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Code Issues Releases Wiki Activity

Tweaks to TMC26XStepper

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This commit is contained in:
Scott Lahteine 2019-01-11 18:08:05 -06:00
parent 1fd8e2c649
commit 0d30ccf767
2 changed files with 22 additions and 45 deletions
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63
Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp
View File

@ -127,7 +127,7 @@ uint8_t current_scaling = 0;
* dir_pin - the pin where the direction pin is connected * dir_pin - the pin where the direction pin is connected
* step_pin - the pin where the step pin is connected * step_pin - the pin where the step pin is connected
*/ */
TMC26XStepper::TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor) { TMC26XStepper::TMC26XStepper(const int16_t in_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor) {
// We are not started yet // We are not started yet
started = false; started = false;
@ -165,7 +165,7 @@ TMC26XStepper::TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t di
// Set a nice microstepping value // Set a nice microstepping value
setMicrosteps(DEFAULT_MICROSTEPPING_VALUE); setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
// Save the number of steps // Save the number of steps
this->number_of_steps = number_of_steps; number_of_steps = in_steps;
} }
@ -389,52 +389,29 @@ char TMC26XStepper::getStallGuardFilter(void) {
* any value in between will be mapped to the next smaller value * any value in between will be mapped to the next smaller value
* 0 and 1 set the motor in full step mode * 0 and 1 set the motor in full step mode
*/ */
void TMC26XStepper::setMicrosteps(int16_t number_of_steps) { void TMC26XStepper::setMicrosteps(const int16_t in_steps) {
long setting_pattern; uint16_t setting_pattern;
//poor mans log
if (number_of_steps >= 256) { if (in_steps >= 256) setting_pattern = 0;
setting_pattern = 0; else if (in_steps >= 128) setting_pattern = 1;
microsteps = 256; else if (in_steps >= 64) setting_pattern = 2;
} else if (in_steps >= 32) setting_pattern = 3;
else if (number_of_steps >= 128) { else if (in_steps >= 16) setting_pattern = 4;
setting_pattern = 1; else if (in_steps >= 8) setting_pattern = 5;
microsteps = 128; else if (in_steps >= 4) setting_pattern = 6;
} else if (in_steps >= 2) setting_pattern = 7;
else if (number_of_steps >= 64) { else if (in_steps <= 1) setting_pattern = 8; // 1 and 0 lead to full step
setting_pattern = 2;
microsteps = 64; microsteps = _BV(8 - setting_pattern);
}
else if (number_of_steps >= 32) {
setting_pattern = 3;
microsteps = 32;
}
else if (number_of_steps >= 16) {
setting_pattern = 4;
microsteps = 16;
}
else if (number_of_steps >= 8) {
setting_pattern = 5;
microsteps = 8;
}
else if (number_of_steps >= 4) {
setting_pattern = 6;
microsteps = 4;
}
else if (number_of_steps >= 2) {
setting_pattern = 7;
microsteps = 2;
//1 and 0 lead to full step
}
else if (number_of_steps <= 1) {
setting_pattern = 8;
microsteps = 1;
}
#ifdef TMC_DEBUG0 // crashes #ifdef TMC_DEBUG0 // crashes
//SERIAL_PRINTF("Microstepping: "); //SERIAL_PRINTF("Microstepping: ");
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps); SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif #endif
// Delete the old value // Delete the old value
this->driver_control_register_value &= 0xFFFF0UL; this->driver_control_register_value &= 0x000FFFF0UL;
// Set the new value // Set the new value
this->driver_control_register_value |= setting_pattern; this->driver_control_register_value |= setting_pattern;

4
Marlin/src/HAL/HAL_STM32F7/TMC2660.h
View File

@ -119,7 +119,7 @@ class TMC26XStepper {
* You can select a different stepping with setMicrosteps() to aa different value. * You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps() * \sa start(), setMicrosteps()
*/ */
TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor=100); //resistor=150 TMC26XStepper(const int16_t in_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor=100); //resistor=150
/*! /*!
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. * \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
@ -163,7 +163,7 @@ class TMC26XStepper {
* If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2). * If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2).
* You can always check the current microstepping with getMicrosteps(). * You can always check the current microstepping with getMicrosteps().
*/ */
void setMicrosteps(int16_t number_of_steps); void setMicrosteps(const int16_t in_steps);
/*! /*!
* \brief returns the effective current number of microsteps selected. * \brief returns the effective current number of microsteps selected.