Improved STMicro L64XX stepper driver support (#16452)

Marlin/Configuration.h

@@ -654,12 +654,13 @@
  *
  * A4988 is assumed for unspecified drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
+ *          TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'powerSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 //#define X_DRIVER_TYPE  A4988
 //#define Y_DRIVER_TYPE  A4988

Marlin/Configuration_adv.h

@@ -2217,127 +2217,146 @@
 
 #endif // HAS_TRINAMIC
 
-// @section L6470
+// @section L64XX
 
 /**
- * L6470 Stepper Driver options
+ * L64XX Stepper Driver options
  *
- * Arduino-L6470 library (0.7.0 or higher) is required for this stepper driver.
+ * Arduino-L6470 library (0.8.0 or higher) is required.
  * 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)
+ *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
  */
-#if HAS_DRIVER(L6470)
 
-  //#define L6470_CHITCHAT        // Display additional status info
+#if HAS_L64XX
 
-  #if AXIS_DRIVER_TYPE_X(L6470)
-    #define X_MICROSTEPS     128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128)
-    #define X_OVERCURRENT   2000  // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
-    #define X_STALLCURRENT  1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-    #define X_MAX_VOLTAGE    127  // 0-255, Maximum effective voltage seen by stepper
-    #define X_CHAIN_POS       -1  // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
-  #endif
+  //#define L6470_CHITCHAT        // Display additional status info
 
-  #if AXIS_DRIVER_TYPE_X2(L6470)
+  #if AXIS_IS_L64XX(X)
+    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
+    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
+                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
+                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
+    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
+                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
+                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
+                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
+    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
+    #define X_CHAIN_POS          0  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
+    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
+  #endif
+
+  #if AXIS_IS_L64XX(X2)
     #define X2_MICROSTEPS      128
     #define X2_OVERCURRENT    2000
     #define X2_STALLCURRENT   1500
     #define X2_MAX_VOLTAGE     127
-    #define X2_CHAIN_POS        -1
+    #define X2_CHAIN_POS         0
+    #define X2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y(L6470)
+  #if AXIS_IS_L64XX(Y)
     #define Y_MICROSTEPS       128
     #define Y_OVERCURRENT     2000
     #define Y_STALLCURRENT    1500
     #define Y_MAX_VOLTAGE      127
-    #define Y_CHAIN_POS         -1
+    #define Y_CHAIN_POS          0
+    #define Y_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Y2(L6470)
+  #if AXIS_IS_L64XX(Y2)
     #define Y2_MICROSTEPS      128
     #define Y2_OVERCURRENT    2000
     #define Y2_STALLCURRENT   1500
     #define Y2_MAX_VOLTAGE     127
-    #define Y2_CHAIN_POS        -1
+    #define Y2_CHAIN_POS         0
+    #define Y2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z(L6470)
+  #if AXIS_IS_L64XX(Z)
     #define Z_MICROSTEPS       128
     #define Z_OVERCURRENT     2000
     #define Z_STALLCURRENT    1500
     #define Z_MAX_VOLTAGE      127
-    #define Z_CHAIN_POS         -1
+    #define Z_CHAIN_POS          0
+    #define Z_SLEW_RATE          1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z2(L6470)
+  #if AXIS_IS_L64XX(Z2)
     #define Z2_MICROSTEPS      128
     #define Z2_OVERCURRENT    2000
     #define Z2_STALLCURRENT   1500
     #define Z2_MAX_VOLTAGE     127
-    #define Z2_CHAIN_POS        -1
+    #define Z2_CHAIN_POS         0
+    #define Z2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_Z3(L6470)
+  #if AXIS_IS_L64XX(Z3)
     #define Z3_MICROSTEPS      128
     #define Z3_OVERCURRENT    2000
     #define Z3_STALLCURRENT   1500
     #define Z3_MAX_VOLTAGE     127
-    #define Z3_CHAIN_POS        -1
+    #define Z3_CHAIN_POS         0
+    #define Z3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E0(L6470)
+  #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
     #define E0_STALLCURRENT   1500
     #define E0_MAX_VOLTAGE     127
-    #define E0_CHAIN_POS        -1
+    #define E0_CHAIN_POS         0
+    #define E0_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E1(L6470)
+  #if AXIS_IS_L64XX(E1)
     #define E1_MICROSTEPS      128
     #define E1_OVERCURRENT    2000
     #define E1_STALLCURRENT   1500
     #define E1_MAX_VOLTAGE     127
-    #define E1_CHAIN_POS        -1
+    #define E1_CHAIN_POS         0
+    #define E1_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E2(L6470)
+  #if AXIS_IS_L64XX(E2)
     #define E2_MICROSTEPS      128
     #define E2_OVERCURRENT    2000
     #define E2_STALLCURRENT   1500
     #define E2_MAX_VOLTAGE     127
-    #define E2_CHAIN_POS        -1
+    #define E2_CHAIN_POS         0
+    #define E2_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E3(L6470)
+  #if AXIS_IS_L64XX(E3)
     #define E3_MICROSTEPS      128
     #define E3_OVERCURRENT    2000
     #define E3_STALLCURRENT   1500
     #define E3_MAX_VOLTAGE     127
-    #define E3_CHAIN_POS        -1
+    #define E3_CHAIN_POS         0
+    #define E3_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E4(L6470)
+  #if AXIS_IS_L64XX(E4)
     #define E4_MICROSTEPS      128
     #define E4_OVERCURRENT    2000
     #define E4_STALLCURRENT   1500
     #define E4_MAX_VOLTAGE     127
-    #define E4_CHAIN_POS        -1
+    #define E4_CHAIN_POS         0
+    #define E4_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_E5(L6470)
+  #if AXIS_IS_L64XX(E5)
     #define E5_MICROSTEPS      128
     #define E5_OVERCURRENT    2000
     #define E5_STALLCURRENT   1500
     #define E5_MAX_VOLTAGE     127
-    #define E5_CHAIN_POS        -1
+    #define E5_CHAIN_POS         0
+    #define E5_SLEW_RATE         1
   #endif
 
   /**
@@ -2363,7 +2382,7 @@
     //#define L6470_STOP_ON_ERROR
   #endif
 
-#endif // L6470
+#endif // HAS_L64XX
 
 /**
  * TWI/I2C BUS

Marlin/src/HAL/HAL_STM32/timers.h

@@ -33,7 +33,6 @@
 #define hal_timer_t uint32_t
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF // Timers can be 16 or 32 bit
 
-
 #ifdef STM32F0xx
 
   #define HAL_TIMER_RATE (F_CPU) // frequency of timer peripherals
@@ -63,7 +62,7 @@
   #define HAL_TIMER_RATE (F_CPU/2) // frequency of timer peripherals
 
   #ifndef STEP_TIMER
-    #define STEP_TIMER 6
+    #define STEP_TIMER 9  // STM32F401 has no TIM6, TIM7, or TIM8
   #endif
 
   #ifndef TEMP_TIMER

Marlin/src/HAL/shared/HAL_spi_L6470.cpp

@@ -27,20 +27,20 @@
 
 #include "../../inc/MarlinConfig.h"
 
-#if HAS_DRIVER(L6470)
+#if HAS_L64XX
 
 #include "Delay.h"
 
 #include "../../core/serial.h"
-#include "../../libs/L6470/L6470_Marlin.h"
+#include "../../libs/L64XX/L64XX_Marlin.h"
 
 // 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
+inline 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
@@ -56,51 +56,75 @@ uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0
   return b;
 }
 
-uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
+inline 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);
+    DELAY_NS(125);  // Need more delay for fast CPUs
 
     b <<= 1;        // little setup time
     b |= (READ(L6470_CHAIN_MISO_PIN) != 0);
   }
-
-  DELAY_NS(125);  // 10 cycles @ 84mhz
+  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.
+ * L64XX methods for SPI init and transfer
  */
+void L64XX_Marlin::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
 
-uint8_t L6470_transfer(uint8_t data, int16_t ss_pin, const uint8_t chain_position) {
+  OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH);
+}
+
+uint8_t L64XX_Marlin::transfer_single(uint8_t data, int16_t ss_pin) {
+  // First device in chain has data sent last
+  extDigitalWrite(ss_pin, LOW);
+
+  DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
+  const uint8_t data_out = L6470_SpiTransfer_Mode_3(data);
+  ENABLE_ISRS();  // Enable interrupts
+
+  extDigitalWrite(ss_pin, HIGH);
+  return data_out;
+}
+
+uint8_t L64XX_Marlin::transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position) {
   uint8_t data_out = 0;
 
   // first device in chain has data sent last
   extDigitalWrite(ss_pin, 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
+  for (uint8_t i = L64XX::chain[0]; !L64xxManager.spi_abort && i >= 1; i--) {   // Send data unless aborted
+    DISABLE_ISRS();   // Disable interrupts during SPI transfer (can't allow partial command to chips)
+    const 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;
   }
 
   extDigitalWrite(ss_pin, HIGH);
   return data_out;
 }
 
-void L6470_transfer(uint8_t L6470_buf[], const uint8_t length) {
-  // first device in chain has data sent last
+/**
+ * Platform-supplied L6470 buffer transfer method
+ */
+void L64XX_Marlin::transfer(uint8_t L6470_buf[], const uint8_t length) {
+  // First device in chain has its data sent last
 
-  if (spi_active) {                    // interrupted SPI transfer so need to
-    WRITE(L6470_CHAIN_SS_PIN, HIGH);   // guarantee min high of 650nS
+  if (spi_active) {                   // Interrupted SPI transfer so need to
+    WRITE(L6470_CHAIN_SS_PIN, HIGH);  //  guarantee min high of 650ns
     DELAY_US(1);
   }
 
@@ -110,19 +134,6 @@ void L6470_transfer(uint8_t L6470_buf[], const uint8_t length) {
   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)
+#endif // HAS_L64XX

Marlin/src/MarlinCore.cpp

@@ -177,8 +177,8 @@
   #include "feature/prusa_MMU2/mmu2.h"
 #endif
 
-#if HAS_DRIVER(L6470)
-  #include "libs/L6470/L6470_Marlin.h"
+#if HAS_L64XX
+  #include "libs/L64XX/L64XX_Marlin.h"
 #endif
 
 const char NUL_STR[] PROGMEM = "",
@@ -605,7 +605,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
   #endif
 
   #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
-    L6470.monitor_driver();
+    L64xxManager.monitor_driver();
   #endif
 
   // Limit check_axes_activity frequency to 10Hz
@@ -822,8 +822,8 @@ void setup() {
 
   HAL_init();
 
-  #if HAS_DRIVER(L6470)
-    L6470.init();         // setup SPI and then init chips
+  #if HAS_L64XX
+    L64xxManager.init();  // Set up SPI, init drivers
   #endif
 
   #if ENABLED(MAX7219_DEBUG)