) stepperE2(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E3)
+  L64XX_CLASS(E3) stepperE3(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E4)
+  L64XX_CLASS(E4) stepperE4(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E5)
+  L64XX_CLASS(E5) stepperE5(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E6)
+  L64XX_CLASS(E6) stepperE6(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E7)
+  L64XX_CLASS(E7) stepperE7(L6470_CHAIN_SS_PIN);
+#endif
+
+// Not using L64XX class init method because it
+// briefly sends power to the steppers
+
+inline void L6470_init_chip(L64XX &st, const int ms, const int oc, const int sc, const int mv, const int slew_rate) {
+  st.set_handlers(L64xxManager.spi_init, L64xxManager.transfer_single, L64xxManager.transfer_chain);  // specify which external SPI routines to use
+  switch (st.L6470_status_layout) {
+    case L6470_STATUS_LAYOUT: {
+      st.resetDev();
+      st.softFree();
+      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);
+      st.SetParam(L6470_KVAL_RUN, 0xFF);
+      st.SetParam(L6470_KVAL_ACC, 0xFF);
+      st.SetParam(L6470_KVAL_DEC, 0xFF);
+      st.setMicroSteps(ms);
+      st.setOverCurrent(oc);
+      st.setStallCurrent(sc);
+      st.SetParam(L6470_KVAL_HOLD, mv);
+      st.SetParam(L6470_ABS_POS, 0);
+      uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
+      config_temp &= ~CONFIG_POW_SR;
+      switch (slew_rate) {
+        case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
+        default:
+        case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
+        case 3:
+        case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
+      }
+      st.getStatus();
+      st.getStatus();
+      break;
+    }
+
+    case L6474_STATUS_LAYOUT: {
+      st.free();
+      //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);
+      //st.SetParam(L6474_TVAL, 0xFF);
+      st.setMicroSteps(ms);
+      st.setOverCurrent(oc);
+      st.setTVALCurrent(sc);
+      st.SetParam(L6470_ABS_POS, 0);
+      uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
+      config_temp &= ~CONFIG_POW_SR & ~CONFIG_EN_TQREG;  // clear out slew rate and set current to be controlled by TVAL register
+      switch (slew_rate) {
+        case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
+        default:
+        case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
+        case 3:
+        case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
+        //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_75V_us); break;
+        //default:
+        //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_110V_us); break;
+        //case 3:
+        //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_260V_us); break;
+
+        //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
+        //default:
+        //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
+        //case 3:
+        //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
+      }
+      st.getStatus();
+      st.getStatus();
+      break;
+    }
+
+    case L6480_STATUS_LAYOUT: {
+      st.resetDev();
+      st.softFree();
+      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);
+      st.SetParam(L6470_KVAL_RUN, 0xFF);
+      st.SetParam(L6470_KVAL_ACC, 0xFF);
+      st.SetParam(L6470_KVAL_DEC, 0xFF);
+      st.setMicroSteps(ms);
+      st.setOverCurrent(oc);
+      st.setStallCurrent(sc);
+      st.SetParam(+-L6470_KVAL_HOLD, mv);
+      st.SetParam(L6470_ABS_POS, 0);
+      st.SetParam(st.L64XX_CONFIG,(st.GetParam(st.L64XX_CONFIG) | PWR_VCC_7_5V));
+      st.getStatus();     // must clear out status bits before can set slew rate
+      st.getStatus();
+      switch (slew_rate) {
+        case 0: st.SetParam(L6470_GATECFG1, CONFIG1_SR_220V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_220V_us); break;
+        default:
+        case 1: st.SetParam(L6470_GATECFG1, CONFIG1_SR_400V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_400V_us); break;
+        case 2: st.SetParam(L6470_GATECFG1, CONFIG1_SR_520V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_520V_us); break;
+        case 3: st.SetParam(L6470_GATECFG1, CONFIG1_SR_980V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_980V_us); break;
+      }
+      break;
+    }
+  }
+}
+
+#define L6470_INIT_CHIP(Q) L6470_init_chip(stepper##Q, Q##_MICROSTEPS, Q##_OVERCURRENT, Q##_STALLCURRENT, Q##_MAX_VOLTAGE, Q##_SLEW_RATE)
+
+void L64XX_Marlin::init_to_defaults() {
+  #if AXIS_IS_L64XX(X)
+    L6470_INIT_CHIP(X);
+  #endif
+  #if AXIS_IS_L64XX(X2)
+    L6470_INIT_CHIP(X2);
+  #endif
+  #if AXIS_IS_L64XX(Y)
+    L6470_INIT_CHIP(Y);
+  #endif
+  #if AXIS_IS_L64XX(Y2)
+    L6470_INIT_CHIP(Y2);
+  #endif
+  #if AXIS_IS_L64XX(Z)
+    L6470_INIT_CHIP(Z);
+  #endif
+  #if AXIS_IS_L64XX(Z2)
+    L6470_INIT_CHIP(Z2);
+  #endif
+  #if AXIS_IS_L64XX(Z3)
+    L6470_INIT_CHIP(Z3);
+  #endif
+  #if AXIS_IS_L64XX(E0)
+    L6470_INIT_CHIP(E0);
+  #endif
+  #if AXIS_IS_L64XX(E1)
+    L6470_INIT_CHIP(E1);
+  #endif
+  #if AXIS_IS_L64XX(E2)
+    L6470_INIT_CHIP(E2);
+  #endif
+  #if AXIS_IS_L64XX(E3)
+    L6470_INIT_CHIP(E3);
+  #endif
+  #if AXIS_IS_L64XX(E4)
+    L6470_INIT_CHIP(E4);
+  #endif
+  #if AXIS_IS_L64XX(E5)
+    L6470_INIT_CHIP(E5);
+  #endif
+  #if AXIS_IS_L64XX(E6)
+    L6470_INIT_CHIP(E6);
+  #endif
+  #if AXIS_IS_L64XX(E7)
+    L6470_INIT_CHIP(E7);
+  #endif
+}
+
+#endif // HAS_L64XX