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L6470 SPI daisy chain support (#12895)

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This commit is contained in:
Bob Kuhn
2019-01-23 19:06:54 -06:00
committed by Scott Lahteine
parent 6453b82a5e
commit 2f35747f29
95 changed files with 7844 additions and 1429 deletions
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Marlin/src/libs/L6470/000_l6470_read_me.md Normal file
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Arduino-6470 library revision 0.7.0 or above is required.
This software can be used with any L647x chip and the powerSTEP01. L647x and powerSTEP01 devices can not be mixed within a system. A flag in the library must be set to enable use of a powerSTEP01.
These devices use voltage PWMs to drive the stepper phases. Phase current is not directly controlled. Each microstep corresponds to a particular PWM duty cycle. The KVAL\_HOLD register scales the PWM duty cycle.
This software assumes that all L6470 drivers are in one SPI daisy chain.
``` {.gcode}
The hardware setup is:
MOSI from controller tied to SDI on the first device
SDO of the first device is tied to SDI of the next device
SDO of the last device is tied to MISO of the controller
all devices share the same SCK, SS\_PIN and RESET\_PIN
Each L6470 passes the data it saw on its SDI to its neighbor on the **NEXT** SPI cycle (8 bit delay).
Each L6470 acts on the **last** SPI data it saw when the SS\_PIN **goes high**.
```
The L6470 drivers operate in STEP\_CLOCK mode. In this mode the direction and enable are done via SPI commands and the phase currents are changed in response to step pulses (generated in the usual way).
There are two different SPI routines used.
- **uint8\_t** L6470\_Transfer(uint8\_t data, int \_SSPin, const uint8\_t chain\_position) is used to setup the chips and by the maintenance/status code. This code uses the Arduino-6470 library.
- **void** L6470\_Transfer(uint8\_t L6470\_buf[], const uint8\_t length) is used by the set\_directions() routine to send the direction/enable commands. The library is NOT used by this code.
**HARDWARE/SOFTWARE interaction**
Powering up a stepper and setting the direction are done by the same command. Can't do one without the other.
**All** directions are set **every time** a new block is popped off the queue by the stepper ISR.
SPI transfers, when setting the directions, are minimized by using arrays and a SPI routine dedicated to this function. L6470 library calls are not used. For N L6470 drivers, this results in a N byte transfer. If library calls were used then N\*N bytes would be sent.
**Power up (reset) sequence:**
1. Stepper objects are created before the **setup()** entry point is reached.
2. After the **setup()** entry point is reached and before the steppers are initialized, L6470\_init() is called to do the following
3. If present, the hardware reset is pulsed.
4. The L6470\_chain array is populated during **setup()**. This array is used to tell where in the SPI stream the commands/data for an stepper is positioned.
5. The L6470 soft SPI pins are initialized.
6. The L6470 chips are initialized during **setup()**. They can be re-initialized using the **L6470\_init\_to\_defaults()** function
The steppers are **NOT** powered up during this sequence.
**L6470\_chain** array
This array is used by all routines that transmit SPI data.
``` {.gcode}
Location 0 - number of drivers in chain
Location 1 - axis index for first device in the chain (closest to MOSI)
…
Location N - axis index for last device in the N device long chain (closest to MISO)
```
**Direction set and enable**
The DIR\_WRITE macros for the L6470 drivers are written so that the standard X, Y, Z and extruder logic used by the set\_directions() routine is not altered. These macros write the correct forward/reverse command to the corresponding location in the array *L6470\_dir\_commands*.
At the end of the set\_directions() routine, the array *L6470\_chain* is used to grab the corresponding direction/enable commands out of the array *L6470\_dir\_commands* and put them in the correct sequence in the array *L6470\_buf*. Array *L6470\_buf* is then passed to the **void** L6470\_Transfer function which actually sends the data to the devices.
**Utilities and misc**
The **absolute position** registers should accurately reflect Marlin’s stepper position counts. They are set to zero during initialization. G28 sets them to the Marlin counts for the corresponding axis after homing. NOTE – these registers are often the negative of the Marlin counts. This is because the Marlin counts reflect the logical direction while the registers reflect the stepper direction. The register contents are displayed via the M114 D command.
The **L6470\_monitor** feature reads the status of each device every half second. It will report if there are any error conditions present or if communications has been lost/restored. The KVAL\_HOLD value is reduced every 2 – 2.5 seconds if the thermal warning or thermal shutdown conditions are present.
**M122** displays the settings of most of the bits in the status register plus a couple of other items.
**M906** can be used to set the KVAL\_HOLD register one driver at a time. If a setting is not included with the command then the contents of the registers that affect the phase current/voltage are displayed.
**M916, M917 & M918**
These utilities are used to tune the system. They can get you in the ballpark for acceptable jerk, acceleration, top speed and KVAL\_HOLD settings. In general they seem to provide an overly optimistic KVAL\_HOLD setting because of the lag between setting KVAL\_HOLD and the driver reaching final temperature. Enabling the **L6470\_monitor** feature during prints will provide the **final useful KVAL\_HOLD setting**.
The amount of power needed to move the stepper without skipping steps increases as jerk, acceleration and top speed increase. The power dissipated by the driver increases as the power to the stepper increases. The net result is a balancing act between jerk, acceleration, top speed and power dissipated by the driver.
**M916 -** Increases KVAL\_HOLD while moving one axis until get thermal warning. This routine is also useful for determining the approximate KVAL\_HOLD where the stepper stops losing steps. The sound will get noticeably quieter as it stops losing steps.
**M917 -** Find minimum current thresholds. This is done by doing the following steps while moving an axis:
1. Decrease OCD current until overcurrent error
2. Increase OCD until overcurrent error goes away
3. Decrease stall threshold until stall error
4. Increase stall until stall error goes away
**M918 -** Increase speed until error or max feedrate achieved.

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Marlin/src/libs/L6470/L6470_Marlin.cpp Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* The monitor_driver routines are a close copy of the TMC code
*/
#include "../../inc/MarlinConfig.h"
#if HAS_DRIVER(L6470)
#include "L6470_Marlin.h"
L6470_Marlin L6470;
#include "../stepper_indirection.h"
#include "../../gcode/gcode.h"
#include "../planner.h"
uint8_t L6470_Marlin::dir_commands[MAX_L6470]; // array to hold direction command for each driver
char L6470_Marlin::index_to_axis[MAX_L6470][3] = { "X ", "Y ", "Z ", "X2", "Y2", "Z2", "Z3", "E0", "E1", "E2", "E3", "E4", "E5" };
bool L6470_Marlin::index_to_dir[MAX_L6470] = {
INVERT_X_DIR , // 0 X
INVERT_Y_DIR , // 1 Y
INVERT_Z_DIR , // 2 Z
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
INVERT_X_DIR ^ INVERT_X2_VS_X_DIR , // 3 X2
#else
INVERT_X_DIR , // 3 X2
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
INVERT_Y_DIR ^ INVERT_Y2_VS_Y_DIR , // 4 Y2
#else
INVERT_Y_DIR , // 4 Y2
#endif
INVERT_Z_DIR , // 5 Z2
INVERT_Z_DIR , // 6 Z3
INVERT_E0_DIR , // 7 E0
INVERT_E1_DIR , // 8 E1
INVERT_E2_DIR , // 9 E2
INVERT_E3_DIR , //10 E3
INVERT_E4_DIR , //11 E4
INVERT_E5_DIR , //12 E5
};
uint8_t L6470_Marlin::axis_xref[MAX_L6470] = {
AxisEnum(X_AXIS), // X
AxisEnum(Y_AXIS), // Y
AxisEnum(Z_AXIS), // Z
AxisEnum(X_AXIS), // X2
AxisEnum(Y_AXIS), // Y2
AxisEnum(Z_AXIS), // Z2
AxisEnum(Z_AXIS), // Z3
AxisEnum(E_AXIS), // E0
AxisEnum(E_AXIS), // E1
AxisEnum(E_AXIS), // E2
AxisEnum(E_AXIS), // E3
AxisEnum(E_AXIS), // E4
AxisEnum(E_AXIS) // E5
};
volatile bool L6470_Marlin::spi_abort = false;
bool L6470_Marlin::spi_active = false;
void L6470_Marlin::populate_chain_array() {
#define _L6470_INIT_SPI(Q) do{ stepper##Q.set_chain_info(Q, Q##_CHAIN_POS); }while(0)
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_INIT_SPI(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_INIT_SPI(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_INIT_SPI(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_INIT_SPI(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_INIT_SPI(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_INIT_SPI(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_INIT_SPI(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_INIT_SPI(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_INIT_SPI(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_INIT_SPI(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_INIT_SPI(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_INIT_SPI(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_INIT_SPI(E5);
#endif
}
void L6470_Marlin::init() { // Set up SPI and then init chips
#if PIN_EXISTS(L6470_RESET_CHAIN)
OUT_WRITE(L6470_RESET_CHAIN_PIN, LOW); // hardware reset of drivers
delay(1);
OUT_WRITE(L6470_RESET_CHAIN_PIN, HIGH);
delay(1); // need about 650uS for the chip to fully start up
#endif
populate_chain_array(); // Set up array to control where in the SPI transfer sequence a particular stepper's data goes
L6470_spi_init(); // Set up L6470 soft SPI pins
init_to_defaults(); // init the chips
}
uint16_t L6470_Marlin::get_status(const uint8_t axis) {
#define GET_L6470_STATUS(Q) stepper##Q.getStatus()
switch (axis) {
#if AXIS_DRIVER_TYPE_X(L6470)
case 0: return GET_L6470_STATUS(X);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
case 1: return GET_L6470_STATUS(Y);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
case 2: return GET_L6470_STATUS(Z);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
case 3: return GET_L6470_STATUS(X2);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
case 4: return GET_L6470_STATUS(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
case 5: return GET_L6470_STATUS(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
case 6: return GET_L6470_STATUS(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
case 7: return GET_L6470_STATUS(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
case 8: return GET_L6470_STATUS(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
case 9: return GET_L6470_STATUS(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
case 10: return GET_L6470_STATUS(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
case 11: return GET_L6470_STATUS(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
case 12: return GET_L6470_STATUS(E5);
#endif
}
return 0; // Not needed but kills a compiler warning
}
uint32_t L6470_Marlin::get_param(uint8_t axis, uint8_t param) {
#define GET_L6470_PARAM(Q) L6470_GETPARAM(param,Q)
switch (axis) {
#if AXIS_DRIVER_TYPE_X(L6470)
case 0: return GET_L6470_PARAM(X);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
case 1: return GET_L6470_PARAM(Y);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
case 2: return GET_L6470_PARAM(Z);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
case 3: return GET_L6470_PARAM(X2);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
case 4: return GET_L6470_PARAM(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
case 5: return GET_L6470_PARAM(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
case 6: return GET_L6470_PARAM(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
case 7: return GET_L6470_PARAM(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
case 8: return GET_L6470_PARAM(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
case 9: return GET_L6470_PARAM(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
case 10: return GET_L6470_PARAM(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
case 11: return GET_L6470_PARAM(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
case 12: return GET_L6470_PARAM(E5);
#endif
}
return 0 ; // not needed but kills a compiler warning
}
void L6470_Marlin::set_param(uint8_t axis, uint8_t param, uint32_t value) {
#define SET_L6470_PARAM(Q) stepper##Q.SetParam(param, value)
switch (axis) {
#if AXIS_DRIVER_TYPE_X(L6470)
case 0: SET_L6470_PARAM(X);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
case 1: SET_L6470_PARAM(Y);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
case 2: SET_L6470_PARAM(Z);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
case 3: SET_L6470_PARAM(X2);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
case 4: SET_L6470_PARAM(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
case 5: SET_L6470_PARAM(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
case 6: SET_L6470_PARAM(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
case 7: SET_L6470_PARAM(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
case 8: SET_L6470_PARAM(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
case 9: SET_L6470_PARAM(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
case 10: SET_L6470_PARAM(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
case 11: SET_L6470_PARAM(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
case 12: SET_L6470_PARAM(E5);
#endif
}
}
inline void echo_min_max(const char a, const float &min, const float &max) {
L6470_CHAR(' '); L6470_CHAR(a);
L6470_ECHOPAIR(" min = ", min);
L6470_ECHOLNPAIR(" max = ", max);
}
inline void echo_oct_used(const float &oct, const bool stall) {
L6470_ECHOPAIR("over_current_threshold used : ", oct);
serialprintPGM(stall ? PSTR(" (Stall") : PSTR(" (OCD"));
L6470_ECHOLNPGM(" threshold)");
}
inline void err_out_of_bounds() { L6470_ECHOLNPGM("ERROR - motion out of bounds"); }
bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3], char axis_mon[3][3],
float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
bool over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold
) {
// Return TRUE if the calling routine needs to abort/kill
uint16_t displacement = 0; // " = 0" to eliminate compiler warning
uint8_t j; // general purpose counter
if (!all_axes_homed()) {
L6470_ECHOLNPGM("ERROR - home all before running this command");
//return true;
}
LOOP_XYZE(i) if (uint16_t _displacement = parser.intval(axis_codes[i])) {
displacement = _displacement;
uint8_t axis_offset = parser.byteval('J');
axis_mon[0][0] = axis_codes[i]; // axis ASCII value (target character)
if (axis_offset >= 2 || axis_mon[0][0] == 'E') // Single axis, E0, or E1
axis_mon[0][1] = axis_offset + '0';
else if (axis_offset == 0) { // one or more axes
uint8_t driver_count_local = 0; // can't use "driver_count" directly as a subscript because it's passed by reference
for (j = 0; j < MAX_L6470; j++) // see how many drivers on this axis
if (axis_mon[0][0] == index_to_axis[j][0]) {
axis_mon[driver_count_local][0] = axis_mon[0][0];
axis_mon[driver_count_local][1] = index_to_axis[j][1];
axis_mon[driver_count_local][2] = index_to_axis[j][2]; // append end of string
axis_index[driver_count_local] = j; // set axis index
driver_count_local++;
}
driver_count = driver_count_local;
}
break; // only take first axis found
}
//
// Position calcs & checks
//
const float center[] = {
LOGICAL_X_POSITION(current_position[X_AXIS]),
LOGICAL_Y_POSITION(current_position[Y_AXIS]),
LOGICAL_Z_POSITION(current_position[Z_AXIS]),
current_position[E_AXIS]
};
switch (axis_mon[0][0]) {
default: position_max = position_min = 0; break;
case 'X': {
position_min = center[X_AXIS] - displacement;
position_max = center[X_AXIS] + displacement;
echo_min_max('X', position_min, position_max);
if (false
#ifdef X_MIN_POS
|| position_min < (X_MIN_POS)
#endif
#ifdef X_MAX_POS
|| position_max > (X_MAX_POS)
#endif
) {
err_out_of_bounds();
return true;
}
} break;
case 'Y': {
position_min = center[Y_AXIS] - displacement;
position_max = center[Y_AXIS] + displacement;
echo_min_max('Y', position_min, position_max);
if (false
#ifdef Y_MIN_POS
|| position_min < (Y_MIN_POS)
#endif
#ifdef Y_MAX_POS
|| position_max > (Y_MAX_POS)
#endif
) {
err_out_of_bounds();
return true;
}
} break;
case 'Z': {
position_min = center[E_AXIS] - displacement;
position_max = center[E_AXIS] + displacement;
echo_min_max('Z', position_min, position_max);
if (false
#ifdef Z_MIN_POS
|| position_min < (Z_MIN_POS)
#endif
#ifdef Z_MAX_POS
|| position_max > (Z_MAX_POS)
#endif
) {
err_out_of_bounds();
return true;
}
} break;
case 'E': {
position_min = center[E_AXIS] - displacement;
position_max = center[E_AXIS] + displacement;
echo_min_max('E', position_min, position_max);
} break;
}
//
// Work on the drivers
//
for (uint8_t k = 0; k < driver_count; k++) {
bool not_found = true;
for (j = 1; j <= L6470::chain[0]; j++) {
const char * const ind_axis = index_to_axis[L6470::chain[j]];
if (ind_axis[0] == axis_mon[k][0] && ind_axis[1] == axis_mon[k][1]) { // See if a L6470 driver
not_found = false;
break;
}
}
if (not_found) {
driver_count = k;
axis_mon[k][0] = ' '; // mark this entry invalid
break;
}
}
if (driver_count == 0) {
L6470_ECHOLNPGM("ERROR - not a L6470 axis");
return true;
}
L6470_ECHOPGM("Monitoring:");
for (j = 0; j < driver_count; j++) L6470_ECHOPAIR(" ", axis_mon[j]);
L6470_EOL();
// now have a list of driver(s) to monitor
//
// kVAL_HOLD checks & settings
//
kval_hold = parser.byteval('K');
if (kval_hold) {
L6470_ECHOLNPAIR("kval_hold = ", kval_hold);
for (j = 0; j < driver_count; j++)
set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
}
else {
// only print the KVAL_HOLD from one of the drivers
kval_hold = get_param(axis_index[0], L6470_KVAL_HOLD);
L6470_ECHOLNPAIR("KVAL_HOLD = ", kval_hold);
}
//
// Overcurrent checks & settings
//
if (over_current_flag) {
uint8_t OCD_TH_val_local = 0, // compiler thinks OCD_TH_val is unused if use it directly
STALL_TH_val_local = 0; // just in case ...
over_current_threshold = parser.intval('I');
if (over_current_threshold) {
OCD_TH_val_local = over_current_threshold/375;
LIMIT(OCD_TH_val_local, 0, 15);
STALL_TH_val_local = over_current_threshold/31.25;
LIMIT(STALL_TH_val_local, 0, 127);
uint16_t OCD_TH_actual = (OCD_TH_val_local + 1) * 375,
STALL_TH_actual = (STALL_TH_val_local + 1) * 31.25;
if (OCD_TH_actual < STALL_TH_actual) {
OCD_TH_val_local++;
OCD_TH_actual = (OCD_TH_val_local + 1) * 375;
}
L6470_ECHOLNPAIR("over_current_threshold specified: ", over_current_threshold);
echo_oct_used(STALL_TH_actual, true);
echo_oct_used(OCD_TH_actual, false);
#define SET_OVER_CURRENT(Q) do { stepper##Q.SetParam(L6470_STALL_TH, STALL_TH_val_local); stepper##Q.SetParam(L6470_OCD_TH, OCD_TH_val_local);} while (0)
for (j = 0; j < driver_count; j++) {
set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
}
}
else {
// only get & print the OVER_CURRENT values from one of the drivers
STALL_TH_val_local = get_param(axis_index[0], L6470_STALL_TH);
OCD_TH_val_local = get_param(axis_index[0], L6470_OCD_TH);
echo_oct_used((STALL_TH_val_local + 1) * 31.25, true);
echo_oct_used((OCD_TH_val_local + 1) * 375, false);
} // over_current_threshold
for (j = 0; j < driver_count; j++) { // set all drivers on axis the same
set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val_local);
set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val_local);
}
OCD_TH_val = OCD_TH_val_local; // force compiler to update the main routine's copy
STALL_TH_val = STALL_TH_val_local; // force compiler to update the main routine's copy
} // end of overcurrent
//
// Feedrate
//
final_feedrate = parser.floatval('F');
if (final_feedrate == 0) {
static constexpr float default_max_feedrate[] = DEFAULT_MAX_FEEDRATE;
const uint8_t num_feedrates = COUNT(default_max_feedrate);
for (j = 0; j < num_feedrates; j++) {
if (axis_codes[j] == axis_mon[0][0]) {
final_feedrate = default_max_feedrate[j];
break;
}
}
if (j == 3 && num_feedrates > 4) { // have more than one extruder feedrate
uint8_t extruder_num = axis_mon[0][1] - '0';
if (j <= num_feedrates - extruder_num) // have a feedrate specifically for this extruder
final_feedrate = default_max_feedrate[j + extruder_num];
else
final_feedrate = default_max_feedrate[3]; // use E0 feedrate for this extruder
}
final_feedrate *= 60; // convert to mm/minute
} // end of feedrate
return false; // FALSE indicates no user input problems
}
#if ENABLED(L6470_CHITCHAT)
inline void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR("YES") : PSTR("NO ")); }
#endif
void L6470_Marlin::say_axis(const uint8_t axis, const bool label/*=true*/) {
if (label) SERIAL_ECHOPGM("AXIS:");
SERIAL_CHAR(' ');
SERIAL_CHAR(index_to_axis[axis][0]);
SERIAL_CHAR(index_to_axis[axis][1]);
SERIAL_CHAR(' ');
}
void L6470_Marlin::error_status_decode(const uint16_t status, const uint8_t axis) { // assumes status bits have been inverted
#if ENABLED(L6470_CHITCHAT)
char temp_buf[10];
say_axis(axis);
sprintf_P(temp_buf, PSTR(" %4x "), status);
L6470_ECHO(temp_buf);
print_bin(status);
L6470_ECHOPGM(" THERMAL: ");
serialprintPGM((status & STATUS_TH_SD) ? PSTR("SHUTDOWN") : (status & STATUS_TH_WRN) ? PSTR("WARNING ") : PSTR("OK "));
L6470_ECHOPGM(" OVERCURRENT: ");
echo_yes_no(status & STATUS_OCD);
L6470_ECHOPGM(" STALL: ");
echo_yes_no(status & (STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B));
L6470_EOL();
#else
UNUSED(status); UNUSED(axis);
#endif
}
//////////////////////////////////////////////////////////////////////////////////////////////////
////
//// MONITOR_L6470_DRIVER_STATUS routines
////
//////////////////////////////////////////////////////////////////////////////////////////////////
#if ENABLED(MONITOR_L6470_DRIVER_STATUS)
struct L6470_driver_data {
uint8_t driver_index;
uint32_t driver_status;
bool is_otw;
uint8_t otw_counter;
bool is_ot;
bool is_hi_Z;
uint8_t com_counter;
};
L6470_driver_data driver_L6470_data[] = {
#if AXIS_DRIVER_TYPE_X(L6470)
{ 0, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
{ 1, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
{ 2, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
{ 3, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
{ 4, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
{ 5, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
{ 6, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
{ 7, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
{ 8, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
{ 9, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
{ 10, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
{ 11, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
{ 12, 0, 0, 0, 0, 0, 0 }
#endif
};
inline void append_stepper_err(char * &p, const uint8_t stepper_index, const char * const err=NULL) {
p += sprintf_P(p, PSTR("Stepper %c%c "), char(index_to_axis[stepper_index][0]), char(index_to_axis[stepper_index][1]));
if (err) p += sprintf_P(p, err);
}
void L6470_monitor_update(uint8_t stepper_index, uint16_t status) {
if (spi_abort) return; // don't do anything if set_directions() has occurred
uint8_t kval_hold;
char temp_buf[120];
char* p = &temp_buf[0];
uint8_t j;
for (j = 0; j < L6470::chain[0]; j++) // find the table for this stepper
if (driver_L6470_data[j].driver_index == stepper_index) break;
driver_L6470_data[j].driver_status = status;
uint16_t _status = ~status; // all error bits are active low
if (status == 0 || status == 0xFFFF) { // com problem
if (driver_L6470_data[j].com_counter == 0) { // warn user when it first happens
driver_L6470_data[j].com_counter++;
append_stepper_err(p, stepper_index, PSTR(" - communications lost\n"));
L6470_ECHO(temp_buf);
}
else {
driver_L6470_data[j].com_counter++;
if (driver_L6470_data[j].com_counter > 240) { // remind of com problem about every 2 minutes
driver_L6470_data[j].com_counter = 1;
append_stepper_err(p, stepper_index, PSTR(" - still no communications\n"));
L6470_ECHO(temp_buf);
}
}
}
else {
if (driver_L6470_data[j].com_counter) { // comms re-established
driver_L6470_data[j].com_counter = 0;
append_stepper_err(p, stepper_index, PSTR(" - communications re-established\n.. setting all drivers to default values\n"));
L6470_ECHO(temp_buf);
init_to_defaults();
}
else {
// no com problems - do the usual checks
if (_status & L6470_ERROR_MASK) {
append_stepper_err(p, stepper_index);
if (status & STATUS_HIZ) { // the driver has shut down HiZ is active high
driver_L6470_data[j].is_hi_Z = true;
p += sprintf_P(p, PSTR("%cIS SHUT DOWN"), ' ');
// if (_status & STATUS_TH_SD) { // strange - TH_SD never seems to go active, must be implied by the HiZ and TH_WRN
if (_status & STATUS_TH_WRN) { // over current shutdown
p += sprintf_P(p, PSTR("%cdue to over temperature"), ' ');
driver_L6470_data[j].is_ot = true;
kval_hold = get_param(stepper_index, L6470_KVAL_HOLD) - 2 * KVAL_HOLD_STEP_DOWN;
set_param(stepper_index, L6470_KVAL_HOLD, kval_hold); // reduce KVAL_HOLD
p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), 2 * KVAL_HOLD_STEP_DOWN, kval_hold); // let user know
}
else
driver_L6470_data[j].is_ot = false;
}
else {
driver_L6470_data[j].is_hi_Z = false;
if (_status & STATUS_TH_WRN) { // have an over temperature warning
driver_L6470_data[j].is_otw = true;
driver_L6470_data[j].otw_counter++;
kval_hold = get_param(stepper_index, L6470_KVAL_HOLD);
if (driver_L6470_data[j].otw_counter > 4) { // otw present for 2 - 2.5 seconds, reduce KVAL_HOLD
kval_hold -= KVAL_HOLD_STEP_DOWN;
set_param(stepper_index, L6470_KVAL_HOLD, kval_hold); // reduce KVAL_HOLD
p += sprintf_P(p, PSTR(" - KVAL_HOLD reduced by %d to %d"), KVAL_HOLD_STEP_DOWN, kval_hold); // let user know
driver_L6470_data[j].otw_counter = 0;
driver_L6470_data[j].is_otw = true;
}
else if (driver_L6470_data[j].otw_counter)
p += sprintf_P(p, PSTR("%c- thermal warning"), ' '); // warn user
}
}
#ifdef L6470_STOP_ON_ERROR
if (_status & (STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD))
kill(temp_buf);
#endif
#if ENABLED(L6470_CHITCHAT)
if (_status & STATUS_OCD)
p += sprintf_P(p, PSTR("%c over current"), ' ');
if (_status & (STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B))
p += sprintf_P(p, PSTR("%c stall"), ' ');
if (_status & STATUS_UVLO)
p += sprintf_P(p, PSTR("%c under voltage lock out"), ' ');
p += sprintf_P(p, PSTR("%c\n"), ' ');
#endif
L6470_ECHOLN(temp_buf); // print the error message
}
else {
driver_L6470_data[j].is_ot = false;
driver_L6470_data[j].otw_counter = 0; //clear out warning indicators
driver_L6470_data[j].is_otw = false;
} // end usual checks
} // comms established but have errors
} // comms re-established
} // end L6470_monitor_update()
#define MONITOR_L6470_DRIVE(Q) L6470_monitor_update(Q, stepper##Q.getStatus())
void L6470_Marlin::monitor_driver() {
static millis_t next_cOT = 0;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 500;
spi_active = true; // let set_directions() know we're in the middle of a series of SPI transfers
#if AXIS_DRIVER_TYPE_X(L6470)
MONITOR_L6470_DRIVE(X);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
MONITOR_L6470_DRIVE(Y);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
MONITOR_L6470_DRIVE(Z);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
MONITOR_L6470_DRIVE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
MONITOR_L6470_DRIVE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
MONITOR_L6470_DRIVE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
MONITOR_L6470_DRIVE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
MONITOR_L6470_DRIVE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
MONITOR_L6470_DRIVE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
MONITOR_L6470_DRIVE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
MONITOR_L6470_DRIVE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
MONITOR_L6470_DRIVE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
MONITOR_L6470_DRIVE(E5);
#endif
#if ENABLED(L6470_DEBUG)
if (report_L6470_status) L6470_EOL();
#endif
spi_active = false; // done with all SPI transfers - clear handshake flags
spi_abort = false;
}
}
#endif // MONITOR_L6470_DRIVER_STATUS
#endif // HAS_DRIVER(L6470)

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Marlin/src/libs/L6470/L6470_Marlin.h Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2018 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 <http://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#include <L6470.h>
#if ENABLED(L6470_CHITCHAT)
#define L6470_EOL() SERIAL_EOL()
#define L6470_CHAR(C) SERIAL_CHAR(C)
#define L6470_ECHO(V) SERIAL_ECHO(V)
#define L6470_ECHOLN(V) SERIAL_ECHOLN(V)
#define L6470_ECHOPGM(S) SERIAL_ECHOPGM(S)
#define L6470_ECHOLNPGM(S) SERIAL_ECHOLNPGM(S)
#define L6470_ECHOPAIR(S,V) SERIAL_ECHOPAIR(S,V)
#define L6470_ECHOLNPAIR(S,V) SERIAL_ECHOLNPAIR(S,V)
#else
#define L6470_EOL() NOOP
#define L6470_CHAR(C) NOOP
#define L6470_ECHO(V) NOOP
#define L6470_ECHOLN(V) NOOP
#define L6470_ECHOPGM(S) NOOP
#define L6470_ECHOLNPGM(S) NOOP
#define L6470_ECHOPAIR(S,V) NOOP
#define L6470_ECHOLNPAIR(S,V) NOOP
#endif
#define L6470_GETPARAM(P,Q) stepper##Q.GetParam(P)
#define MAX_L6470 (7 + MAX_EXTRUDERS) // Maximum number of axes in Marlin
#define L6470_ERROR_MASK (STATUS_UVLO | STATUS_TH_WRN | STATUS_TH_SD | STATUS_OCD | STATUS_STEP_LOSS_A | STATUS_STEP_LOSS_B)
#define dSPIN_STEP_CLOCK_FWD dSPIN_STEP_CLOCK
#define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
#define HAS_L6470_EXTRUDER ( AXIS_DRIVER_TYPE_E0(L6470) || AXIS_DRIVER_TYPE_E1(L6470) || AXIS_DRIVER_TYPE_E2(L6470) \
|| AXIS_DRIVER_TYPE_E3(L6470) || AXIS_DRIVER_TYPE_E4(L6470) || AXIS_DRIVER_TYPE_E5(L6470) )
class L6470_Marlin {
public:
static bool index_to_dir[MAX_L6470];
static uint8_t axis_xref[MAX_L6470];
static char index_to_axis[MAX_L6470][3];
static uint8_t dir_commands[MAX_L6470];
// flags to guarantee graceful switch if stepper interrupts L6470 SPI transfer
static volatile bool spi_abort;
static bool spi_active;
L6470_Marlin() {}
static uint16_t get_status(const uint8_t axis);
static uint32_t get_param(uint8_t axis, uint8_t param);
static void set_param(uint8_t axis, uint8_t param, uint32_t value);
static bool get_user_input(uint8_t &driver_count, uint8_t axis_index[3], char axis_mon[3][3],
float &position_max, float &position_min, float &final_feedrate, uint8_t &kval_hold,
bool over_current_flag, uint8_t &OCD_TH_val, uint8_t &STALL_TH_val, uint16_t &over_current_threshold);
static void error_status_decode(const uint16_t status, const uint8_t axis);
static void monitor_driver();
static void init();
static void init_to_defaults();
static void say_axis(const uint8_t axis, const bool label=true);
private:
void populate_chain_array();
};
extern L6470_Marlin L6470;