bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

L6470 SPI daisy chain support (#12895)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

61
Marlin/src/module/stepper.cpp
View File

@ -79,6 +79,8 @@
#include "stepper.h"
Stepper stepper; // Singleton
#ifdef __AVR__
#include "speed_lookuptable.h"
#endif
@ -107,12 +109,14 @@
#include "../feature/mixing.h"
#endif
Stepper stepper; // Singleton
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#include "../feature/runout.h"
#endif
#if HAS_DRIVER(L6470)
#include "../libs/L6470/L6470_Marlin.h"
#endif
// public:
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
@ -350,22 +354,28 @@ void Stepper::wake_up() {
*/
void Stepper::set_directions() {
#define SET_STEP_DIR(A) \
if (motor_direction(_AXIS(A))) { \
A##_APPLY_DIR(INVERT_## A##_DIR, false); \
count_direction[_AXIS(A)] = -1; \
} \
else { \
#if HAS_DRIVER(L6470)
uint8_t L6470_buf[MAX_L6470 + 1]; // chip command sequence - element 0 not used
#endif
#define SET_STEP_DIR(A) \
if (motor_direction(_AXIS(A))) { \
A##_APPLY_DIR(INVERT_## A##_DIR, false); \
count_direction[_AXIS(A)] = -1; \
} \
else { \
A##_APPLY_DIR(!INVERT_## A##_DIR, false); \
count_direction[_AXIS(A)] = 1; \
count_direction[_AXIS(A)] = 1; \
}
#if HAS_X_DIR
SET_STEP_DIR(X); // A
#endif
#if HAS_Y_DIR
SET_STEP_DIR(Y); // B
#endif
#if HAS_Z_DIR
SET_STEP_DIR(Z); // C
#endif
@ -394,6 +404,27 @@ void Stepper::set_directions() {
#endif
#endif // !LIN_ADVANCE
#if HAS_DRIVER(L6470)
if (L6470.spi_active) {
L6470.spi_abort = true; // interrupted a SPI transfer - need to shut it down gracefully
for (uint8_t j = 1; j <= L6470::chain[0]; j++)
L6470_buf[j] = dSPIN_NOP; // fill buffer with NOOP commands
L6470.transfer(L6470_buf, L6470::chain[0]); // send enough NOOPs to complete any command
L6470.transfer(L6470_buf, L6470::chain[0]);
L6470.transfer(L6470_buf, L6470::chain[0]);
}
// The L6470.dir_commands[] array holds the direction command for each stepper
//scan command array and copy matches into L6470.transfer
for (uint8_t j = 1; j <= L6470::chain[0]; j++)
L6470_buf[j] = L6470.dir_commands[L6470::chain[j]];
L6470.transfer(L6470_buf, L6470::chain[0]); // send the command stream to the drivers
#endif
// A small delay may be needed after changing direction
#if MINIMUM_STEPPER_DIR_DELAY > 0
DELAY_NS(MINIMUM_STEPPER_DIR_DELAY);
@ -1766,10 +1797,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
else LA_isr_rate = LA_ADV_NEVER;
#endif
if (current_block->direction_bits != last_direction_bits
if (
#if HAS_DRIVER(L6470)
true // Always set direction for L6470 (This also enables the chips)
#else
current_block->direction_bits != last_direction_bits
#if DISABLED(MIXING_EXTRUDER)
|| stepper_extruder != last_moved_extruder
#endif
#endif
) {
last_direction_bits = current_block->direction_bits;
#if EXTRUDERS > 1
@ -2113,7 +2149,10 @@ void Stepper::init() {
ENABLE_STEPPER_DRIVER_INTERRUPT();
sei();
set_directions(); // Init directions to last_direction_bits = 0 Keeps Z from being reversed
Z_DIR_WRITE(0); // Init directions to last_direction_bits = 0 Keeps Z from being reversed
Z2_DIR_WRITE(0);
Z3_DIR_WRITE(0);
}
/**