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