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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/>.
*
*/
/**
* 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
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