[2.0.x] Add L6470 SPI daisy chain support

Marlin/Configuration_adv.h

@@ -1509,62 +1509,121 @@
 /**
  * L6470 Stepper Driver options
  *
- * The Arduino-L6470 library is required for this stepper driver.
+ * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
  * https://github.com/ameyer/Arduino-L6470
+ *
+ * Requires the following to be defined in your pins_YOUR_BOARD file
+ *     L6470_CHAIN_SCK_PIN
+ *     L6470_CHAIN_MISO_PIN
+ *     L6470_CHAIN_MOSI_PIN
+ *     L6470_CHAIN_SS_PIN
+ *     L6470_RESET_CHAIN_PIN  (optional)
  */
 #if HAS_DRIVER(L6470)
 
-  #define X_MICROSTEPS        16 // number of microsteps
-  #define X_OVERCURRENT     2000 // maxc current in mA. If the current goes over this value, the driver will switch off
-  #define X_STALLCURRENT    1500 // current in mA where the driver will detect a stall
+  #define X_MICROSTEPS       128 // number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128 & 128)
+  #define X_OVERCURRENT     2000 // current in mA where the driver will detect an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
+  #define X_STALLCURRENT    1500 // current in mA where the driver will detect a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+  #define X_MAX_VOLTAGE      127 // 0-255, max effective voltage seen by stepper
+  #define X_CHAIN_POS          0 // position in SPI chain, 0 - not in chain, 1- nearest MOSI
 
-  #define X2_MICROSTEPS       16
+  #define X2_MICROSTEPS      128
   #define X2_OVERCURRENT    2000
   #define X2_STALLCURRENT   1500
+  #define X2_MAX_VOLTAGE     127
+  #define X2_CHAIN_POS         0
 
-  #define Y_MICROSTEPS        16
+  #define Y_MICROSTEPS       128
   #define Y_OVERCURRENT     2000
   #define Y_STALLCURRENT    1500
+  #define Y_MAX_VOLTAGE      127
+  #define Y_CHAIN_POS          0
 
-  #define Y2_MICROSTEPS       16
+  #define Y2_MICROSTEPS      128
   #define Y2_OVERCURRENT    2000
   #define Y2_STALLCURRENT   1500
+  #define Y2_MAX_VOLTAGE     127
+  #define Y2_CHAIN_POS         0
 
-  #define Z_MICROSTEPS        16
+  #define Z_MICROSTEPS       128
   #define Z_OVERCURRENT     2000
   #define Z_STALLCURRENT    1500
+  #define Z_MAX_VOLTAGE      127
+  #define Z_CHAIN_POS          0
 
-  #define Z2_MICROSTEPS       16
+  #define Z2_MICROSTEPS      128
   #define Z2_OVERCURRENT    2000
   #define Z2_STALLCURRENT   1500
+  #define Z2_MAX_VOLTAGE     127
+  #define Z2_CHAIN_POS         0
 
-  #define Z3_MICROSTEPS       16
+  #define Z3_MICROSTEPS      128
   #define Z3_OVERCURRENT    2000
   #define Z3_STALLCURRENT   1500
+  #define Z3_MAX_VOLTAGE     127
+  #define Z3_CHAIN_POS         0
 
-  #define E0_MICROSTEPS       16
+  #define E0_MICROSTEPS      128
   #define E0_OVERCURRENT    2000
   #define E0_STALLCURRENT   1500
+  #define E0_MAX_VOLTAGE     127
+  #define E0_CHAIN_POS         0
 
-  #define E1_MICROSTEPS       16
+  #define E1_MICROSTEPS      128
   #define E1_OVERCURRENT    2000
   #define E1_STALLCURRENT   1500
+  #define E1_MAX_VOLTAGE     127
+  #define E1_CHAIN_POS         0
 
-  #define E2_MICROSTEPS       16
+  #define E2_MICROSTEPS      128
   #define E2_OVERCURRENT    2000
   #define E2_STALLCURRENT   1500
+  #define E2_MAX_VOLTAGE     127
+  #define E2_CHAIN_POS         0
 
-  #define E3_MICROSTEPS       16
+  #define E3_MICROSTEPS      128
   #define E3_OVERCURRENT    2000
   #define E3_STALLCURRENT   1500
+  #define E3_MAX_VOLTAGE     127
+  #define E3_CHAIN_POS         0
 
-  #define E4_MICROSTEPS       16
+  #define E4_MICROSTEPS      128
   #define E4_OVERCURRENT    2000
   #define E4_STALLCURRENT   1500
+  #define E4_MAX_VOLTAGE     127
+  #define E4_CHAIN_POS         0
 
-  #define E5_MICROSTEPS       16
+  #define E5_MICROSTEPS      128
   #define E5_OVERCURRENT    2000
   #define E5_STALLCURRENT   1500
+  #define E5_MAX_VOLTAGE     127
+  #define E5_CHAIN_POS         0
+
+
+  /**
+    * Monitor L6470 drivers for error conditions like over temperature and over current.
+    * In the case of over temperature Marlin can decrease the drive until the error condition clears.
+    * Other detected conditions can be used to stop the current print.
+    * Relevant g-codes:
+    * M906 - I1/2/3/4/5  Set or get motor drive level using axis codes X, Y, Z, E. Report values if no axis codes given.
+    *         I not present or I0 or I1 - X, Y, Z or E0
+    *         I2 - X2, Y2, Z2 or E1
+    *         I3 - Z3 or E3
+    *         I4 - E4
+    *         I5 - E5
+    * M916 - Increase drive level until get thermal warning
+    * M917 - Find minimum current thresholds
+    * M918 - Increase speed until max or error
+    * M122 S0/1 - Report driver parameters
+  */
+  //#define MONITOR_L6470_DRIVER_STATUS
+
+  #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
+    #define KVAL_HOLD_STEP_DOWN     1
+    //#define L6470_STOP_ON_ERROR
+  #endif
+
+  #define L6470_CHITCHAT     // enable display of additional status info
 
 #endif // L6470
 

Marlin/src/HAL/shared/HAL_spi_L6470.cpp

@@ -0,0 +1,144 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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/>.
+ *
+ */
+
+/**
+ * Software L6470 SPI functions originally from Arduino Sd2Card Library
+ * Copyright (C) 2009 by William Greiman
+ */
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_DRIVER(L6470)
+
+#include "Delay.h"
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+#include "../../core/serial.h"
+#include "../../libs/L6470/L6470_Marlin.h"
+
+// --------------------------------------------------------------------------
+// Software L6470 SPI
+// --------------------------------------------------------------------------
+
+// Make sure GCC optimizes this file.
+// Note that this line triggers a bug in GCC which is fixed by casting.
+// See the note below.
+#pragma GCC optimize (3)
+
+// run at ~4Mhz
+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
+
+    WRITE(L6470_CHAIN_SCK_PIN, HIGH);
+    DELAY_NS(125);  // 10 cycles @ 84mhz
+
+    b |= (READ(L6470_CHAIN_MISO_PIN) != 0);
+
+    WRITE(L6470_CHAIN_SCK_PIN, LOW);
+    DELAY_NS(125);  // 10 cycles @ 84mhz
+  }
+  return b;
+}
+
+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);
+
+    b <<= 1;        // little setup time
+    b |= (READ(L6470_CHAIN_MISO_PIN) != 0);
+  }
+
+  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.
+ */
+
+uint8_t L6470_transfer(uint8_t data, int _SSPin, const uint8_t chain_position) {
+  uint8_t data_out = 0;
+
+  // first device in chain has data sent last
+  digitalWrite(_SSPin, 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;
+  }
+
+  digitalWrite(_SSPin, 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() {
+  OUT_WRITE(L6470_CHAIN_SS_PIN, HIGH);
+  OUT_WRITE(L6470_CHAIN_SCK_PIN, HIGH);
+  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
+  SET_INPUT(L6470_CHAIN_MISO_PIN);
+
+  #if PIN_EXISTS(L6470_BUSY)
+    SET_INPUT(L6470_BUSY_PIN);
+  #endif
+
+  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
+}
+
+#pragma GCC reset_options
+
+#endif // HAS_DRIVER(L6470)

Marlin/src/Marlin.cpp

@@ -44,6 +44,8 @@
 
 #include "HAL/shared/Delay.h"
 
+#include "module/stepper_indirection.h"
+
 #ifdef ARDUINO
   #include <pins_arduino.h>
 #endif
@@ -158,6 +160,10 @@
   #include "lcd/extensible_ui/ui_api.h"
 #endif
 
+#if HAS_DRIVER(L6470)
+  #include "libs/L6470/L6470_Marlin.h"
+#endif
+
 bool Running = true;
 
 #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
@@ -341,28 +347,34 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
   #endif
 
   if (stepper_inactive_time) {
+    static bool already_shutdown_steppers; // = false
     if (planner.has_blocks_queued())
       gcode.previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
     else if (MOVE_AWAY_TEST && !ignore_stepper_queue && ELAPSED(ms, gcode.previous_move_ms + stepper_inactive_time)) {
-      #if ENABLED(DISABLE_INACTIVE_X)
-        disable_X();
-      #endif
-      #if ENABLED(DISABLE_INACTIVE_Y)
-        disable_Y();
-      #endif
-      #if ENABLED(DISABLE_INACTIVE_Z)
-        disable_Z();
-      #endif
-      #if ENABLED(DISABLE_INACTIVE_E)
-        disable_e_steppers();
-      #endif
-      #if HAS_LCD_MENU && ENABLED(AUTO_BED_LEVELING_UBL)
-        if (ubl.lcd_map_control) {
-          ubl.lcd_map_control = false;
-          ui.defer_status_screen(false);
-        }
-      #endif
+      if (!already_shutdown_steppers) {
+        already_shutdown_steppers = true;  // L6470 SPI will consume 99% of free time without this
+        #if ENABLED(DISABLE_INACTIVE_X)
+          disable_X();
+        #endif
+        #if ENABLED(DISABLE_INACTIVE_Y)
+          disable_Y();
+        #endif
+        #if ENABLED(DISABLE_INACTIVE_Z)
+          disable_Z();
+        #endif
+        #if ENABLED(DISABLE_INACTIVE_E)
+          disable_e_steppers();
+        #endif
+        #if HAS_LCD_MENU && ENABLED(AUTO_BED_LEVELING_UBL)
+          if (ubl.lcd_map_control) {
+            ubl.lcd_map_control = false;
+            ui.defer_status_screen(false);
+          }
+        #endif
+      }
     }
+    else
+      already_shutdown_steppers = false;
   }
 
   #if PIN_EXISTS(CHDK) // Check if pin should be set to LOW (after M240 set it HIGH)
@@ -516,6 +528,10 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
     monitor_tmc_driver();
   #endif
 
+  #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
+    L6470.monitor_driver();
+  #endif
+
   // Limit check_axes_activity frequency to 10Hz
   static millis_t next_check_axes_ms = 0;
   if (ELAPSED(ms, next_check_axes_ms)) {
@@ -680,6 +696,10 @@ void setup() {
     HAL_init();
   #endif
 
+  #if HAS_DRIVER(L6470)
+    L6470.init();         // setup SPI and then init chips
+  #endif
+
   #if ENABLED(MAX7219_DEBUG)
     max7219.init();
   #endif