thebears/marlin_skr
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Improved STMicro L64XX stepper driver support (#16452)

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

133
Marlin/src/gcode/feature/L6470/M122.cpp
View File

@@ -22,36 +22,64 @@
#include "../../../inc/MarlinConfig.h"
#if HAS_DRIVER(L6470)
#if HAS_L64XX
#include "../../gcode.h"
#include "../../../libs/L6470/L6470_Marlin.h"
#include "../../../libs/L64XX/L64XX_Marlin.h"
#include "../../../module/stepper/indirection.h"
inline void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); }
void echo_yes_no(const bool yes);
void L6470_status_decode(const uint16_t status, const uint8_t axis) {
if (L6470.spi_abort) return; // don't do anything if set_directions() has occurred
L6470.say_axis(axis);
inline void L6470_say_status(const L64XX_axis_t axis) {
if (L64xxManager.spi_abort) return;
const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
L64xxManager.get_status(axis);
L64xxManager.say_axis(axis);
#if ENABLED(L6470_CHITCHAT)
char temp_buf[20];
sprintf_P(temp_buf, PSTR(" status: %4x "), status);
sprintf_P(temp_buf, PSTR(" status: %4x "), sh.STATUS_AXIS_RAW);
SERIAL_ECHO(temp_buf);
print_bin(status);
print_bin(sh.STATUS_AXIS_RAW);
switch (sh.STATUS_AXIS_LAYOUT) {
case L6470_STATUS_LAYOUT: serialprintPGM(PSTR(" L6470")); break;
case L6474_STATUS_LAYOUT: serialprintPGM(PSTR(" L6474")); break;
case L6480_STATUS_LAYOUT: serialprintPGM(PSTR(" L6480/powerSTEP01")); break;
}
#endif
SERIAL_ECHOPGM("\n...OUTPUT: ");
serialprintPGM(status & STATUS_HIZ ? PSTR("OFF") : PSTR("ON "));
SERIAL_ECHOPGM(" BUSY: "); echo_yes_no(!(status & STATUS_BUSY));
serialprintPGM(sh.STATUS_AXIS & STATUS_HIZ ? PSTR("OFF") : PSTR("ON "));
SERIAL_ECHOPGM(" BUSY: "); echo_yes_no((sh.STATUS_AXIS & STATUS_BUSY) == 0);
SERIAL_ECHOPGM(" DIR: ");
serialprintPGM((((status & STATUS_DIR) >> 4) ^ L6470.index_to_dir[axis]) ? PSTR("FORWARD") : PSTR("REVERSE"));
SERIAL_ECHOPGM(" Last Command: ");
if (status & STATUS_WRONG_CMD) SERIAL_ECHOPGM("IN");
SERIAL_ECHOPGM("VALID ");
serialprintPGM(status & STATUS_NOTPERF_CMD ? PSTR("Not PERFORMED") : PSTR("COMPLETED "));
SERIAL_ECHOPAIR("\n...THERMAL: ", !(status & STATUS_TH_SD) ? "SHUTDOWN" : !(status & STATUS_TH_WRN) ? "WARNING " : "OK ");
SERIAL_ECHOPGM(" OVERCURRENT:"); echo_yes_no(!(status & STATUS_OCD));
SERIAL_ECHOPGM(" STALL:"); echo_yes_no(!(status & STATUS_STEP_LOSS_A) || !(status & STATUS_STEP_LOSS_B));
SERIAL_ECHOPGM(" STEP-CLOCK MODE:"); echo_yes_no(status & STATUS_SCK_MOD);
serialprintPGM((((sh.STATUS_AXIS & STATUS_DIR) >> 4) ^ L64xxManager.index_to_dir[axis]) ? PSTR("FORWARD") : PSTR("REVERSE"));
if (sh.STATUS_AXIS_LAYOUT == L6480_STATUS_LAYOUT) {
SERIAL_ECHOPGM(" Last Command: ");
if (sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD) SERIAL_ECHOPGM("VALID");
else SERIAL_ECHOPGM("ERROR");
SERIAL_ECHOPGM("\n...THERMAL: ");
switch ((sh.STATUS_AXIS & (sh.STATUS_AXIS_TH_SD | sh.STATUS_AXIS_TH_WRN)) >> 11) {
case 0: SERIAL_ECHOPGM("DEVICE SHUTDOWN"); break;
case 1: SERIAL_ECHOPGM("BRIDGE SHUTDOWN"); break;
case 2: SERIAL_ECHOPGM("WARNING "); break;
case 3: SERIAL_ECHOPGM("OK "); break;
}
}
else {
SERIAL_ECHOPGM(" Last Command: ");
if (!(sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD)) SERIAL_ECHOPGM("IN");
SERIAL_ECHOPGM("VALID ");
serialprintPGM(sh.STATUS_AXIS & sh.STATUS_AXIS_NOTPERF_CMD ? PSTR("COMPLETED ") : PSTR("Not PERFORMED"));
SERIAL_ECHOPAIR("\n...THERMAL: ", !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_SD) ? "SHUTDOWN " : !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_WRN) ? "WARNING " : "OK ");
}
SERIAL_ECHOPGM(" OVERCURRENT:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_OCD) == 0);
if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) {
SERIAL_ECHOPGM(" STALL:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_A) == 0 || (sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_B) == 0);
SERIAL_ECHOPGM(" STEP-CLOCK MODE:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_SCK_MOD) != 0);
}
else {
SERIAL_ECHOPGM(" STALL: NA "
" STEP-CLOCK MODE: NA"
" UNDER VOLTAGE LOCKOUT: "); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_UVLO) == 0);
}
SERIAL_EOL();
}
@@ -59,57 +87,56 @@ void L6470_status_decode(const uint16_t status, const uint8_t axis) {
* M122: Debug L6470 drivers
*/
void GcodeSuite::M122() {
L6470.spi_active = true; // let set_directions() know we're in the middle of a series of SPI transfers
#define L6470_SAY_STATUS(Q) L6470_status_decode(stepper##Q.getStatus(), Q)
L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
L64xxManager.spi_active = true; // Tell set_directions() a series of SPI transfers is underway
//if (parser.seen('S'))
// tmc_set_report_interval(parser.value_bool());
// tmc_set_report_interval(parser.value_bool());
//else
#if AXIS_DRIVER_TYPE_X(L6470)
L6470_SAY_STATUS(X);
#if AXIS_IS_L64XX(X)
L6470_say_status(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
L6470_SAY_STATUS(X2);
#if AXIS_IS_L64XX(X2)
L6470_say_status(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
L6470_SAY_STATUS(Y);
#if AXIS_IS_L64XX(Y)
L6470_say_status(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
L6470_SAY_STATUS(Y2);
#if AXIS_IS_L64XX(Y2)
L6470_say_status(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
L6470_SAY_STATUS(Z);
#if AXIS_IS_L64XX(Z)
L6470_say_status(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
L6470_SAY_STATUS(Z2);
#if AXIS_IS_L64XX(Z2)
L6470_say_status(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
L6470_SAY_STATUS(Z3);
#if AXIS_IS_L64XX(Z3)
L6470_say_status(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
L6470_SAY_STATUS(E0);
#if AXIS_IS_L64XX(E0)
L6470_say_status(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
L6470_SAY_STATUS(E1);
#if AXIS_IS_L64XX(E1)
L6470_say_status(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
L6470_SAY_STATUS(E2);
#if AXIS_IS_L64XX(E2)
L6470_say_status(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
L6470_SAY_STATUS(E3);
#if AXIS_IS_L64XX(E3)
L6470_say_status(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
L6470_SAY_STATUS(E4);
#if AXIS_IS_L64XX(E4)
L6470_say_status(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
L6470_SAY_STATUS(E5);
#if AXIS_IS_L64XX(E5)
L6470_say_status(E5);
#endif
L6470.spi_active = false; // done with all SPI transfers - clear handshake flags
L6470.spi_abort = false;
L64xxManager.spi_active = false; // done with all SPI transfers - clear handshake flags
L64xxManager.spi_abort = false;
L64xxManager.pause_monitor(false);
}
#endif // HAS_DRIVER(L6470)
#endif // HAS_L64XX