diff options
Diffstat (limited to 'Marlin/src/module/stepper/L64xx.cpp')
| -rw-r--r-- | Marlin/src/module/stepper/L64xx.cpp | 225 |
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 |