365 lines
10 KiB
C++
365 lines
10 KiB
C++
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#include "Marlin.h"
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#ifdef HAVE_TMC2130_DRIVERS
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#include "tmc2130.h"
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#include <SPI.h>
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uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
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{
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uint32_t val32;
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uint8_t val0;
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uint8_t val1;
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uint8_t val2;
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uint8_t val3;
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uint8_t val4;
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//datagram1 - read request (address + dummy write)
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SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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SPI.transfer(address);
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SPI.transfer(0);
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SPI.transfer(0);
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SPI.transfer(0);
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SPI.transfer(0);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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//datagram2 - response
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SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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val0 = SPI.transfer(0);
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val1 = SPI.transfer(0);
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val2 = SPI.transfer(0);
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val3 = SPI.transfer(0);
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val4 = SPI.transfer(0);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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#ifdef TMC_DBG_READS
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MYSERIAL.print("SPIRead 0x");
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MYSERIAL.print(address,HEX);
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MYSERIAL.print(" Status:");
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MYSERIAL.print(val0 & 0b00000111,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val1,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val2,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val3,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val4,BIN);
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#endif
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val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
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#ifdef TMC_DBG_READS
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MYSERIAL.print(" 0x");
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MYSERIAL.println(val32,HEX);
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#endif
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return val32;
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}
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void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
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{
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uint32_t val32;
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uint8_t val0;
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uint8_t val1;
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uint8_t val2;
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uint8_t val3;
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uint8_t val4;
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//datagram1 - write
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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SPI.transfer(address+0x80);
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SPI.transfer(wval1);
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SPI.transfer(wval2);
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SPI.transfer(wval3);
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SPI.transfer(wval4);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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//datagram2 - response
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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val0 = SPI.transfer(0);
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val1 = SPI.transfer(0);
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val2 = SPI.transfer(0);
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val3 = SPI.transfer(0);
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val4 = SPI.transfer(0);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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#ifdef TMC_DBG_WRITE
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MYSERIAL.print("WriteRead 0x");
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MYSERIAL.print(address,HEX);
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MYSERIAL.print(" Status:");
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MYSERIAL.print(val0 & 0b00000111,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val1,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val2,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val3,BIN);
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MYSERIAL.print(" ");
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MYSERIAL.print(val4,BIN);
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val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
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MYSERIAL.print(" 0x");
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MYSERIAL.println(val32,HEX);
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#endif //TMC_DBG_READS
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}
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uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address)
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{
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//datagram1 - write
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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SPI.transfer(address);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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uint8_t val0;
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//datagram2 - response
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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val0 = SPI.transfer(0);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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return val0;
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}
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uint32_t tmc2130_readRegister(uint8_t chipselect, uint8_t address)
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{
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//datagram1 - write
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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SPI.transfer(address);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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SPI.transfer(0x00);
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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uint32_t val0;
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//datagram2 - response
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SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
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digitalWrite(chipselect,LOW);
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SPI.transfer(0); // ignore status bits
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val0 = SPI.transfer(0); // MSB
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val0 = (val0 << 8) | SPI.transfer(0);
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val0 = (val0 << 8) | SPI.transfer(0);
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val0 = (val0 << 8) | SPI.transfer(0); //LSB
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digitalWrite(chipselect, HIGH);
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SPI.endTransaction();
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return val0;
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}
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uint16_t tmc2130_readSG(uint8_t chipselect)
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{
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uint8_t address = 0x6F;
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uint32_t registerValue = tmc2130_readRegister(chipselect, address);
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uint16_t val0 = registerValue & 0x3ff;
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return val0;
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}
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uint16_t tmc2130_readTStep(uint8_t chipselect)
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{
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uint8_t address = 0x12;
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uint32_t registerValue = tmc2130_readRegister(chipselect, address);
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uint16_t val0 = 0;
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if(registerValue & 0x000f0000)
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val0 = 0xffff;
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else
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val0 = registerValue & 0xffff;
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return val0;
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}
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void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16)
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{
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uint8_t mres=0b0100;
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if(microstep_resolution == 256) mres = 0b0000;
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if(microstep_resolution == 128) mres = 0b0001;
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if(microstep_resolution == 64) mres = 0b0010;
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if(microstep_resolution == 32) mres = 0b0011;
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if(microstep_resolution == 16) mres = 0b0100;
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if(microstep_resolution == 8) mres = 0b0101;
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if(microstep_resolution == 4) mres = 0b0110;
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if(microstep_resolution == 2) mres = 0b0111;
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if(microstep_resolution == 1) mres = 0b1000;
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mres |= extrapolate256 << 4; //bit28 intpol
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//tmc2130_write(cs,0x6C,mres,0x01,0x00,0xD3);
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tmc2130_write(cs,0x6C,mres,0x01,0x00,0xC3);
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}
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void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale = PWM_AUTOSCALE, uint8_t PWMfreq = PWM_FREQ, uint8_t PWMgrad = PWM_GRAD, uint8_t PWMampl = PWM_AMPL)
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{
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tmc2130_write(cs,0x70,0x00,(PWMautoScale+PWMfreq),PWMgrad,PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
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}
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void tmc2130_PWMthreshold(uint8_t cs)
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{
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tmc2130_write(cs,0x13,0x00,0x00,0x00,0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
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}
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uint8_t st_didLastHomingStall()
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{
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uint8_t returnValue = sg_lastHomingStalled;
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sg_lastHomingStalled = false;
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return returnValue;
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}
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void tmc2130_disable_motor(uint8_t driver)
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{
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uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
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tmc2130_write(cs[driver],0x6C,0,01,0,0);
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}
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void tmc2130_check_overtemp()
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{
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const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
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uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
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static uint32_t checktime = 0;
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//drivers_disabled[0] = 1; //TEST
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if( millis() - checktime > 1000 )
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{
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for(int i=0;i<4;i++)
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{
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uint32_t drv_status = tmc2130_read(cs[i], 0x6F); //0x6F DRV_STATUS
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if (drv_status & ((uint32_t)1<<26))
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{ // BIT 26 - over temp prewarning ~120C (+-20C)
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SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
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SERIAL_ECHOLN(i);
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for(int x=0; x<4;x++) tmc2130_disable_motor(x);
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kill(TMC_OVERTEMP_MSG);
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}
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}
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checktime = millis();
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}
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}
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void tmc2130_init()
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{
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uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
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// uint8_t current[4] = { 31, 31, 31, 31 };
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// uint8_t current_h[4] = { 12, 12, 12, 12 };
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// uint8_t current_r[4] = { 24, 24, 24, 24 };
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// uint8_t current_r[4] = { 32, 32, 32, 32 };
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// uint8_t current_h[4] = { 14, 14, 14, 14 };
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uint8_t current_h[4] = { 2, 2, 2, 4 };
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uint8_t current_r[4] = { 6, 6, 8, 8 };
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WRITE(X_TMC2130_CS, HIGH);
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WRITE(Y_TMC2130_CS, HIGH);
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WRITE(Z_TMC2130_CS, HIGH);
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WRITE(E0_TMC2130_CS, HIGH);
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SET_OUTPUT(X_TMC2130_CS);
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SET_OUTPUT(Y_TMC2130_CS);
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SET_OUTPUT(Z_TMC2130_CS);
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SET_OUTPUT(E0_TMC2130_CS);
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SPI.begin();
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/* for(int i=0;i<4;i++)
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{
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//tmc2130_write(cs[i],0x6C,0b10100,01,00,0xC5);
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tmc2130_chopconf(cs[i],1,16);
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tmc2130_write(cs[i],0x10,0,15,current_h[i],current_r[i]); //0x10 IHOLD_IRUN
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//tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF
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tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF - activate stealthChop
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//tmc2130_write(cs[i],0x11,0,0,0,0xA);
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// Uncomment lines below to use a different configuration (pwm_autoscale = 0) for XY axes
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if(i==0 || i==1)
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tmc2130_PWMconf(cs[i],PWM_AUTOSCALE_XY,PWM_FREQ_XY,PWM_GRAD_XY,PWM_AMPL_XY); //address=0x70 PWM_CONF //reset default=0x00050480
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else
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tmc2130_PWMconf(cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
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tmc2130_PWMthreshold(cs[i]);
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}
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*/
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#ifdef MK3_TEST1
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for (int i=0;i<4;i++)
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{
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tmc2130_write(cs[i],0x0,0,0,0,0x00); //address=0x0 GCONF - bit 2 activate stealthChop
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tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
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tmc2130_chopconf(cs[i],0,16);
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}
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#else //MK3_TEST1
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for (int i=0;i<3;i++)
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{
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tmc2130_write(cs[i],0x0,0,0,0,0x04); //address=0x0 GCONF - bit 2 activate stealthChop
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tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
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tmc2130_write(cs[i],0x11,0,0,0,0);
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tmc2130_PWMconf(cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
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// tmc2130_PWMthreshold(cs[i]);
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tmc2130_chopconf(cs[i],1,16);
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}
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for (int i=3;i<4;i++)
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{
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tmc2130_write(cs[i],0x0,0,0,0,0x00); //address=0x0 GCONF - bit 2 activate stealthChop
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tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
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tmc2130_write(cs[i],0x11,0,0,0,0);
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tmc2130_chopconf(cs[i],1,16);
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}
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#endif //MK3_TEST1
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}
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void tmc2130_st_synchronize()
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{
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uint8_t delay = 0;
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if(sg_homing_axis == X_AXIS || sg_homing_axis == Y_AXIS)
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{
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uint8_t axis;
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if(sg_homing_axis == X_AXIS)
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axis = X_TMC2130_CS;
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else
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axis = Y_TMC2130_CS;
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uint16_t tstep = tmc2130_readTStep(axis);
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// SERIAL_PROTOCOLLN(tstep);
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if(tstep < TCOOLTHRS)
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{
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if(delay < 255) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
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delay++;
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else
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{
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uint16_t sg = tmc2130_readSG(axis);
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||
|
|
if(sg==0)
|
||
|
|
{
|
||
|
|
sg_axis_stalled[sg_homing_axis] = true;
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||
|
|
sg_lastHomingStalled = true;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
sg_axis_stalled[sg_homing_axis] = false;
|
||
|
|
// SERIAL_PROTOCOLLN(sg);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
sg_axis_stalled[sg_homing_axis] = false;
|
||
|
|
delay = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
sg_axis_stalled[X_AXIS] = false;
|
||
|
|
sg_axis_stalled[Y_AXIS] = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void tmc2130_st_home_enter(uint8_t axis)
|
||
|
|
{
|
||
|
|
sg_homing_axis = axis;
|
||
|
|
// Configuration to spreadCycle
|
||
|
|
// tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x0,0,0,0,0x01);
|
||
|
|
tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x0,0,0,0,0x00);
|
||
|
|
tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x6D,0,(axis == X_AXIS)?SG_THRESHOLD_X:SG_THRESHOLD_Y,0,0);
|
||
|
|
tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x14,0,0,0,TCOOLTHRS);
|
||
|
|
}
|
||
|
|
|
||
|
|
void tmc2130_st_home_exit()
|
||
|
|
{
|
||
|
|
if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == X_AXIS))
|
||
|
|
{
|
||
|
|
// Configuration back to stealthChop
|
||
|
|
tmc2130_write((sg_homing_axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS, 0x0, 0, 0, 0, 0x04);
|
||
|
|
sg_homing_axis = 0xff;
|
||
|
|
sg_axis_stalled[X_AXIS] = false;
|
||
|
|
sg_axis_stalled[Y_AXIS] = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif //HAVE_TMC2130_DRIVERS
|