/** * Marlin 3D Printer Firmware * Copyright (c) 2020 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 . * */ #pragma once /** * stepper/L64xx.h * Stepper driver indirection for L64XX drivers */ #include "../../inc/MarlinConfig.h" #include "../../libs/L64XX/L64XX_Marlin.h" // Convert option names to L64XX classes #define CLASS_L6470 L6470 #define CLASS_L6474 L6474 #define CLASS_POWERSTEP01 powerSTEP01 #define __L64XX_CLASS(TYPE) CLASS_##TYPE #define _L64XX_CLASS(TYPE) __L64XX_CLASS(TYPE) #define L64XX_CLASS(ST) _L64XX_CLASS(ST##_DRIVER_TYPE) #define L6474_DIR_WRITE(A,STATE) do{ L64xxManager.dir_commands[A] = dSPIN_L6474_ENABLE; WRITE(A##_DIR_PIN, STATE); }while(0) #define L64XX_DIR_WRITE(A,STATE) do{ L64xxManager.dir_commands[A] = (STATE) ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD; }while(0) // X Stepper #if AXIS_IS_L64XX(X) extern L64XX_CLASS(X) stepperX; #define X_ENABLE_INIT() NOOP #define X_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperX.free()) #define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_X(L6474) #define X_DIR_INIT() SET_OUTPUT(X_DIR_PIN) #define X_DIR_WRITE(STATE) L6474_DIR_WRITE(X, STATE) #define X_DIR_READ() READ(X_DIR_PIN) #else #define X_DIR_INIT() NOOP #define X_DIR_WRITE(STATE) L64XX_DIR_WRITE(X, STATE) #define X_DIR_READ() (stepper##X.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_X(L6470) #define DISABLE_STEPPER_X() stepperX.free() #endif #endif #endif // Y Stepper #if AXIS_IS_L64XX(Y) extern L64XX_CLASS(Y) stepperY; #define Y_ENABLE_INIT() NOOP #define Y_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperY.free()) #define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_Y(L6474) #define Y_DIR_INIT() SET_OUTPUT(Y_DIR_PIN) #define Y_DIR_WRITE(STATE) L6474_DIR_WRITE(Y, STATE) #define Y_DIR_READ() READ(Y_DIR_PIN) #else #define Y_DIR_INIT() NOOP #define Y_DIR_WRITE(STATE) L64XX_DIR_WRITE(Y, STATE) #define Y_DIR_READ() (stepper##Y.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_Y(L6470) #define DISABLE_STEPPER_Y() stepperY.free() #endif #endif #endif // Z Stepper #if AXIS_IS_L64XX(Z) extern L64XX_CLASS(Z) stepperZ; #define Z_ENABLE_INIT() NOOP #define Z_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ.free()) #define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_Z(L6474) #define Z_DIR_INIT() SET_OUTPUT(Z_DIR_PIN) #define Z_DIR_WRITE(STATE) L6474_DIR_WRITE(Z, STATE) #define Z_DIR_READ() READ(Z_DIR_PIN) #else #define Z_DIR_INIT() NOOP #define Z_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z, STATE) #define Z_DIR_READ() (stepper##Z.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_Z(L6470) #define DISABLE_STEPPER_Z() stepperZ.free() #endif #endif #endif // X2 Stepper #if HAS_X2_ENABLE && AXIS_IS_L64XX(X2) extern L64XX_CLASS(X2) stepperX2; #define X2_ENABLE_INIT() NOOP #define X2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperX2.free()) #define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_X2(L6474) #define X2_DIR_INIT() SET_OUTPUT(X2_DIR_PIN) #define X2_DIR_WRITE(STATE) L6474_DIR_WRITE(X2, STATE) #define X2_DIR_READ() READ(X2_DIR_PIN) #else #define X2_DIR_INIT() NOOP #define X2_DIR_WRITE(STATE) L64XX_DIR_WRITE(X2, STATE) #define X2_DIR_READ() (stepper##X2.getStatus() & STATUS_DIR); #endif #endif #if AXIS_DRIVER_TYPE_X2(L6470) #define DISABLE_STEPPER_X2() stepperX2.free() #endif // Y2 Stepper #if HAS_Y2_ENABLE && AXIS_IS_L64XX(Y2) extern L64XX_CLASS(Y2) stepperY2; #define Y2_ENABLE_INIT() NOOP #define Y2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperY2.free()) #define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_Y2(L6474) #define Y2_DIR_INIT() SET_OUTPUT(Y2_DIR_PIN) #define Y2_DIR_WRITE(STATE) L6474_DIR_WRITE(Y2, STATE) #define Y2_DIR_READ() READ(Y2_DIR_PIN) #else #define Y2_DIR_INIT() NOOP #define Y2_DIR_WRITE(STATE) L64XX_DIR_WRITE(Y2, STATE) #define Y2_DIR_READ() (stepper##Y2.getStatus() & STATUS_DIR); #endif #endif #if AXIS_DRIVER_TYPE_Y2(L6470) #define DISABLE_STEPPER_Y2() stepperY2.free() #endif // Z2 Stepper #if HAS_Z2_ENABLE && AXIS_IS_L64XX(Z2) extern L64XX_CLASS(Z2) stepperZ2; #define Z2_ENABLE_INIT() NOOP #define Z2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ2.free()) #define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_Z2(L6474) #define Z2_DIR_INIT() SET_OUTPUT(Z2_DIR_PIN) #define Z2_DIR_WRITE(STATE) L6474_DIR_WRITE(Z2, STATE) #define Z2_DIR_READ() READ(Z2_DIR_PIN) #else #define Z2_DIR_INIT() NOOP #define Z2_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z2, STATE) #define Z2_DIR_READ() (stepper##Z2.getStatus() & STATUS_DIR); #endif #endif #if AXIS_DRIVER_TYPE_Z2(L6470) #define DISABLE_STEPPER_Z2() stepperZ2.free() #endif // Z3 Stepper #if HAS_Z3_ENABLE && AXIS_IS_L64XX(Z3) extern L64XX_CLASS(Z3) stepperZ3; #define Z3_ENABLE_INIT() NOOP #define Z3_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ3.free()) #define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_Z3(L6474) #define Z3_DIR_INIT() SET_OUTPUT(Z3_DIR_PIN) #define Z3_DIR_WRITE(STATE) L6474_DIR_WRITE(Z3, STATE) #define Z3_DIR_READ() READ(Z3_DIR_PIN) #else #define Z3_DIR_INIT() NOOP #define Z3_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z3, STATE) #define Z3_DIR_READ() (stepper##Z3.getStatus() & STATUS_DIR); #endif #endif #if AXIS_DRIVER_TYPE_Z3(L6470) #define DISABLE_STEPPER_Z3() stepperZ3.free() #endif // Z4 Stepper #if HAS_Z4_ENABLE && AXIS_IS_L64XX(Z4) extern L64XX_CLASS(Z4) stepperZ4; #define Z4_ENABLE_INIT() NOOP #define Z4_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ4.free()) #define Z4_ENABLE_READ() (stepperZ4.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_Z4(L6474) #define Z4_DIR_INIT() SET_OUTPUT(Z4_DIR_PIN) #define Z4_DIR_WRITE(STATE) L6474_DIR_WRITE(Z4, STATE) #define Z4_DIR_READ() READ(Z4_DIR_PIN) #else #define Z4_DIR_INIT() NOOP #define Z4_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z4, STATE) #define Z4_DIR_READ() (stepper##Z4.getStatus() & STATUS_DIR); #endif #endif #if AXIS_DRIVER_TYPE_Z4(L6470) #define DISABLE_STEPPER_Z4() stepperZ4.free() #endif // E0 Stepper #if AXIS_IS_L64XX(E0) extern L64XX_CLASS(E0) stepperE0; #define E0_ENABLE_INIT() NOOP #define E0_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE0.free()) #define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_E0(L6474) #define E0_DIR_INIT() SET_OUTPUT(E0_DIR_PIN) #define E0_DIR_WRITE(STATE) L6474_DIR_WRITE(E0, STATE) #define E0_DIR_READ() READ(E0_DIR_PIN) #else #define E0_DIR_INIT() NOOP #define E0_DIR_WRITE(STATE) L64XX_DIR_WRITE(E0, STATE) #define E0_DIR_READ() (stepper##E0.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_E0(L6470) #define DISABLE_STEPPER_E0() do{ stepperE0.free(); CBI(axis_known_position, E_AXIS); }while(0) #endif #endif #endif // E1 Stepper #if AXIS_IS_L64XX(E1) extern L64XX_CLASS(E1) stepperE1; #define E1_ENABLE_INIT() NOOP #define E1_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE1.free()) #define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_E1(L6474) #define E1_DIR_INIT() SET_OUTPUT(E1_DIR_PIN) #define E1_DIR_WRITE(STATE) L6474_DIR_WRITE(E1, STATE) #define E1_DIR_READ() READ(E1_DIR_PIN) #else #define E1_DIR_INIT() NOOP #define E1_DIR_WRITE(STATE) L64XX_DIR_WRITE(E1, STATE) #define E1_DIR_READ() (stepper##E1.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_E1(L6470) #define DISABLE_STEPPER_E1() do{ stepperE1.free(); CBI(axis_known_position, E_AXIS); }while(0) #endif #endif #endif // E2 Stepper #if AXIS_IS_L64XX(E2) extern L64XX_CLASS(E2) stepperE2; #define E2_ENABLE_INIT() NOOP #define E2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE2.free()) #define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_E2(L6474) #define E2_DIR_INIT() SET_OUTPUT(E2_DIR_PIN) #define E2_DIR_WRITE(STATE) L6474_DIR_WRITE(E2, STATE) #define E2_DIR_READ() READ(E2_DIR_PIN) #else #define E2_DIR_INIT() NOOP #define E2_DIR_WRITE(STATE) L64XX_DIR_WRITE(E2, STATE) #define E2_DIR_READ() (stepper##E2.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_E2(L6470) #define DISABLE_STEPPER_E2() do{ stepperE2.free(); CBI(axis_known_position, E_AXIS); }while(0) #endif #endif #endif // E3 Stepper #if AXIS_IS_L64XX(E3) extern L64XX_CLASS(E3) stepperE3; #define E3_ENABLE_INIT() NOOP #define E3_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE3.free()) #define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_E3(L6474) #define E3_DIR_INIT() SET_OUTPUT(E3_DIR_PIN) #define E3_DIR_WRITE(STATE) L6474_DIR_WRITE(E3, STATE) #define E3_DIR_READ() READ(E3_DIR_PIN) #else #define E3_DIR_INIT() NOOP #define E3_DIR_WRITE(STATE) L64XX_DIR_WRITE(E3, STATE) #define E3_DIR_READ() (stepper##E3.getStatus() & STATUS_DIR); #endif #endif // E4 Stepper #if AXIS_IS_L64XX(E4) extern L64XX_CLASS(E4) stepperE4; #define E4_ENABLE_INIT() NOOP #define E4_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE4.free()) #define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_E4(L6474) #define E4_DIR_INIT() SET_OUTPUT(E4_DIR_PIN) #define E4_DIR_WRITE(STATE) L6474_DIR_WRITE(E4, STATE) #define E4_DIR_READ() READ(E4_DIR_PIN) #else #define E4_DIR_INIT() NOOP #define E4_DIR_WRITE(STATE) L64XX_DIR_WRITE(E4, STATE) #define E4_DIR_READ() (stepper##E4.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_E4(L6470) #define DISABLE_STEPPER_E4() do{ stepperE4.free(); CBI(axis_known_position, E_AXIS); }while(0) #endif #endif #endif // E5 Stepper #if AXIS_IS_L64XX(E5) extern L64XX_CLASS(E5) stepperE5; #define E5_ENABLE_INIT() NOOP #define E5_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE5.free()) #define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_E5(L6474) #define E5_DIR_INIT() SET_OUTPUT(E5_DIR_PIN) #define E5_DIR_WRITE(STATE) L6474_DIR_WRITE(E5, STATE) #define E5_DIR_READ() READ(E5_DIR_PIN) #else #define E5_DIR_INIT() NOOP #define E5_DIR_WRITE(STATE) L64XX_DIR_WRITE(E5, STATE) #define E5_DIR_READ() (stepper##E5.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_E5(L6470) #define DISABLE_STEPPER_E5() do{ stepperE5.free(); CBI(axis_known_position, E_AXIS); }while(0) #endif #endif #endif // E6 Stepper #if AXIS_IS_L64XX(E6) extern L64XX_CLASS(E6) stepperE6; #define E6_ENABLE_INIT() NOOP #define E6_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE6.free()) #define E6_ENABLE_READ() (stepperE6.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_E6(L6474) #define E6_DIR_INIT() SET_OUTPUT(E6_DIR_PIN) #define E6_DIR_WRITE(STATE) L6474_DIR_WRITE(E6, STATE) #define E6_DIR_READ() READ(E6_DIR_PIN) #else #define E6_DIR_INIT() NOOP #define E6_DIR_WRITE(STATE) L64XX_DIR_WRITE(E6, STATE) #define E6_DIR_READ() (stepper##E6.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_E6(L6470) #define DISABLE_STEPPER_E6() do{ stepperE6.free(); CBI(axis_known_position, E_AXIS); }while(0) #endif #endif #endif // E7 Stepper #if AXIS_IS_L64XX(E7) extern L64XX_CLASS(E7) stepperE7; #define E7_ENABLE_INIT() NOOP #define E7_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE7.free()) #define E7_ENABLE_READ() (stepperE7.getStatus() & STATUS_HIZ) #if AXIS_DRIVER_TYPE_E7(L6474) #define E7_DIR_INIT() SET_OUTPUT(E7_DIR_PIN) #define E7_DIR_WRITE(STATE) L6474_DIR_WRITE(E7, STATE) #define E7_DIR_READ() READ(E7_DIR_PIN) #else #define E7_DIR_INIT() NOOP #define E7_DIR_WRITE(STATE) L64XX_DIR_WRITE(E7, STATE) #define E7_DIR_READ() (stepper##E7.getStatus() & STATUS_DIR); #if AXIS_DRIVER_TYPE_E7(L6470) #define DISABLE_STEPPER_E7() do{ stepperE7.free(); CBI(axis_known_position, E_AXIS); }while(0) #endif #endif #endif