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/**
* 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/>.
*
*/
#pragma once
#include "../../inc/MarlinConfig.h"
#include <L6470.h>
#if !(L6470_LIBRARY_VERSION >= 0x000800)
#error 'L6470_LIBRARY_VERSION 0x000800 or later required'
#endif
#define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
#define dSPIN_STEP_CLOCK 0x58
#define dSPIN_STEP_CLOCK_FWD dSPIN_STEP_CLOCK
#define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
#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))
enum L64XX_axis_t : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, MAX_L64XX };
class L64XX_Marlin : public L64XXHelper {
public:
static PGM_P const index_to_axis[MAX_L64XX];
static const uint8_t index_to_dir[MAX_L64XX];
static uint8_t dir_commands[MAX_L64XX];
// Flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
static volatile uint8_t spi_abort;
static uint8_t spi_active;
L64XX_Marlin() {}
static void init();
static void init_to_defaults();
static uint16_t get_stepper_status(L64XX &st);
static uint16_t get_status(const L64XX_axis_t axis);
static uint32_t get_param(const L64XX_axis_t axis, const uint8_t param);
static void set_param(const L64XX_axis_t axis, const uint8_t param, const uint32_t value);
//static void send_command(const L64XX_axis_t axis, uint8_t command);
static uint8_t get_user_input(uint8_t &driver_count, L64XX_axis_t axis_index[3], char axis_mon[3][3],
float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
uint8_t over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold);
static void transfer(uint8_t L6470_buf[], const uint8_t length);
static void say_axis(const L64XX_axis_t axis, const uint8_t label=true);
#if ENABLED(L6470_CHITCHAT)
static void error_status_decode(
const uint16_t status, const L64XX_axis_t axis,
const uint16_t _status_axis_th_sd, const uint16_t _status_axis_th_wrn,
const uint16_t _status_axis_step_loss_a, const uint16_t _status_axis_step_loss_b,
const uint16_t _status_axis_ocd, const uint8_t _status_axis_layout
);
#else
FORCE_INLINE static void error_status_decode(
const uint16_t, const L64XX_axis_t,
const uint16_t, const uint16_t,
const uint16_t, const uint16_t,
const uint16_t, const uint8_t
){}
#endif
// ~40 bytes SRAM to simplify status decode routines
typedef struct {
uint8_t STATUS_AXIS_LAYOUT; // Copy of L6470_status_layout
uint8_t AXIS_OCD_TH_MAX; // Size of OCD_TH field
uint8_t AXIS_STALL_TH_MAX; // Size of STALL_TH field
float AXIS_OCD_CURRENT_CONSTANT_INV; // mA per count
float AXIS_STALL_CURRENT_CONSTANT_INV; // mA per count
uint8_t L6470_AXIS_CONFIG, // Address of the CONFIG register
L6470_AXIS_STATUS; // Address of the STATUS register
uint16_t L6470_ERROR_MASK, // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD | STATUS_OCD | STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B
L6474_ERROR_MASK, // STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD | STATUS_OCD
STATUS_AXIS_RAW, // Copy of status register contents
STATUS_AXIS, // Copy of status register contents but with all error bits active low
STATUS_AXIS_OCD, // Overcurrent detected bit position
STATUS_AXIS_SCK_MOD, // Step clock mode is active bit position
STATUS_AXIS_STEP_LOSS_A, // Stall detected on A bridge bit position
STATUS_AXIS_STEP_LOSS_B, // Stall detected on B bridge bit position
STATUS_AXIS_TH_SD, // Thermal shutdown bit position
STATUS_AXIS_TH_WRN, // Thermal warning bit position
STATUS_AXIS_UVLO, // Undervoltage lockout is active bit position
STATUS_AXIS_WRONG_CMD, // Last command not valid bit position
STATUS_AXIS_CMD_ERR, // Command error bit position
STATUS_AXIS_NOTPERF_CMD; // Last command not performed bit position
} L64XX_shadow_t;
static L64XX_shadow_t shadow;
#if ENABLED(MONITOR_L6470_DRIVER_STATUS)
static bool monitor_paused;
static inline void pause_monitor(const bool p) { monitor_paused = p; }
static void monitor_update(L64XX_axis_t stepper_index);
static void monitor_driver();
#else
static inline void pause_monitor(const bool) {}
#endif
//protected:
// L64XXHelper methods
static void spi_init();
static uint8_t transfer_single(uint8_t data, int16_t ss_pin);
static uint8_t transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position);
private:
static void append_stepper_err(char* &p, const uint8_t stepper_index, const char * const err=nullptr);
};
void echo_yes_no(const bool yes);
extern L64XX_Marlin L64xxManager;
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