My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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L64xx.cpp 7.8KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <https://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * stepper/L64xx.cpp
  24. * Stepper driver indirection for L64XX drivers
  25. */
  26. #include "../../inc/MarlinConfig.h"
  27. #if HAS_L64XX
  28. #include "L64xx.h"
  29. #if AXIS_IS_L64XX(X)
  30. L64XX_CLASS(X) stepperX(L6470_CHAIN_SS_PIN);
  31. #endif
  32. #if AXIS_IS_L64XX(X2)
  33. L64XX_CLASS(X2) stepperX2(L6470_CHAIN_SS_PIN);
  34. #endif
  35. #if AXIS_IS_L64XX(Y)
  36. L64XX_CLASS(Y) stepperY(L6470_CHAIN_SS_PIN);
  37. #endif
  38. #if AXIS_IS_L64XX(Y2)
  39. L64XX_CLASS(Y2) stepperY2(L6470_CHAIN_SS_PIN);
  40. #endif
  41. #if AXIS_IS_L64XX(Z)
  42. L64XX_CLASS(Z) stepperZ(L6470_CHAIN_SS_PIN);
  43. #endif
  44. #if AXIS_IS_L64XX(Z2)
  45. L64XX_CLASS(Z2) stepperZ2(L6470_CHAIN_SS_PIN);
  46. #endif
  47. #if AXIS_IS_L64XX(Z3)
  48. L64XX_CLASS(Z3) stepperZ3(L6470_CHAIN_SS_PIN);
  49. #endif
  50. #if AXIS_IS_L64XX(Z4)
  51. L64XX_CLASS(Z4) stepperZ4(L6470_CHAIN_SS_PIN);
  52. #endif
  53. #if AXIS_IS_L64XX(I)
  54. L64XX_CLASS(I) stepperI(L6470_CHAIN_SS_PIN);
  55. #endif
  56. #if AXIS_IS_L64XX(J)
  57. L64XX_CLASS(J) stepperJ(L6470_CHAIN_SS_PIN);
  58. #endif
  59. #if AXIS_IS_L64XX(K)
  60. L64XX_CLASS(K) stepperK(L6470_CHAIN_SS_PIN);
  61. #endif
  62. #if AXIS_IS_L64XX(E0)
  63. L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN);
  64. #endif
  65. #if AXIS_IS_L64XX(E1)
  66. L64XX_CLASS(E1) stepperE1(L6470_CHAIN_SS_PIN);
  67. #endif
  68. #if AXIS_IS_L64XX(E2)
  69. L64XX_CLASS(E2) stepperE2(L6470_CHAIN_SS_PIN);
  70. #endif
  71. #if AXIS_IS_L64XX(E3)
  72. L64XX_CLASS(E3) stepperE3(L6470_CHAIN_SS_PIN);
  73. #endif
  74. #if AXIS_IS_L64XX(E4)
  75. L64XX_CLASS(E4) stepperE4(L6470_CHAIN_SS_PIN);
  76. #endif
  77. #if AXIS_IS_L64XX(E5)
  78. L64XX_CLASS(E5) stepperE5(L6470_CHAIN_SS_PIN);
  79. #endif
  80. #if AXIS_IS_L64XX(E6)
  81. L64XX_CLASS(E6) stepperE6(L6470_CHAIN_SS_PIN);
  82. #endif
  83. #if AXIS_IS_L64XX(E7)
  84. L64XX_CLASS(E7) stepperE7(L6470_CHAIN_SS_PIN);
  85. #endif
  86. // Not using L64XX class init method because it
  87. // briefly sends power to the steppers
  88. inline void L6470_init_chip(L64XX &st, const int ms, const int oc, const int sc, const int mv, const int slew_rate) {
  89. st.set_handlers(L64xxManager.spi_init, L64xxManager.transfer_single, L64xxManager.transfer_chain); // specify which external SPI routines to use
  90. switch (st.L6470_status_layout) {
  91. case L6470_STATUS_LAYOUT: {
  92. st.resetDev();
  93. st.softFree();
  94. 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);
  95. st.SetParam(L6470_KVAL_RUN, 0xFF);
  96. st.SetParam(L6470_KVAL_ACC, 0xFF);
  97. st.SetParam(L6470_KVAL_DEC, 0xFF);
  98. st.setMicroSteps(ms);
  99. st.setOverCurrent(oc);
  100. st.setStallCurrent(sc);
  101. st.SetParam(L6470_KVAL_HOLD, mv);
  102. st.SetParam(L6470_ABS_POS, 0);
  103. uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
  104. config_temp &= ~CONFIG_POW_SR;
  105. switch (slew_rate) {
  106. case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
  107. default:
  108. case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
  109. case 3:
  110. case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
  111. }
  112. st.getStatus();
  113. st.getStatus();
  114. break;
  115. }
  116. case L6474_STATUS_LAYOUT: {
  117. st.free();
  118. //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);
  119. //st.SetParam(L6474_TVAL, 0xFF);
  120. st.setMicroSteps(ms);
  121. st.setOverCurrent(oc);
  122. st.setTVALCurrent(sc);
  123. st.SetParam(L6470_ABS_POS, 0);
  124. uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
  125. config_temp &= ~CONFIG_POW_SR & ~CONFIG_EN_TQREG; // clear out slew rate and set current to be controlled by TVAL register
  126. switch (slew_rate) {
  127. case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
  128. default:
  129. case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
  130. case 3:
  131. case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
  132. //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_75V_us); break;
  133. //default:
  134. //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_110V_us); break;
  135. //case 3:
  136. //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_260V_us); break;
  137. //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
  138. //default:
  139. //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
  140. //case 3:
  141. //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
  142. }
  143. st.getStatus();
  144. st.getStatus();
  145. break;
  146. }
  147. case L6480_STATUS_LAYOUT: {
  148. st.resetDev();
  149. st.softFree();
  150. 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);
  151. st.SetParam(L6470_KVAL_RUN, 0xFF);
  152. st.SetParam(L6470_KVAL_ACC, 0xFF);
  153. st.SetParam(L6470_KVAL_DEC, 0xFF);
  154. st.setMicroSteps(ms);
  155. st.setOverCurrent(oc);
  156. st.setStallCurrent(sc);
  157. st.SetParam(+-L6470_KVAL_HOLD, mv);
  158. st.SetParam(L6470_ABS_POS, 0);
  159. st.SetParam(st.L64XX_CONFIG,(st.GetParam(st.L64XX_CONFIG) | PWR_VCC_7_5V));
  160. st.getStatus(); // must clear out status bits before can set slew rate
  161. st.getStatus();
  162. switch (slew_rate) {
  163. case 0: st.SetParam(L6470_GATECFG1, CONFIG1_SR_220V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_220V_us); break;
  164. default:
  165. case 1: st.SetParam(L6470_GATECFG1, CONFIG1_SR_400V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_400V_us); break;
  166. case 2: st.SetParam(L6470_GATECFG1, CONFIG1_SR_520V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_520V_us); break;
  167. case 3: st.SetParam(L6470_GATECFG1, CONFIG1_SR_980V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_980V_us); break;
  168. }
  169. break;
  170. }
  171. }
  172. }
  173. #define L6470_INIT_CHIP(Q) L6470_init_chip(stepper##Q, Q##_MICROSTEPS, Q##_OVERCURRENT, Q##_STALLCURRENT, Q##_MAX_VOLTAGE, Q##_SLEW_RATE)
  174. void L64XX_Marlin::init_to_defaults() {
  175. #if AXIS_IS_L64XX(X)
  176. L6470_INIT_CHIP(X);
  177. #endif
  178. #if AXIS_IS_L64XX(X2)
  179. L6470_INIT_CHIP(X2);
  180. #endif
  181. #if AXIS_IS_L64XX(Y)
  182. L6470_INIT_CHIP(Y);
  183. #endif
  184. #if AXIS_IS_L64XX(Y2)
  185. L6470_INIT_CHIP(Y2);
  186. #endif
  187. #if AXIS_IS_L64XX(Z)
  188. L6470_INIT_CHIP(Z);
  189. #endif
  190. #if AXIS_IS_L64XX(Z2)
  191. L6470_INIT_CHIP(Z2);
  192. #endif
  193. #if AXIS_IS_L64XX(Z3)
  194. L6470_INIT_CHIP(Z3);
  195. #endif
  196. #if AXIS_IS_L64XX(Z4)
  197. L6470_INIT_CHIP(Z4);
  198. #endif
  199. #if AXIS_IS_L64XX(I)
  200. L6470_INIT_CHIP(I);
  201. #endif
  202. #if AXIS_IS_L64XX(J)
  203. L6470_INIT_CHIP(J);
  204. #endif
  205. #if AXIS_IS_L64XX(K)
  206. L6470_INIT_CHIP(K);
  207. #endif
  208. #if AXIS_IS_L64XX(E0)
  209. L6470_INIT_CHIP(E0);
  210. #endif
  211. #if AXIS_IS_L64XX(E1)
  212. L6470_INIT_CHIP(E1);
  213. #endif
  214. #if AXIS_IS_L64XX(E2)
  215. L6470_INIT_CHIP(E2);
  216. #endif
  217. #if AXIS_IS_L64XX(E3)
  218. L6470_INIT_CHIP(E3);
  219. #endif
  220. #if AXIS_IS_L64XX(E4)
  221. L6470_INIT_CHIP(E4);
  222. #endif
  223. #if AXIS_IS_L64XX(E5)
  224. L6470_INIT_CHIP(E5);
  225. #endif
  226. #if AXIS_IS_L64XX(E6)
  227. L6470_INIT_CHIP(E6);
  228. #endif
  229. #if AXIS_IS_L64XX(E7)
  230. L6470_INIT_CHIP(E7);
  231. #endif
  232. }
  233. #endif // HAS_L64XX