[2.0.x] L6470 - add powerSTEP01 support #13053

Bob-the-Kuhn · 2019-01-30T13:20:41Z

This PR includes all the changes/corrections of PR #13011. The PR can be killed if this PR is implemented.

This PR adds support for the powerSTEP01 family of steppers from STmicro. The L6480 is a subset of the powerSTEP01.

The code changes are a result of the following differences between the L6470 and the powerSTEP01/L6480:

Additional registers
Register address changes
Changes to bit locations and definitions

Selection between the two families is done via the POWER_STEP flag in configuration_adv.h. This flag is used to select the appropriate code and the correct Arduino_L6470 library header.

See PR #12 for my proposed changes to the Arduino_L6470 library. The changes that were made are:

Added additional definitions and #if statements to select the appropriate definitions.
Changed the Overcurrent Detection threshold and Stall threshold commands to allow for variable numbers of bits and variable "mA per count" constants.
Created a header/CPP file set for each family. The only differences between the two sets are several defines.

thinkyhead · 2019-02-02T05:43:07Z

Squashed, rebased, and added a change to use L64XX::chain. See comments on ameyer/Arduino-L6470#12.

Bob-the-Kuhn · 2019-02-24T13:54:50Z

Changed to using subclasses to differentiate the stepper drivers and added the ability to select the slew rate used by the drivers..

Also fixed a bug in the pins_debug for DUE.

TO DO:

@thinkyhead - please enlighten me on the desired method of keeping the linker from throwing an error when the external SPI routines are not present. I can't find your message on the proper method of configuring the L6470 library to do this.
Update the configuration files.

Bob-the-Kuhn · 2019-02-24T14:26:43Z

I must have a subconscious hatred of L64XX::chain because, once again, I've undone L64XX_chain => L64XX::chain

Say the word & I'll implement L64XX::chain..

Bob-the-Kuhn · 2019-02-24T19:15:36Z

I think Travis is sick. I see another PR that filed the STM32F1 test.

I just dropped the "STM32F1R EEPROM_SETTINGS EEPROM_CHITCHAT REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT PAREN_COMMENTS GCODE_MOTION_MODES" options into a fresh copy of 2.0 and it compiled without errors on PlatformIO. Lots of warnings but no errors.

I didn't find a compatible board listing in Arduino. Always got the "Oops! Select an STM32F1 board in 'Tools > Board.'" message.

thinkyhead · 2019-02-26T22:23:07Z

I think Travis is sick.

We'll just have to disable the STM32F1 test for now.

Bob-the-Kuhn · 2019-02-27T03:47:58Z

Found another area that didn't get the macros changes
Added a second status read during the init which turns off the powerup/reset undervoltage lockout flags which turns off the ERROR LED on the STMicro eval board.

thinkyhead · 2019-02-27T11:20:03Z

Rebased, squashed, cleaned up…. Almost there……

Change the way the array axis_mon is defined and how it's passed to the get_user_input function.

Bob-the-Kuhn · 2019-03-10T22:04:35Z

Just in case it's of any use ...

Here's the L6470.h file, using the method I stumbled across, made all nice & pretty. If nothing else it could be a convenient source of nicely formatted lines for the final version.

L6470 pretty.zip

I tried using the L6470 stepperX(stepperZ3(L6470_CHAIN_SS_PIN, L64helper_pointer) to get the helper linkage but couldn't get past the compiler errors.

I tried that method because, if I remember correctly, the L64XX::set_helper(this) in L6470_Marlin.h has to be of the form stepperX.set_helper(this) to execute during run time.

FULLY FUNCTIONAL using optional external SPI linked via code within Marlin classes. 1) Went back to the handler/pointer method 2) removed helper class from L6470.h 3) renamed L6470_Marlin class to L64XX_MARLIN 4) removed all helper code and renamed anything that had "helper" in it.

Bob-the-Kuhn · 2019-03-12T10:20:41Z

For your consideration...

This code is fully functional. The only thing I want to do is rebase the code.

I reverted back to your handler/pointer code and got it working. I then removed the helper class from L6470.h and renamed the helper class in L6470_Marlin.h.

Here are the Arduino-L6470 files that go with this code.
L6470 pointers.zip

90% of the changes are in L6470.h & L6470_Marlin.h
9% of the changes are in L6470.cpp & L6470_Marlin.cpp
Added set_handlers function to L6470_init_chip routine in stepper_indirection.cpp
All other files just have name changes.

Need to clear the powerup/reset error bits before can set slew rate on L6480/powerSTEP01

Change the way the array axis_mon is defined and how it's passed to the get_user_input function.

FULLY FUNCTIONAL using optional external SPI linked via code within Marlin classes. 1) Went back to the handler/pointer method 2) removed helper class from L6470.h 3) renamed L6470_Marlin class to L64XX_MARLIN 4) removed all helper code and renamed anything that had "helper" in it.

Bob-the-Kuhn · 2019-03-12T10:36:45Z

Just rebased the code and now the Y & Z step pulses are gone when using L64xx drivers and when using A4988 drivers.

~~I'll look into it later today.~~

UPDATE

Turns out I was running into software endstops. Looks like they are now always on except if you enable them in configuration.h and then issue a M211 S0 command.

…in-Bob-2 into powerSTEP01-PR

Bob-the-Kuhn · 2019-03-12T14:34:16Z

The Travis test is failing do to the error: 'class L64XX' has no member named 'set_handlers'.

I'm pretty sure the reason is Travis is using a different Arduino-L6470 library than required by this PR.

FYI - G26_MESH_EDITING is enabled on multiple tests within megaatmega2560-tests. It has been replaced by G26_MESH_VALIDATION.

thinkyhead · 2019-03-13T07:45:58Z

I will be offering courses on git usage here in Austin for anyone interested.

Bob-the-Kuhn · 2019-03-14T01:52:42Z

😉 What?!?! You think that a little education might stop me from writing over your work?

Others have tried to educate me but I've foiled them all!

Yes, I'd like to participate. I'm retired with only Dr. visits on the calendar so I'm pretty open.

Thanks for being so patient.

Your 3 line set of instructions on how to suck the latest PR code back into my local branch has been very useful.

Mostly fixing incomplete conversions and upper/lower case issues

Bob-the-Kuhn · 2019-03-19T12:52:54Z

I just grabbed the changes since my commit a week ago, fixed the bugs that were introduced and tested the code. It looks to be 100% functional.

There are two items of note:

drivers.h - I removed the qualifiers on the X2, Y2, Z2 & Z3 macros. They caused the macros to always evaluate to false no matter what driver was specified for the axis.
index_to_axis[][] - I was getting compiler errors until I simplified the declarations in L6470_Marlin.h and L6470_Marlin.cpp. I just couldn't find a mod to L6470_Marlin.cpp. that resulted in a match to the declaration in the following error message; " error: 'L64XX_Marlin::index_to_axis' has a previous declaration as 'const char* const L64XX_Marlin::index_to_axis [13][3]'"

thinkyhead · 2019-03-27T00:28:24Z

Thanks for slogging through my different theoretical approaches to the L6470 code. If the helper method works, that is fine, and is probably the best approach for Arduino-style libraries.

Bob-the-Kuhn added PR: Improvement PR: Configurations C: Configuration T: HAL & APIs Topic related to the HAL and internal APIs. and removed C: Configuration PR: Configurations PR: Improvement T: HAL & APIs Topic related to the HAL and internal APIs. labels Jan 30, 2019

thinkyhead force-pushed the powerSTEP01-PR branch from 2dfee01 to 7beecdc Compare February 2, 2019 05:40

Bob-the-Kuhn force-pushed the powerSTEP01-PR branch from 6c8b165 to 89c61fb Compare February 24, 2019 13:40

Bob-the-Kuhn force-pushed the powerSTEP01-PR branch from e2679a9 to 7ae75c0 Compare February 24, 2019 14:18

thinkyhead force-pushed the powerSTEP01-PR branch 5 times, most recently from 6b041f1 to 1c00782 Compare February 27, 2019 03:33

thinkyhead force-pushed the powerSTEP01-PR branch 4 times, most recently from eebcea1 to 25b6a41 Compare February 27, 2019 11:19

Bob-the-Kuhn added 2 commits March 10, 2019 03:42

axis_mon fix

64676b9

Change the way the array axis_mon is defined and how it's passed to the get_user_input function.

remove unintended changes

74a87f1

Bob-the-Kuhn added 2 commits March 10, 2019 17:12

Merge branch 'bugfix-2.0.x' into powerSTEP01-PR

ef4df66

Bob-the-Kuhn and others added 10 commits March 12, 2019 05:26

Support powerSTEP01, L6480 (L64XX v0.7.0)

30b2768

Update examples for L64XX 0.7.0

e1c9f5a

misc bug fixes, external SPI linking doesn't work

9c4f849

Use 'default' to suppress enum warning

89ed68e

Pass by reference instead of copying

3ed7030

Set helper as a pointer instead of a reference

d51b63d

fix formatting bugs and fix slew rate problem

0bfee43

Need to clear the powerup/reset error bits before can set slew rate on L6480/powerSTEP01

axis_mon fix

b4f90b3

Change the way the array axis_mon is defined and how it's passed to the get_user_input function.

remove unintended changes

5964101

Bob-the-Kuhn added 2 commits March 12, 2019 08:04

rebase

391cba8

Merge branch 'powerSTEP01-PR' of https://github.com/Bob-the-Kuhn/Marl…

e1d9628

…in-Bob-2 into powerSTEP01-PR

Bob-the-Kuhn added 2 commits March 17, 2019 20:39

Merge branch 'bugfix-2.0.x' into powerSTEP01-PR

5276749

fix bugs introduced in previous commit

ca8301e

Mostly fixing incomplete conversions and upper/lower case issues

Bob-the-Kuhn mentioned this pull request Mar 26, 2019

[2.0.x] L6470 - add powerSTEP01 support (replaces PR #13053) #13498

Closed

thinkyhead closed this Mar 27, 2019

Bob-the-Kuhn mentioned this pull request Jan 4, 2020

Improved STMicro L64XX stepper driver support #16452

Merged

Bob-the-Kuhn deleted the powerSTEP01-PR branch January 15, 2020 09:12

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[2.0.x] L6470 - add powerSTEP01 support #13053

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[2.0.x] L6470 - add powerSTEP01 support #13053

[2.0.x] L6470 - add powerSTEP01 support #13053

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