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tmc2130 - optimalization, removed unused code

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This commit is contained in:
Robert Pelnar 2018-02-20 17:06:37 +01:00
parent f916e0f879
commit d91dbc73c9
1 changed files with 50 additions and 208 deletions
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258
Firmware/tmc2130.cpp
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@ -117,10 +117,11 @@ void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_
void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32);
void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32);
#define tmc2130_rd(axis, addr, rval) tmc2130_rx(axis, addr, rval)
#define tmc2130_wr(axis, addr, wval) tmc2130_tx(axis, addr | 0x80, wval)
uint8_t tmc2130_wr(uint8_t axis, uint8_t addr, uint32_t wval);
uint8_t tmc2130_rd(uint8_t axis, uint8_t addr, uint32_t* rval);
uint8_t tmc2130_txrx(uint8_t axis, uint8_t addr, uint32_t wval, uint32_t* rval);
uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval);
uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval);
void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
@ -130,10 +131,6 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
void tmc2130_init()
{
DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("STEALTH"):_n("NORMAL"));
/* tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);*/
WRITE(X_TMC2130_CS, HIGH);
WRITE(Y_TMC2130_CS, HIGH);
WRITE(Z_TMC2130_CS, HIGH);
@ -233,14 +230,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
}
if (sg_homing_axes_mask == 0)
{
/* if (crash)
{
if (diag_mask & 0x01) tmc2130_sg_cnt[0]++;
if (diag_mask & 0x02) tmc2130_sg_cnt[1]++;
if (diag_mask & 0x04) tmc2130_sg_cnt[2]++;
if (diag_mask & 0x08) tmc2130_sg_cnt[3]++;
}*/
if (/*!is_usb_printing && */tmc2130_sg_stop_on_crash && crash)
if (tmc2130_sg_stop_on_crash && crash)
{
tmc2130_sg_crash = crash;
tmc2130_sg_stop_on_crash = false;
@ -499,7 +489,7 @@ void tmc2130_wr_MSLUTSTART(uint8_t axis, uint8_t start_sin, uint8_t start_sin90)
val |= (uint32_t)start_sin;
val |= ((uint32_t)start_sin90) << 16;
tmc2130_wr(axis, TMC2130_REG_MSLUTSTART, val);
//printf_P(PSTR("MSLUTSTART=%08lx (start_sin=%d start_sin90=%d)\n"), val, start_sin, start_sin90);
//printf_P(PSTR("MSLUTSTART=%08lx (start_sin=%d start_sin90=%d)\n"), val, start_sin, start_sin90);
}
void tmc2130_wr_MSLUTSEL(uint8_t axis, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t w0, uint8_t w1, uint8_t w2, uint8_t w3)
@ -513,13 +503,13 @@ void tmc2130_wr_MSLUTSEL(uint8_t axis, uint8_t x1, uint8_t x2, uint8_t x3, uint8
val |= ((uint32_t)x2) << 16;
val |= ((uint32_t)x3) << 24;
tmc2130_wr(axis, TMC2130_REG_MSLUTSEL, val);
//printf_P(PSTR("MSLUTSEL=%08lx (x1=%d x2=%d x3=%d w0=%d w1=%d w2=%d w3=%d)\n"), val, x1, x2, x3, w0, w1, w2, w3);
//printf_P(PSTR("MSLUTSEL=%08lx (x1=%d x2=%d x3=%d w0=%d w1=%d w2=%d w3=%d)\n"), val, x1, x2, x3, w0, w1, w2, w3);
}
void tmc2130_wr_MSLUT(uint8_t axis, uint8_t i, uint32_t val)
{
tmc2130_wr(axis, TMC2130_REG_MSLUT0 + (i & 7), val);
//printf_P(PSTR("MSLUT[%d]=%08lx\n"), i, val);
//printf_P(PSTR("MSLUT[%d]=%08lx\n"), i, val);
}
void tmc2130_wr_CHOPCONF(uint8_t axis, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t fd3, uint8_t disfdcc, uint8_t rndtf, uint8_t chm, uint8_t tbl, uint8_t vsense, uint8_t vhighfs, uint8_t vhighchm, uint8_t sync, uint8_t mres, uint8_t intpol, uint8_t dedge, uint8_t diss2g)
@ -574,43 +564,6 @@ uint8_t tmc2130_usteps2mres(uint16_t usteps)
return mres;
}
uint8_t tmc2130_wr(uint8_t axis, uint8_t addr, uint32_t wval)
{
uint8_t stat = tmc2130_txrx(axis, addr | 0x80, wval, 0);
#ifdef TMC2130_DEBUG_WR
MYSERIAL.print("tmc2130_wr(");
MYSERIAL.print((unsigned char)axis, DEC);
MYSERIAL.print(", 0x");
MYSERIAL.print((unsigned char)addr, HEX);
MYSERIAL.print(", 0x");
MYSERIAL.print((unsigned long)wval, HEX);
MYSERIAL.print(")=0x");
MYSERIAL.println((unsigned char)stat, HEX);
#endif //TMC2130_DEBUG_WR
return stat;
}
uint8_t tmc2130_rd(uint8_t axis, uint8_t addr, uint32_t* rval)
{
uint32_t val32 = 0;
uint8_t stat = tmc2130_txrx(axis, addr, 0x00000000, &val32);
if (rval != 0) *rval = val32;
#ifdef TMC2130_DEBUG_RD
if (!skip_debug_msg)
{
MYSERIAL.print("tmc2130_rd(");
MYSERIAL.print((unsigned char)axis, DEC);
MYSERIAL.print(", 0x");
MYSERIAL.print((unsigned char)addr, HEX);
MYSERIAL.print(", 0x");
MYSERIAL.print((unsigned long)val32, HEX);
MYSERIAL.print(")=0x");
MYSERIAL.println((unsigned char)stat, HEX);
}
skip_debug_msg = false;
#endif //TMC2130_DEBUG_RD
return stat;
}
inline void tmc2130_cs_low(uint8_t axis)
{
@ -634,7 +587,8 @@ inline void tmc2130_cs_high(uint8_t axis)
}
}
uint8_t tmc2130_txrx(uint8_t axis, uint8_t addr, uint32_t wval, uint32_t* rval)
uint8_t tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval)
{
//datagram1 - request
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
@ -646,6 +600,20 @@ uint8_t tmc2130_txrx(uint8_t axis, uint8_t addr, uint32_t wval, uint32_t* rval)
SPI.transfer(wval & 0xff); // LSB
tmc2130_cs_high(axis);
SPI.endTransaction();
}
uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
{
//datagram1 - request
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
tmc2130_cs_low(axis);
SPI.transfer(addr); // address
SPI.transfer(0); // MSB
SPI.transfer(0);
SPI.transfer(0);
SPI.transfer(0); // LSB
tmc2130_cs_high(axis);
SPI.endTransaction();
//datagram2 - response
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
tmc2130_cs_low(axis);
@ -704,10 +672,10 @@ uint16_t tmc2130_get_res(uint8_t axis)
void tmc2130_set_res(uint8_t axis, uint16_t res)
{
tmc2130_mres[axis] = tmc2130_usteps2mres(res);
// uint32_t u = micros();
uint32_t u = micros();
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
// u = micros() - u;
// printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u);
u = micros() - u;
printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u);
}
uint8_t tmc2130_get_pwr(uint8_t axis)
@ -852,8 +820,8 @@ void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream)
void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200)
{
// TMC2130 wave compression algorithm
// optimized for minimal memory requirements
// TMC2130 wave compression algorithm
// optimized for minimal memory requirements
printf_P(PSTR("tmc2130_set_wave %d %d\n"), axis, fac200);
if (fac200 < TMC2130_WAVE_FAC200_MIN) fac200 = 0;
if (fac200 > TMC2130_WAVE_FAC200_MAX) fac200 = TMC2130_WAVE_FAC200_MAX;
@ -865,15 +833,15 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200)
uint8_t w[4] = {1,1,1,1}; //W bits (MSLUTSEL)
uint8_t x[3] = {255,255,255}; //X segment bounds (MSLUTSEL)
uint8_t s = 0; //current segment
int8_t b; //encoded bit value
int8_t b; //encoded bit value
uint8_t dA; //delta value
int i; //microstep index
uint32_t reg; //tmc2130 register
tmc2130_wr_MSLUTSTART(axis, 0, amp);
int i; //microstep index
uint32_t reg; //tmc2130 register
tmc2130_wr_MSLUTSTART(axis, 0, amp);
for (i = 0; i < 256; i++)
{
if ((i & 31) == 0)
reg = 0;
{
if ((i & 31) == 0)
reg = 0;
// calculate value
if (fac == 0) // default TMC wave
vA = (uint8_t)((amp+1) * sin((2*PI*i + PI)/1024) + 0.5) - 1;
@ -887,7 +855,7 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200)
else
{
if (dA < d0) // delta < delta0 => switch wbit down
{
{
//printf("dn\n");
b = 0;
switch (dA)
@ -897,11 +865,11 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200)
case 1: d0 = 1; d1 = 2; w[s+1] = 2; break;
default: b = -1; break;
}
if (b >= 0) { x[s] = i; s++; }
if (b >= 0) { x[s] = i; s++; }
}
else if (dA > d1) // delta > delta0 => switch wbit up
{
//printf("up\n");
//printf("up\n");
b = 1;
switch (dA)
{
@ -910,146 +878,20 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200)
case 3: d0 = 2; d1 = 3; w[s+1] = 3; break;
default: b = -1; break;
}
if (b >= 0) { x[s] = i; s++; }
if (b >= 0) { x[s] = i; s++; }
}
}
if (b < 0) break; // delta out of range (<-1 or >3)
if (s > 3) break; // segment out of range (> 3)
//printf("%d\n", vA);
if (b == 1) reg |= 0x80000000;
if ((i & 31) == 31)
tmc2130_wr_MSLUT(axis, (uint8_t)(i >> 5), reg);
else
reg >>= 1;
// printf("%3d\t%3d\t%2d\t%2d\t%2d\t%2d %08x\n", i, vA, dA, b, w[s], s, reg);
if (b < 0) break; // delta out of range (<-1 or >3)
if (s > 3) break; // segment out of range (> 3)
//printf("%d\n", vA);
if (b == 1) reg |= 0x80000000;
if ((i & 31) == 31)
tmc2130_wr_MSLUT(axis, (uint8_t)(i >> 5), reg);
else
reg >>= 1;
// printf("%3d\t%3d\t%2d\t%2d\t%2d\t%2d %08x\n", i, vA, dA, b, w[s], s, reg);
}
tmc2130_wr_MSLUTSEL(axis, x[0], x[1], x[2], w[0], w[1], w[2], w[3]);
/*
// printf_P(PSTR(" tmc2130_set_wave %d %d\n"), axis, fac200);
switch (fac200)
{
case 0: //default TMC wave 247/0
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0xaaaab556);
tmc2130_wr_MSLUT(axis, 1, 0x4a9554aa);
tmc2130_wr_MSLUT(axis, 2, 0x24492929);
tmc2130_wr_MSLUT(axis, 3, 0x10104222);
tmc2130_wr_MSLUT(axis, 4, 0xf8000000);
tmc2130_wr_MSLUT(axis, 5, 0xb5bb777d);
tmc2130_wr_MSLUT(axis, 6, 0x49295556);
tmc2130_wr_MSLUT(axis, 7, 0x00404222);
tmc2130_wr_MSLUTSEL(axis, 2, 154, 255, 1, 2, 1, 1);
break;
case 210: //calculated wave 247/1.050
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x55294a4e);
tmc2130_wr_MSLUT(axis, 1, 0xa52a552a);
tmc2130_wr_MSLUT(axis, 2, 0x48949294);
tmc2130_wr_MSLUT(axis, 3, 0x81042222);
tmc2130_wr_MSLUT(axis, 4, 0x00000000);
tmc2130_wr_MSLUT(axis, 5, 0xdb6eef7e);
tmc2130_wr_MSLUT(axis, 6, 0x9295555a);
tmc2130_wr_MSLUT(axis, 7, 0x00408444);
tmc2130_wr_MSLUTSEL(axis, 3, 160, 255, 1, 2, 1, 1);
break;
case 212: //calculated wave 247/1.060
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x4a94948e);
tmc2130_wr_MSLUT(axis, 1, 0x94a952a5);
tmc2130_wr_MSLUT(axis, 2, 0x24925252);
tmc2130_wr_MSLUT(axis, 3, 0x10421112);
tmc2130_wr_MSLUT(axis, 4, 0xc0000020);
tmc2130_wr_MSLUT(axis, 5, 0xdb7777df);
tmc2130_wr_MSLUT(axis, 6, 0x9295556a);
tmc2130_wr_MSLUT(axis, 7, 0x00408444);
tmc2130_wr_MSLUTSEL(axis, 3, 157, 255, 1, 2, 1, 1);
break;
case 214: //calculated wave 247/1.070
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0xa949489e);
tmc2130_wr_MSLUT(axis, 1, 0x52a54a54);
tmc2130_wr_MSLUT(axis, 2, 0x224a494a);
tmc2130_wr_MSLUT(axis, 3, 0x04108889);
tmc2130_wr_MSLUT(axis, 4, 0xffc08002);
tmc2130_wr_MSLUT(axis, 5, 0x6dbbbdfb);
tmc2130_wr_MSLUT(axis, 6, 0x94a555ab);
tmc2130_wr_MSLUT(axis, 7, 0x00408444);
tmc2130_wr_MSLUTSEL(axis, 4, 149, 255, 1, 2, 1, 1);
break;
case 215: //calculated wave 247/1.075
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x4a52491e);
tmc2130_wr_MSLUT(axis, 1, 0xa54a54a9);
tmc2130_wr_MSLUT(axis, 2, 0x49249494);
tmc2130_wr_MSLUT(axis, 3, 0x10421122);
tmc2130_wr_MSLUT(axis, 4, 0x00000008);
tmc2130_wr_MSLUT(axis, 5, 0x6ddbdefc);
tmc2130_wr_MSLUT(axis, 6, 0x94a555ad);
tmc2130_wr_MSLUT(axis, 7, 0x00408444);
tmc2130_wr_MSLUTSEL(axis, 4, 161, 255, 1, 2, 1, 1);
break;
case 216: //calculated wave 247/1.080
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x9494911e);
tmc2130_wr_MSLUT(axis, 1, 0x4a94a94a);
tmc2130_wr_MSLUT(axis, 2, 0x92492929);
tmc2130_wr_MSLUT(axis, 3, 0x41044444);
tmc2130_wr_MSLUT(axis, 4, 0x00000040);
tmc2130_wr_MSLUT(axis, 5, 0xaedddf7f);
tmc2130_wr_MSLUT(axis, 6, 0x94a956ad);
tmc2130_wr_MSLUT(axis, 7, 0x00808448);
tmc2130_wr_MSLUTSEL(axis, 4, 159, 255, 1, 2, 1, 1);
break;
case 218: //calculated wave 247/1.090
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x4a49223e);
tmc2130_wr_MSLUT(axis, 1, 0x4a52a529);
tmc2130_wr_MSLUT(axis, 2, 0x49252529);
tmc2130_wr_MSLUT(axis, 3, 0x08422224);
tmc2130_wr_MSLUT(axis, 4, 0xfc008004);
tmc2130_wr_MSLUT(axis, 5, 0xb6eef7df);
tmc2130_wr_MSLUT(axis, 6, 0xa4aaaab5);
tmc2130_wr_MSLUT(axis, 7, 0x00808448);
tmc2130_wr_MSLUTSEL(axis, 5, 153, 255, 1, 2, 1, 1);
break;
case 220: //calculated wave 247/1.100
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0xa492487e);
tmc2130_wr_MSLUT(axis, 1, 0x294a52a4);
tmc2130_wr_MSLUT(axis, 2, 0x492494a5);
tmc2130_wr_MSLUT(axis, 3, 0x82110912);
tmc2130_wr_MSLUT(axis, 4, 0x00000080);
tmc2130_wr_MSLUT(axis, 5, 0xdb777df8);
tmc2130_wr_MSLUT(axis, 6, 0x252aaad6);
tmc2130_wr_MSLUT(axis, 7, 0x00808449);
tmc2130_wr_MSLUTSEL(axis, 6, 162, 255, 1, 2, 1, 1);
break;
case 222: //calculated wave 247/1.110
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x524910fe);
tmc2130_wr_MSLUT(axis, 1, 0xa5294a52);
tmc2130_wr_MSLUT(axis, 2, 0x24929294);
tmc2130_wr_MSLUT(axis, 3, 0x20844489);
tmc2130_wr_MSLUT(axis, 4, 0xc0004008);
tmc2130_wr_MSLUT(axis, 5, 0xdbbbdf7f);
tmc2130_wr_MSLUT(axis, 6, 0x252aab5a);
tmc2130_wr_MSLUT(axis, 7, 0x00808449);
tmc2130_wr_MSLUTSEL(axis, 7, 157, 255, 1, 2, 1, 1);
break;
case 224: //calculated wave 247/1.120
tmc2130_wr_MSLUTSTART(axis, 0, 247);
tmc2130_wr_MSLUT(axis, 0, 0x292223fe);
tmc2130_wr_MSLUT(axis, 1, 0x94a52949);
tmc2130_wr_MSLUT(axis, 2, 0x92524a52);
tmc2130_wr_MSLUT(axis, 3, 0x04222244);
tmc2130_wr_MSLUT(axis, 4, 0x00000101);
tmc2130_wr_MSLUT(axis, 5, 0x6dddefe0);
tmc2130_wr_MSLUT(axis, 6, 0x254aad5b);
tmc2130_wr_MSLUT(axis, 7, 0x00810889);
tmc2130_wr_MSLUTSEL(axis, 9, 164, 255, 1, 2, 1, 1);
break;
}*/
tmc2130_wr_MSLUTSEL(axis, x[0], x[1], x[2], w[0], w[1], w[2], w[3]);
}
void bubblesort_uint8(uint8_t* data, uint8_t size, uint8_t* data2)