Stepper current refactor

MarlinFirmware · Aug 13, 2020 · 331b5be · 331b5be
1 parent 4db9ec1
commit 331b5be
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Showing 24 changed files with 215 additions and 197 deletions.
diff --git a/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp b/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp
@@ -154,7 +154,7 @@ void Stepper::digipot_init() {
   NVIC_SetPriority(PWM_IRQn, NVIC_EncodePriority(0, 10, 0));  // normal priority for PWM module (can stand some jitter on the Vref signals)
 }
 
-void Stepper::digipot_current(const uint8_t driver, const int16_t current) {
+void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) {
 
   if (!(PWM->PWM_CH_NUM[0].PWM_CPRD == PWM_PERIOD_US)) digipot_init();  // Init PWM system if needed
 

diff --git a/Marlin/src/HAL/LPC1768/inc/SanityCheck.h b/Marlin/src/HAL/LPC1768/inc/SanityCheck.h
@@ -178,7 +178,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o
 //
 // Flag any i2c pin conflicts
 //
-#if ANY(HAS_I2C_DIGIPOT, DAC_STEPPER_CURRENT, EXPERIMENTAL_I2CBUS, I2C_POSITION_ENCODERS, PCA9632, I2C_EEPROM)
+#if ANY(HAS_MOTOR_CURRENT_I2C, HAS_MOTOR_CURRENT_DAC, EXPERIMENTAL_I2CBUS, I2C_POSITION_ENCODERS, PCA9632, I2C_EEPROM)
   #define USEDI2CDEV_M 1  // <Arduino>/Wire.cpp
 
   #if USEDI2CDEV_M == 0         // P0_27 [D57] (AUX-1) .......... P0_28 [D58] (AUX-1)

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -93,7 +93,7 @@
   #include "feature/closedloop.h"
 #endif
 
-#if HAS_I2C_DIGIPOT
+#if HAS_MOTOR_CURRENT_I2C
   #include "feature/digipot/digipot.h"
 #endif
 
@@ -121,7 +121,7 @@
   #include "module/servo.h"
 #endif
 
-#if ENABLED(DAC_STEPPER_CURRENT)
+#if ENABLED(HAS_MOTOR_CURRENT_DAC)
   #include "feature/dac/stepper_dac.h"
 #endif
 
@@ -1066,12 +1066,12 @@ void setup() {
     SETUP_RUN(enableStepperDrivers());
   #endif
 
-  #if HAS_I2C_DIGIPOT
-    SETUP_RUN(digipot_i2c_init());
+  #if HAS_MOTOR_CURRENT_I2C
+    SETUP_RUN(digipot.init());
   #endif
 
-  #if ENABLED(DAC_STEPPER_CURRENT)
-    SETUP_RUN(dac_init());
+  #if ENABLED(HAS_MOTOR_CURRENT_DAC)
+    SETUP_RUN(stepper_dac.init());
   #endif
 
   #if EITHER(Z_PROBE_SLED, SOLENOID_PROBE) && HAS_SOLENOID_1

diff --git a/Marlin/src/feature/dac/dac_mcp4728.cpp b/Marlin/src/feature/dac/dac_mcp4728.cpp
@@ -32,16 +32,18 @@
 
 #include "../../inc/MarlinConfig.h"
 
-#if ENABLED(DAC_STEPPER_CURRENT)
+#if ENABLED(HAS_MOTOR_CURRENT_DAC)
 
 #include "dac_mcp4728.h"
 
-xyze_uint_t mcp4728_values;
+MCP4728 mcp4728;
+
+xyze_uint_t dac_values;
 
 /**
  * Begin I2C, get current values (input register and eeprom) of mcp4728
  */
-void mcp4728_init() {
+void MCP4728::init() {
   Wire.begin();
   Wire.requestFrom(I2C_ADDRESS(DAC_DEV_ADDRESS), uint8_t(24));
   while (Wire.available()) {
@@ -50,46 +52,46 @@ void mcp4728_init() {
          loByte = Wire.read();
 
     if (!(deviceID & 0x08))
-      mcp4728_values[(deviceID & 0x30) >> 4] = word((hiByte & 0x0F), loByte);
+      dac_values[(deviceID & 0x30) >> 4] = word((hiByte & 0x0F), loByte);
   }
 }
 
 /**
  * Write input resister value to specified channel using fastwrite method.
  * Channel : 0-3, Values : 0-4095
  */
-uint8_t mcp4728_analogWrite(const uint8_t channel, const uint16_t value) {
-  mcp4728_values[channel] = value;
-  return mcp4728_fastWrite();
+uint8_t MCP4728::analogWrite(const uint8_t channel, const uint16_t value) {
+  dac_values[channel] = value;
+  return fastWrite();
 }
 
 /**
  * Write all input resistor values to EEPROM using SequencialWrite method.
  * This will update both input register and EEPROM value
  * This will also write current Vref, PowerDown, Gain settings to EEPROM
  */
-uint8_t mcp4728_eepromWrite() {
+uint8_t MCP4728::eepromWrite() {
   Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
   Wire.write(SEQWRITE);
   LOOP_XYZE(i) {
-    Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(mcp4728_values[i]));
-    Wire.write(lowByte(mcp4728_values[i]));
+    Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(dac_values[i]));
+    Wire.write(lowByte(dac_values[i]));
   }
   return Wire.endTransmission();
 }
 
 /**
  * Write Voltage reference setting to all input regiters
  */
-uint8_t mcp4728_setVref_all(const uint8_t value) {
+uint8_t MCP4728::setVref_all(const uint8_t value) {
   Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
   Wire.write(VREFWRITE | (value ? 0x0F : 0x00));
   return Wire.endTransmission();
 }
 /**
  * Write Gain setting to all input regiters
  */
-uint8_t mcp4728_setGain_all(const uint8_t value) {
+uint8_t MCP4728::setGain_all(const uint8_t value) {
   Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
   Wire.write(GAINWRITE | (value ? 0x0F : 0x00));
   return Wire.endTransmission();
@@ -98,55 +100,55 @@ uint8_t mcp4728_setGain_all(const uint8_t value) {
 /**
  * Return Input Register value
  */
-uint16_t mcp4728_getValue(const uint8_t channel) { return mcp4728_values[channel]; }
+uint16_t MCP4728::getValue(const uint8_t channel) { return dac_values[channel]; }
 
 #if 0
 /**
  * Steph: Might be useful in the future
  * Return Vout
  */
-uint16_t mcp4728_getVout(const uint8_t channel) {
+uint16_t MCP4728::getVout(const uint8_t channel) {
   const uint32_t vref = 2048,
-                 vOut = (vref * mcp4728_values[channel] * (_DAC_STEPPER_GAIN + 1)) / 4096;
+                 vOut = (vref * dac_values[channel] * (_DAC_STEPPER_GAIN + 1)) / 4096;
   return _MIN(vOut, defaultVDD);
 }
 #endif
 
 /**
  * Returns DAC values as a 0-100 percentage of drive strength
  */
-uint8_t mcp4728_getDrvPct(const uint8_t channel) { return uint8_t(100.0 * mcp4728_values[channel] / (DAC_STEPPER_MAX) + 0.5); }
+uint8_t MCP4728::getDrvPct(const uint8_t channel) { return uint8_t(100.0 * dac_values[channel] / (DAC_STEPPER_MAX) + 0.5); }
 
 /**
  * Receives all Drive strengths as 0-100 percent values, updates
  * DAC Values array and calls fastwrite to update the DAC.
  */
-void mcp4728_setDrvPct(xyze_uint8_t &pct) {
-  mcp4728_values *= 0.01 * pct * (DAC_STEPPER_MAX);
-  mcp4728_fastWrite();
+void MCP4728::setDrvPct(xyze_uint8_t &pct) {
+  dac_values *= 0.01 * pct * (DAC_STEPPER_MAX);
+  fastWrite();
 }
 
 /**
  * FastWrite input register values - All DAC ouput update. refer to DATASHEET 5.6.1
  * DAC Input and PowerDown bits update.
  * No EEPROM update
  */
-uint8_t mcp4728_fastWrite() {
+uint8_t MCP4728::fastWrite() {
   Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
   LOOP_XYZE(i) {
-    Wire.write(highByte(mcp4728_values[i]));
-    Wire.write(lowByte(mcp4728_values[i]));
+    Wire.write(highByte(dac_values[i]));
+    Wire.write(lowByte(dac_values[i]));
   }
   return Wire.endTransmission();
 }
 
 /**
  * Common function for simple general commands
  */
-uint8_t mcp4728_simpleCommand(const byte simpleCommand) {
+uint8_t MCP4728::simpleCommand(const byte simpleCommand) {
   Wire.beginTransmission(I2C_ADDRESS(GENERALCALL));
   Wire.write(simpleCommand);
   return Wire.endTransmission();
 }
 
-#endif // DAC_STEPPER_CURRENT
+#endif // HAS_MOTOR_CURRENT_DAC
diff --git a/Marlin/src/feature/dac/dac_mcp4728.h b/Marlin/src/feature/dac/dac_mcp4728.h
@@ -65,13 +65,18 @@
 // DAC_OR_ADDRESS defined in pins_BOARD.h  file
 #define DAC_DEV_ADDRESS (BASE_ADDR | DAC_OR_ADDRESS)
 
-void mcp4728_init();
-uint8_t mcp4728_analogWrite(const uint8_t channel, const uint16_t value);
-uint8_t mcp4728_eepromWrite();
-uint8_t mcp4728_setVref_all(const uint8_t value);
-uint8_t mcp4728_setGain_all(const uint8_t value);
-uint16_t mcp4728_getValue(const uint8_t channel);
-uint8_t mcp4728_fastWrite();
-uint8_t mcp4728_simpleCommand(const byte simpleCommand);
-uint8_t mcp4728_getDrvPct(const uint8_t channel);
-void mcp4728_setDrvPct(xyze_uint8_t &pct);
+class MCP4728 {
+public:
+  static void     init();
+  static uint8_t  analogWrite(const uint8_t channel, const uint16_t value);
+  static uint8_t  eepromWrite();
+  static uint8_t  setVref_all(const uint8_t value);
+  static uint8_t  setGain_all(const uint8_t value);
+  static uint16_t getValue(const uint8_t channel);
+  static uint8_t  fastWrite();
+  static uint8_t  simpleCommand(const byte simpleCommand);
+  static uint8_t  getDrvPct(const uint8_t channel);
+  static void     setDrvPct(xyze_uint8_t &pct);
+};
+
+extern MCP4728 mcp4728;
diff --git a/Marlin/src/feature/dac/stepper_dac.cpp b/Marlin/src/feature/dac/stepper_dac.cpp
@@ -26,7 +26,7 @@
 
 #include "../../inc/MarlinConfig.h"
 
-#if ENABLED(DAC_STEPPER_CURRENT)
+#if ENABLED(HAS_MOTOR_CURRENT_DAC)
 
 #include "stepper_dac.h"
 #include "../../MarlinCore.h" // for SP_X_LBL...
@@ -35,56 +35,53 @@ bool dac_present = false;
 constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER;
 xyze_uint8_t dac_channel_pct = DAC_MOTOR_CURRENT_DEFAULT;
 
-int dac_init() {
+StepperDAC stepper_dac;
+
+int StepperDAC::init() {
   #if PIN_EXISTS(DAC_DISABLE)
     OUT_WRITE(DAC_DISABLE_PIN, LOW);  // set pin low to enable DAC
   #endif
 
-  mcp4728_init();
+  mcp4728.init();
 
-  if (mcp4728_simpleCommand(RESET)) return -1;
+  if (mcp4728.simpleCommand(RESET)) return -1;
 
   dac_present = true;
 
-  mcp4728_setVref_all(DAC_STEPPER_VREF);
-  mcp4728_setGain_all(DAC_STEPPER_GAIN);
+  mcp4728.setVref_all(DAC_STEPPER_VREF);
+  mcp4728.setGain_all(DAC_STEPPER_GAIN);
 
-  if (mcp4728_getDrvPct(0) < 1 || mcp4728_getDrvPct(1) < 1 || mcp4728_getDrvPct(2) < 1 || mcp4728_getDrvPct(3) < 1 ) {
-    mcp4728_setDrvPct(dac_channel_pct);
-    mcp4728_eepromWrite();
+  if (mcp4728.getDrvPct(0) < 1 || mcp4728.getDrvPct(1) < 1 || mcp4728.getDrvPct(2) < 1 || mcp4728.getDrvPct(3) < 1 ) {
+    mcp4728.setDrvPct(dac_channel_pct);
+    mcp4728.eepromWrite();
   }
 
   return 0;
 }
 
-void dac_current_percent(uint8_t channel, float val) {
+void StepperDAC::set_current_value(const uint8_t channel, uint16_t val) {
   if (!dac_present) return;
 
-  NOMORE(val, 100);
+  NOMORE(val, uint16_t(DAC_STEPPER_MAX));
 
-  mcp4728_analogWrite(dac_order[channel], val * 0.01 * (DAC_STEPPER_MAX));
-  mcp4728_simpleCommand(UPDATE);
+  mcp4728.analogWrite(dac_order[channel], val);
+  mcp4728.simpleCommand(UPDATE);
 }
 
-void dac_current_raw(uint8_t channel, uint16_t val) {
-  if (!dac_present) return;
-
-  NOMORE(val, uint16_t(DAC_STEPPER_MAX));
-
-  mcp4728_analogWrite(dac_order[channel], val);
-  mcp4728_simpleCommand(UPDATE);
+void StepperDAC::set_current_percent(const uint8_t channel, float val) {
+  set_current_value(channel, _MIN(val, 100.0f) * (DAC_STEPPER_MAX) / 100.0f);
 }
 
-static float dac_perc(int8_t n) { return 100.0 * mcp4728_getValue(dac_order[n]) * RECIPROCAL(DAC_STEPPER_MAX); }
-static float dac_amps(int8_t n) { return mcp4728_getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * RECIPROCAL(DAC_STEPPER_SENSE); }
+static float dac_perc(int8_t n) { return 100.0 * mcp4728.getValue(dac_order[n]) * RECIPROCAL(DAC_STEPPER_MAX); }
+static float dac_amps(int8_t n) { return mcp4728.getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * RECIPROCAL(DAC_STEPPER_SENSE); }
 
-uint8_t dac_current_get_percent(const AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
-void dac_current_set_percents(xyze_uint8_t &pct) {
+uint8_t StepperDAC::get_current_percent(const AxisEnum axis) { return mcp4728.getDrvPct(dac_order[axis]); }
+void StepperDAC::set_current_percents(xyze_uint8_t &pct) {
   LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]];
-  mcp4728_setDrvPct(dac_channel_pct);
+  mcp4728.setDrvPct(dac_channel_pct);
 }
 
-void dac_print_values() {
+void StepperDAC::print_values() {
   if (!dac_present) return;
   SERIAL_ECHO_MSG("Stepper current values in % (Amps):");
   SERIAL_ECHO_START();
@@ -94,9 +91,9 @@ void dac_print_values() {
   SERIAL_ECHOLNPAIR_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")"));
 }
 
-void dac_commit_eeprom() {
+void StepperDAC::commit_eeprom() {
   if (!dac_present) return;
-  mcp4728_eepromWrite();
+  mcp4728.eepromWrite();
 }
 
-#endif // DAC_STEPPER_CURRENT
+#endif // HAS_MOTOR_CURRENT_DAC
diff --git a/Marlin/src/feature/dac/stepper_dac.h b/Marlin/src/feature/dac/stepper_dac.h
@@ -27,10 +27,15 @@
 
 #include "dac_mcp4728.h"
 
-int dac_init();
-void dac_current_percent(uint8_t channel, float val);
-void dac_current_raw(uint8_t channel, uint16_t val);
-void dac_print_values();
-void dac_commit_eeprom();
-uint8_t dac_current_get_percent(AxisEnum axis);
-void dac_current_set_percents(xyze_uint8_t &pct);
+class StepperDAC {
+public:
+  static int init();
+  static void set_current_percent(const uint8_t channel, float val);
+  static void set_current_value(const uint8_t channel, uint16_t val);
+  static void print_values();
+  static void commit_eeprom();
+  static uint8_t get_current_percent(AxisEnum axis);
+  static void set_current_percents(xyze_uint8_t &pct);
+};
+
+extern StepperDAC stepper_dac;
diff --git a/Marlin/src/feature/digipot/digipot.h b/Marlin/src/feature/digipot/digipot.h
@@ -21,5 +21,13 @@
  */
 #pragma once
 
-void digipot_i2c_set_current(const uint8_t channel, const float current);
-void digipot_i2c_init();
+//
+// Header for MCP4018 and MCP4451 current control i2c devices
+//
+class DigipotI2C {
+public:
+  static void init();
+  static void set_current(const uint8_t channel, const float current);
+};
+
+DigipotI2C digipot;