Split up stepper indirection (MarlinFirmware#15111)

fmuntean · Sep 1, 2019 · 586b334 · 586b334
1 parent 87b16ed
commit 586b334
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Showing 29 changed files with 1,391 additions and 1,088 deletions.
diff --git a/Marlin/src/HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.cpp b/Marlin/src/HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.cpp
@@ -37,7 +37,7 @@
 
 #include "../../../inc/MarlinConfig.h"
 #include "../../../Marlin.h"
-#include "../../../module/stepper_indirection.h"
+#include "../../../module/stepper/indirection.h"
 #include "../../../module/printcounter.h"
 #include "../../../libs/duration_t.h"
 #include "../../../libs/hex_print_routines.h"

diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
@@ -45,7 +45,7 @@
 
 #include "HAL/shared/Delay.h"
 
-#include "module/stepper_indirection.h"
+#include "module/stepper/indirection.h"
 
 #ifdef ARDUINO
   #include <pins_arduino.h>

diff --git a/Marlin/src/feature/controllerfan.cpp b/Marlin/src/feature/controllerfan.cpp
@@ -24,7 +24,7 @@
 
 #if ENABLED(USE_CONTROLLER_FAN)
 
-#include "../module/stepper_indirection.h"
+#include "../module/stepper/indirection.h"
 #include "../module/temperature.h"
 
 uint8_t controllerfan_speed;

diff --git a/Marlin/src/feature/power.cpp b/Marlin/src/feature/power.cpp
@@ -30,7 +30,7 @@
 
 #include "power.h"
 #include "../module/temperature.h"
-#include "../module/stepper_indirection.h"
+#include "../module/stepper/indirection.h"
 #include "../Marlin.h"
 
 Power powerManager;

diff --git a/Marlin/src/feature/prusa_MMU2/mmu2.cpp b/Marlin/src/feature/prusa_MMU2/mmu2.cpp
@@ -35,7 +35,7 @@ MMU2 mmu2;
 #include "../../libs/nozzle.h"
 #include "../../module/temperature.h"
 #include "../../module/planner.h"
-#include "../../module/stepper_indirection.h"
+#include "../../module/stepper/indirection.h"
 #include "../../Marlin.h"
 
 #if ENABLED(HOST_PROMPT_SUPPORT)

diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
@@ -27,7 +27,7 @@
 #include "tmc_util.h"
 #include "../Marlin.h"
 
-#include "../module/stepper_indirection.h"
+#include "../module/stepper/indirection.h"
 #include "../module/printcounter.h"
 #include "../libs/duration_t.h"
 #include "../gcode/gcode.h"

diff --git a/Marlin/src/gcode/feature/L6470/M122.cpp b/Marlin/src/gcode/feature/L6470/M122.cpp
@@ -26,7 +26,7 @@
 
 #include "../../gcode.h"
 #include "../../../libs/L6470/L6470_Marlin.h"
-#include "../../../module/stepper_indirection.h"
+#include "../../../module/stepper/indirection.h"
 
 inline void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); }
 

diff --git a/Marlin/src/gcode/feature/L6470/M906.cpp b/Marlin/src/gcode/feature/L6470/M906.cpp
@@ -26,7 +26,7 @@
 
 #include "../../gcode.h"
 #include "../../../libs/L6470/L6470_Marlin.h"
-#include "../../../module/stepper_indirection.h"
+#include "../../../module/stepper/indirection.h"
 #include "../../../module/planner.h"
 
 #define DEBUG_OUT ENABLED(L6470_CHITCHAT)

diff --git a/Marlin/src/gcode/feature/L6470/M916-918.cpp b/Marlin/src/gcode/feature/L6470/M916-918.cpp
@@ -25,7 +25,7 @@
 #if HAS_DRIVER(L6470)
 
 #include "../../gcode.h"
-#include "../../../module/stepper_indirection.h"
+#include "../../../module/stepper/indirection.h"
 #include "../../../module/planner.h"
 #include "../../../libs/L6470/L6470_Marlin.h"
 

diff --git a/Marlin/src/gcode/feature/trinamic/M569.cpp b/Marlin/src/gcode/feature/trinamic/M569.cpp
@@ -26,7 +26,7 @@
 
 #include "../../gcode.h"
 #include "../../../feature/tmc_util.h"
-#include "../../../module/stepper_indirection.h"
+#include "../../../module/stepper/indirection.h"
 
 template<typename TMC>
 void tmc_say_stealth_status(TMC &st) {

diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp
@@ -26,7 +26,7 @@
 
 #include "../../gcode.h"
 #include "../../../feature/tmc_util.h"
-#include "../../../module/stepper_indirection.h"
+#include "../../../module/stepper/indirection.h"
 
 /**
  * M906: Set motor current in milliamps.

diff --git a/Marlin/src/gcode/feature/trinamic/M911-M914.cpp b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp
@@ -26,7 +26,7 @@
 
 #include "../../gcode.h"
 #include "../../../feature/tmc_util.h"
-#include "../../../module/stepper_indirection.h"
+#include "../../../module/stepper/indirection.h"
 #include "../../../module/planner.h"
 #include "../../queue.h"
 

diff --git a/Marlin/src/gcode/host/M114.cpp b/Marlin/src/gcode/host/M114.cpp
@@ -31,7 +31,7 @@
   #if HAS_DRIVER(L6470)
     //C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\gcode\host\M114.cpp
     //C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\bob_L6470.cpp
-    #include "../../module/L6470/L6470_Marlin.h"
+    #include "../../libs/L6470/L6470_Marlin.h"
     #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
     #include "../../core/debug_out.h"
   #endif

diff --git a/Marlin/src/lcd/extensible_ui/ui_api.cpp b/Marlin/src/lcd/extensible_ui/ui_api.cpp
@@ -77,7 +77,7 @@
 
 #if HAS_TRINAMIC
   #include "../../feature/tmc_util.h"
-  #include "../../module/stepper_indirection.h"
+  #include "../../module/stepper/indirection.h"
 #endif
 
 #include "ui_api.h"

diff --git a/Marlin/src/lcd/menu/menu_tmc.cpp b/Marlin/src/lcd/menu/menu_tmc.cpp
@@ -29,7 +29,7 @@
 #if HAS_TRINAMIC && HAS_LCD_MENU
 
 #include "menu.h"
-#include "../../module/stepper_indirection.h"
+#include "../../module/stepper/indirection.h"
 #include "../../feature/tmc_util.h"
 
 #define TMC_EDIT_STORED_I_RMS(ST,MSG) MENU_ITEM_EDIT_CALLBACK(uint16_4, MSG, &stepper##ST.val_mA, 100, 3000, refresh_stepper_current_##ST)

diff --git a/Marlin/src/libs/L6470/L6470_Marlin.cpp b/Marlin/src/libs/L6470/L6470_Marlin.cpp
@@ -21,7 +21,7 @@
  */
 
 /**
- *  The monitor_driver routines are a close copy of the TMC code
+ * The monitor_driver routines are a close copy of the TMC code
  */
 
 #include "../../inc/MarlinConfig.h"
@@ -32,9 +32,9 @@
 
 L6470_Marlin L6470;
 
-#include "../stepper_indirection.h"
+#include "../../module/stepper/indirection.h"
+#include "../../module/planner.h"
 #include "../../gcode/gcode.h"
-#include "../planner.h"
 
 #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
 #include "../../core/debug_out.h"

diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
@@ -112,7 +112,7 @@
 #endif
 
 #if HAS_TRINAMIC
-  #include "stepper_indirection.h"
+  #include "stepper/indirection.h"
   #include "../feature/tmc_util.h"
 #endif
 

diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
@@ -43,7 +43,7 @@
 
 #if ENABLED(SENSORLESS_HOMING)
   #include "../feature/tmc_util.h"
-  #include "stepper_indirection.h"
+  #include "stepper/indirection.h"
 #endif
 
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)

diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
@@ -76,7 +76,7 @@ float zprobe_zoffset; // Initialized by settings.load()
 #endif
 
 #if QUIET_PROBING
-  #include "stepper_indirection.h"
+  #include "stepper/indirection.h"
 #endif
 
 #if ENABLED(EXTENSIBLE_UI)

diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
@@ -218,7 +218,7 @@
 // Stepper class definition
 //
 
-#include "stepper_indirection.h"
+#include "stepper/indirection.h"
 
 #ifdef __AVR__
   #include "speed_lookuptable.h"

diff --git a/Marlin/src/module/stepper/L6470.cpp b/Marlin/src/module/stepper/L6470.cpp
@@ -0,0 +1,143 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * stepper/L6470.cpp
+ * Stepper driver indirection for L6470 drivers
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_DRIVER(L6470)
+
+#include "L6470.h"
+
+#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
+
+// L6470 Stepper objects
+#if AXIS_DRIVER_TYPE_X(L6470)
+  _L6470_DEFINE(X);
+#endif
+#if AXIS_DRIVER_TYPE_X2(L6470)
+  _L6470_DEFINE(X2);
+#endif
+#if AXIS_DRIVER_TYPE_Y(L6470)
+  _L6470_DEFINE(Y);
+#endif
+#if AXIS_DRIVER_TYPE_Y2(L6470)
+  _L6470_DEFINE(Y2);
+#endif
+#if AXIS_DRIVER_TYPE_Z(L6470)
+  _L6470_DEFINE(Z);
+#endif
+#if AXIS_DRIVER_TYPE_Z2(L6470)
+  _L6470_DEFINE(Z2);
+#endif
+#if AXIS_DRIVER_TYPE_Z3(L6470)
+  _L6470_DEFINE(Z3);
+#endif
+#if AXIS_DRIVER_TYPE_E0(L6470)
+  _L6470_DEFINE(E0);
+#endif
+#if AXIS_DRIVER_TYPE_E1(L6470)
+  _L6470_DEFINE(E1);
+#endif
+#if AXIS_DRIVER_TYPE_E2(L6470)
+  _L6470_DEFINE(E2);
+#endif
+#if AXIS_DRIVER_TYPE_E3(L6470)
+  _L6470_DEFINE(E3);
+#endif
+#if AXIS_DRIVER_TYPE_E4(L6470)
+  _L6470_DEFINE(E4);
+#endif
+#if AXIS_DRIVER_TYPE_E5(L6470)
+  _L6470_DEFINE(E5);
+#endif
+
+// not using L6470 library's init command because it
+// briefly sends power to the steppers
+
+#define _L6470_INIT_CHIP(Q) do{                             \
+  stepper##Q.resetDev();                                    \
+  stepper##Q.softFree();                                    \
+  stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1        \
+                                  | CONFIG_PWM_MUL_2        \
+                                  | CONFIG_SR_290V_us       \
+                                  | CONFIG_OC_SD_DISABLE    \
+                                  | CONFIG_VS_COMP_DISABLE  \
+                                  | CONFIG_SW_HARD_STOP     \
+                                  | CONFIG_INT_16MHZ);      \
+  stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF);                \
+  stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF);                \
+  stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF);                \
+  stepper##Q.setMicroSteps(Q##_MICROSTEPS);                 \
+  stepper##Q.setOverCurrent(Q##_OVERCURRENT);               \
+  stepper##Q.setStallCurrent(Q##_STALLCURRENT);             \
+  stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE);    \
+  stepper##Q.SetParam(L6470_ABS_POS, 0);                    \
+  stepper##Q.getStatus();                                   \
+}while(0)
+
+void L6470_Marlin::init_to_defaults() {
+  #if AXIS_DRIVER_TYPE_X(L6470)
+    _L6470_INIT_CHIP(X);
+  #endif
+  #if AXIS_DRIVER_TYPE_X2(L6470)
+    _L6470_INIT_CHIP(X2);
+  #endif
+  #if AXIS_DRIVER_TYPE_Y(L6470)
+    _L6470_INIT_CHIP(Y);
+  #endif
+  #if AXIS_DRIVER_TYPE_Y2(L6470)
+    _L6470_INIT_CHIP(Y2);
+  #endif
+  #if AXIS_DRIVER_TYPE_Z(L6470)
+    _L6470_INIT_CHIP(Z);
+  #endif
+  #if AXIS_DRIVER_TYPE_Z2(L6470)
+    _L6470_INIT_CHIP(Z2);
+  #endif
+  #if AXIS_DRIVER_TYPE_Z3(L6470)
+    _L6470_INIT_CHIP(Z3);
+  #endif
+  #if AXIS_DRIVER_TYPE_E0(L6470)
+    _L6470_INIT_CHIP(E0);
+  #endif
+  #if AXIS_DRIVER_TYPE_E1(L6470)
+    _L6470_INIT_CHIP(E1);
+  #endif
+  #if AXIS_DRIVER_TYPE_E2(L6470)
+    _L6470_INIT_CHIP(E2);
+  #endif
+  #if AXIS_DRIVER_TYPE_E3(L6470)
+    _L6470_INIT_CHIP(E3);
+  #endif
+  #if AXIS_DRIVER_TYPE_E4(L6470)
+    _L6470_INIT_CHIP(E4);
+  #endif
+  #if AXIS_DRIVER_TYPE_E5(L6470)
+    _L6470_INIT_CHIP(E5);
+  #endif
+}
+
+#endif // L6470