Microstep linearity correction, optimized wave compression.
Correction factor can be adjusted from 0.9 to 1.25 by 0.005 steps.
This commit is contained in:
Robert Pelnar
parent
57499dc6a0
commit
dff8c29362
@ -542,10 +542,10 @@ void dcode_2130()
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}
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else if (strncmp(strchr_pointer + 7, "wave", 4) == 0)
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{
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uint8_t fac200 = atoi(strchr_pointer + 11) & 0xfe;
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uint8_t fac200 = atoi(strchr_pointer + 11) & 0xff;
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if (fac200 < TMC2130_WAVE_FAC200_MIN) fac200 = 0;
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if (fac200 > TMC2130_WAVE_FAC200_MAX) fac200 = TMC2130_WAVE_FAC200_MAX;
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tmc2130_set_wave(axis, fac200);
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tmc2130_set_wave(axis, 247, fac200);
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tmc2130_wave_fac[axis] = fac200;
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}
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}
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@ -188,10 +188,10 @@ void tmc2130_init()
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tmc2130_sg_cnt[2] = 0;
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tmc2130_sg_cnt[3] = 0;
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tmc2130_set_wave(X_AXIS, tmc2130_wave_fac[X_AXIS]);
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tmc2130_set_wave(Y_AXIS, tmc2130_wave_fac[Y_AXIS]);
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tmc2130_set_wave(Z_AXIS, tmc2130_wave_fac[Z_AXIS]);
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tmc2130_set_wave(E_AXIS, tmc2130_wave_fac[E_AXIS]);
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tmc2130_set_wave(X_AXIS, 247, tmc2130_wave_fac[X_AXIS]);
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tmc2130_set_wave(Y_AXIS, 247, tmc2130_wave_fac[Y_AXIS]);
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tmc2130_set_wave(Z_AXIS, 247, tmc2130_wave_fac[Z_AXIS]);
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tmc2130_set_wave(E_AXIS, 247, tmc2130_wave_fac[E_AXIS]);
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}
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uint8_t tmc2130_sample_diag()
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@ -499,6 +499,7 @@ void tmc2130_wr_MSLUTSTART(uint8_t axis, uint8_t start_sin, uint8_t start_sin90)
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val |= (uint32_t)start_sin;
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val |= ((uint32_t)start_sin90) << 16;
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tmc2130_wr(axis, TMC2130_REG_MSLUTSTART, val);
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//printf_P(PSTR("MSLUTSTART=%08lx (start_sin=%d start_sin90=%d)\n"), val, start_sin, start_sin90);
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}
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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)
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@ -512,11 +513,13 @@ void tmc2130_wr_MSLUTSEL(uint8_t axis, uint8_t x1, uint8_t x2, uint8_t x3, uint8
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val |= ((uint32_t)x2) << 16;
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val |= ((uint32_t)x3) << 24;
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tmc2130_wr(axis, TMC2130_REG_MSLUTSEL, val);
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//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);
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}
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void tmc2130_wr_MSLUT(uint8_t axis, uint8_t i, uint32_t val)
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{
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tmc2130_wr(axis, TMC2130_REG_MSLUT0 + (i & 7), val);
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//printf_P(PSTR("MSLUT[%d]=%08lx\n"), i, val);
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}
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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)
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@ -847,11 +850,82 @@ void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream)
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tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
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}
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void tmc2130_set_wave(uint8_t axis, uint8_t fac200)
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void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200)
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{
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// printf_P(PSTR("tmc2130_set_wave %d %d\n"), axis, fac200);
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// TMC2130 wave compression algorithm
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// optimized for minimal memory requirements
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printf_P(PSTR("tmc2130_set_wave %d %d\n"), axis, fac200);
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if (fac200 < TMC2130_WAVE_FAC200_MIN) fac200 = 0;
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if (fac200 > TMC2130_WAVE_FAC200_MAX) fac200 = TMC2130_WAVE_FAC200_MAX;
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float fac = (float)fac200/200; //correction factor
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uint8_t vA = 0; //value of currentA
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uint8_t va = 0; //previous vA
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uint8_t d0 = 0; //delta0
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uint8_t d1 = 1; //delta1
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uint8_t w[4] = {1,1,1,1}; //W bits (MSLUTSEL)
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uint8_t x[3] = {255,255,255}; //X segment bounds (MSLUTSEL)
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uint8_t s = 0; //current segment
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int8_t b; //encoded bit value
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uint8_t dA; //delta value
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int i; //microstep index
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uint32_t reg; //tmc2130 register
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tmc2130_wr_MSLUTSTART(axis, 0, amp);
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for (i = 0; i < 256; i++)
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{
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if ((i & 31) == 0)
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reg = 0;
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// calculate value
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if (fac == 0) // default TMC wave
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vA = (uint8_t)((amp+1) * sin((2*PI*i + PI)/1024) + 0.5) - 1;
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else // corrected wave
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vA = (uint8_t)(amp * pow(sin(2*PI*i/1024), fac) + 0.5);
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dA = vA - va; // calculate delta
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va = vA;
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b = -1;
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if (dA == d0) b = 0; //delta == delta0 => bit=0
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else if (dA == d1) b = 1; //delta == delta1 => bit=1
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else
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{
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if (dA < d0) // delta < delta0 => switch wbit down
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{
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//printf("dn\n");
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b = 0;
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switch (dA)
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{
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case -1: d0 = -1; d1 = 0; w[s+1] = 0; break;
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case 0: d0 = 0; d1 = 1; w[s+1] = 1; break;
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case 1: d0 = 1; d1 = 2; w[s+1] = 2; break;
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default: b = -1; break;
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}
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if (b >= 0) { x[s] = i; s++; }
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}
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else if (dA > d1) // delta > delta0 => switch wbit up
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{
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//printf("up\n");
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b = 1;
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switch (dA)
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{
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case 1: d0 = 0; d1 = 1; w[s+1] = 1; break;
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case 2: d0 = 1; d1 = 2; w[s+1] = 2; break;
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case 3: d0 = 2; d1 = 3; w[s+1] = 3; break;
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default: b = -1; break;
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}
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if (b >= 0) { x[s] = i; s++; }
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}
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}
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if (b < 0) break; // delta out of range (<-1 or >3)
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if (s > 3) break; // segment out of range (> 3)
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//printf("%d\n", vA);
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if (b == 1) reg |= 0x80000000;
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if ((i & 31) == 31)
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tmc2130_wr_MSLUT(axis, (uint8_t)(i >> 5), reg);
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else
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reg >>= 1;
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// printf("%3d\t%3d\t%2d\t%2d\t%2d\t%2d %08x\n", i, vA, dA, b, w[s], s, reg);
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}
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tmc2130_wr_MSLUTSEL(axis, x[0], x[1], x[2], w[0], w[1], w[2], w[3]);
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/*
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// printf_P(PSTR(" tmc2130_set_wave %d %d\n"), axis, fac200);
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switch (fac200)
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{
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@ -867,7 +941,43 @@ void tmc2130_set_wave(uint8_t axis, uint8_t fac200)
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tmc2130_wr_MSLUT(axis, 7, 0x00404222);
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tmc2130_wr_MSLUTSEL(axis, 2, 154, 255, 1, 2, 1, 1);
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break;
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/* case 215: //calculated wave 247/1.075
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case 210: //calculated wave 247/1.050
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tmc2130_wr_MSLUTSTART(axis, 0, 247);
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tmc2130_wr_MSLUT(axis, 0, 0x55294a4e);
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tmc2130_wr_MSLUT(axis, 1, 0xa52a552a);
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tmc2130_wr_MSLUT(axis, 2, 0x48949294);
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tmc2130_wr_MSLUT(axis, 3, 0x81042222);
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tmc2130_wr_MSLUT(axis, 4, 0x00000000);
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tmc2130_wr_MSLUT(axis, 5, 0xdb6eef7e);
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tmc2130_wr_MSLUT(axis, 6, 0x9295555a);
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tmc2130_wr_MSLUT(axis, 7, 0x00408444);
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tmc2130_wr_MSLUTSEL(axis, 3, 160, 255, 1, 2, 1, 1);
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break;
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case 212: //calculated wave 247/1.060
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tmc2130_wr_MSLUTSTART(axis, 0, 247);
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tmc2130_wr_MSLUT(axis, 0, 0x4a94948e);
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tmc2130_wr_MSLUT(axis, 1, 0x94a952a5);
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tmc2130_wr_MSLUT(axis, 2, 0x24925252);
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tmc2130_wr_MSLUT(axis, 3, 0x10421112);
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tmc2130_wr_MSLUT(axis, 4, 0xc0000020);
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tmc2130_wr_MSLUT(axis, 5, 0xdb7777df);
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tmc2130_wr_MSLUT(axis, 6, 0x9295556a);
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tmc2130_wr_MSLUT(axis, 7, 0x00408444);
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tmc2130_wr_MSLUTSEL(axis, 3, 157, 255, 1, 2, 1, 1);
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break;
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case 214: //calculated wave 247/1.070
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tmc2130_wr_MSLUTSTART(axis, 0, 247);
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tmc2130_wr_MSLUT(axis, 0, 0xa949489e);
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tmc2130_wr_MSLUT(axis, 1, 0x52a54a54);
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tmc2130_wr_MSLUT(axis, 2, 0x224a494a);
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tmc2130_wr_MSLUT(axis, 3, 0x04108889);
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tmc2130_wr_MSLUT(axis, 4, 0xffc08002);
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tmc2130_wr_MSLUT(axis, 5, 0x6dbbbdfb);
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tmc2130_wr_MSLUT(axis, 6, 0x94a555ab);
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tmc2130_wr_MSLUT(axis, 7, 0x00408444);
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tmc2130_wr_MSLUTSEL(axis, 4, 149, 255, 1, 2, 1, 1);
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break;
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case 215: //calculated wave 247/1.075
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tmc2130_wr_MSLUTSTART(axis, 0, 247);
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tmc2130_wr_MSLUT(axis, 0, 0x4a52491e);
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tmc2130_wr_MSLUT(axis, 1, 0xa54a54a9);
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@ -878,7 +988,7 @@ void tmc2130_set_wave(uint8_t axis, uint8_t fac200)
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tmc2130_wr_MSLUT(axis, 6, 0x94a555ad);
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tmc2130_wr_MSLUT(axis, 7, 0x00408444);
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tmc2130_wr_MSLUTSEL(axis, 4, 161, 255, 1, 2, 1, 1);
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break;*/
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break;
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case 216: //calculated wave 247/1.080
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tmc2130_wr_MSLUTSTART(axis, 0, 247);
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tmc2130_wr_MSLUT(axis, 0, 0x9494911e);
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@ -939,19 +1049,7 @@ void tmc2130_set_wave(uint8_t axis, uint8_t fac200)
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tmc2130_wr_MSLUT(axis, 7, 0x00810889);
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tmc2130_wr_MSLUTSEL(axis, 9, 164, 255, 1, 2, 1, 1);
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break;
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/* case 230: //calculated wave 247/1.150
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tmc2130_wr_MSLUTSTART(axis, 0, 247);
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tmc2130_wr_MSLUT(axis, 0, 0x24444076);
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tmc2130_wr_MSLUT(axis, 1, 0x29294949);
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tmc2130_wr_MSLUT(axis, 2, 0x24a494a5);
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tmc2130_wr_MSLUT(axis, 3, 0x84222449);
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tmc2130_wr_MSLUT(axis, 4, 0x00004020);
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tmc2130_wr_MSLUT(axis, 5, 0xdbbbefe0);
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tmc2130_wr_MSLUT(axis, 6, 0x495556b5);
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tmc2130_wr_MSLUT(axis, 7, 0x00810889);
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tmc2130_wr_MSLUTSEL(axis, 6, 164, 255, 1, 2, 1, 1);
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break;*/
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}
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}*/
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}
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void bubblesort_uint8(uint8_t* data, uint8_t size, uint8_t* data2)
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@ -23,9 +23,9 @@ extern uint32_t tmc2130_sg_meassure_val;
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#define TMC2130_MODE_NORMAL 0
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#define TMC2130_MODE_SILENT 1
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#define TMC2130_WAVE_FAC200_MIN 216
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#define TMC2130_WAVE_FAC200_MAX 224
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#define TMC2130_WAVE_FAC200_STP 2
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#define TMC2130_WAVE_FAC200_MIN 180
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#define TMC2130_WAVE_FAC200_MAX 250
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#define TMC2130_WAVE_FAC200_STP 1
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extern uint8_t tmc2130_home_enabled;
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extern uint8_t tmc2130_home_origin[2];
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@ -117,7 +117,7 @@ extern void tmc2130_do_step(uint8_t axis);
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extern void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us);
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extern void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution);
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extern void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream);
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extern void tmc2130_set_wave(uint8_t axis, uint8_t fac200);
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extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200);
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extern void tmc2130_home_calibrate(uint8_t axis);
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@ -5806,7 +5806,7 @@ extern char conv[8];
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// Convert tmc2130 wfac to string
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char *wfac_to_str5(const uint8_t &x)
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{
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if (x>=TMC2130_WAVE_FAC200_MIN) return ftostr43(((float)(x & 0xfe))/200);
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if (x>=TMC2130_WAVE_FAC200_MIN) return ftostr43(((float)(x & 0xff))/200);
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conv[0] = ' ';
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conv[1] = ' ';
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conv[2] = 'O';
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