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Improved STMicro L64XX stepper driver support (#16452)

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This commit is contained in:
Bob Kuhn
2020-01-13 18:47:30 -06:00
committed by Scott Lahteine
parent 53f1e5ff5b
commit 1ad53cee1f
315 changed files with 8582 additions and 5343 deletions
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3
Marlin/src/HAL/HAL_STM32/timers.h
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@ -33,7 +33,6 @@
#define hal_timer_t uint32_t
#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF // Timers can be 16 or 32 bit
#ifdef STM32F0xx
#define HAL_TIMER_RATE (F_CPU) // frequency of timer peripherals
@ -63,7 +62,7 @@
#define HAL_TIMER_RATE (F_CPU/2) // frequency of timer peripherals
#ifndef STEP_TIMER
#define STEP_TIMER 6
#define STEP_TIMER 9 // STM32F401 has no TIM6, TIM7, or TIM8
#endif
#ifndef TEMP_TIMER

99
Marlin/src/HAL/shared/HAL_spi_L6470.cpp
View File

@ -27,12 +27,12 @@
#include "../../inc/MarlinConfig.h"
#if HAS_DRIVER(L6470)
#if HAS_L64XX
#include "Delay.h"
#include "../../core/serial.h"
#include "../../libs/L6470/L6470_Marlin.h"
#include "../../libs/L64XX/L64XX_Marlin.h"
// Make sure GCC optimizes this file.
// Note that this line triggers a bug in GCC which is fixed by casting.
@ -40,7 +40,7 @@
#pragma GCC optimize (3)
// run at ~4Mhz
uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0
inline uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0
for (uint8_t bits = 8; bits--;) {
WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80);
b <<= 1; // little setup time
@ -56,61 +56,26 @@ uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0
return b;
}
uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
inline uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
for (uint8_t bits = 8; bits--;) {
WRITE(L6470_CHAIN_SCK_PIN, LOW);
WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80);
DELAY_NS(125); // 10 cycles @ 84mhz
WRITE(L6470_CHAIN_SCK_PIN, HIGH);
DELAY_NS(125); // Need more delay for fast CPUs
b <<= 1; // little setup time
b |= (READ(L6470_CHAIN_MISO_PIN) != 0);
}
DELAY_NS(125); // 10 cycles @ 84mhz
DELAY_NS(125); // 10 cycles @ 84mhz
return b;
}
/**
* The following are weak-linked and defined as do-nothing
* functions by the L6470-Arduino library. They must be
* defined by the client (Marlin) to provide an SPI interface.
* L64XX methods for SPI init and transfer
*/
uint8_t L6470_transfer(uint8_t data, int16_t ss_pin, const uint8_t chain_position) {
uint8_t data_out = 0;
// first device in chain has data sent last
extDigitalWrite(ss_pin, LOW);
for (uint8_t i = L6470::chain[0]; (i >= 1) && !spi_abort; i--) { // stop sending data if spi_abort is active
DISABLE_ISRS(); // disable interrupts during SPI transfer (can't allow partial command to chips)
uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP));
ENABLE_ISRS(); // enable interrupts
if (i == chain_position) data_out = temp;
}
extDigitalWrite(ss_pin, HIGH);
return data_out;
}
void L6470_transfer(uint8_t L6470_buf[], const uint8_t length) {
// first device in chain has data sent last
if (spi_active) { // interrupted SPI transfer so need to
WRITE(L6470_CHAIN_SS_PIN, HIGH); // guarantee min high of 650nS
DELAY_US(1);
}
WRITE(L6470_CHAIN_SS_PIN, LOW);
for (uint8_t i = length; i >= 1; i--)
L6470_SpiTransfer_Mode_3(uint8_t(L6470_buf[i]));
WRITE(L6470_CHAIN_SS_PIN, HIGH);
}
void L6470_spi_init() {
void L64XX_Marlin::spi_init() {
OUT_WRITE(L6470_CHAIN_SS_PIN, HIGH);
OUT_WRITE(L6470_CHAIN_SCK_PIN, HIGH);
OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
@ -123,6 +88,52 @@ void L6470_spi_init() {
OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
}
uint8_t L64XX_Marlin::transfer_single(uint8_t data, int16_t ss_pin) {
// First device in chain has data sent last
extDigitalWrite(ss_pin, LOW);
DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
const uint8_t data_out = L6470_SpiTransfer_Mode_3(data);
ENABLE_ISRS(); // Enable interrupts
extDigitalWrite(ss_pin, HIGH);
return data_out;
}
uint8_t L64XX_Marlin::transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position) {
uint8_t data_out = 0;
// first device in chain has data sent last
extDigitalWrite(ss_pin, LOW);
for (uint8_t i = L64XX::chain[0]; !L64xxManager.spi_abort && i >= 1; i--) { // Send data unless aborted
DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
const uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP));
ENABLE_ISRS(); // Enable interrupts
if (i == chain_position) data_out = temp;
}
extDigitalWrite(ss_pin, HIGH);
return data_out;
}
/**
* Platform-supplied L6470 buffer transfer method
*/
void L64XX_Marlin::transfer(uint8_t L6470_buf[], const uint8_t length) {
// First device in chain has its data sent last
if (spi_active) { // Interrupted SPI transfer so need to
WRITE(L6470_CHAIN_SS_PIN, HIGH); // guarantee min high of 650ns
DELAY_US(1);
}
WRITE(L6470_CHAIN_SS_PIN, LOW);
for (uint8_t i = length; i >= 1; i--)
L6470_SpiTransfer_Mode_3(uint8_t(L6470_buf[i]));
WRITE(L6470_CHAIN_SS_PIN, HIGH);
}
#pragma GCC reset_options
#endif // HAS_DRIVER(L6470)
#endif // HAS_L64XX