596 lines
20 KiB
C++
596 lines
20 KiB
C++
#include "Marlin.h"
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#ifdef TMC2130
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#include "tmc2130.h"
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#include <SPI.h>
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#define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
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#define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
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#define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
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//externals for debuging
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extern float current_position[4];
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extern void st_get_position_xy(long &x, long &y);
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extern long st_get_position(uint8_t axis);
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extern void crashdet_stop_and_save_print();
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//chipselect pins
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uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
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//diag pins
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uint8_t tmc2130_diag[4] = { X_TMC2130_DIAG, Y_TMC2130_DIAG, Z_TMC2130_DIAG, E0_TMC2130_DIAG };
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//mode
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uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
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//holding currents
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uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
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//running currents
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uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
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//axis stalled flags
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uint8_t tmc2130_axis_stalled[4] = {0, 0, 0, 0};
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//pwm_ampl
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uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y};
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//pwm_grad
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uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y};
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//pwm_auto
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uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y};
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//pwm_freq
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uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y};
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uint8_t tmc2131_axis_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, 0};
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uint8_t tmc2131_axis_sg_thr_home[4] = {5, 5, TMC2130_SG_THRS_Z, 0};
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uint32_t tmc2131_axis_sg_pos[4] = {0, 0, 0, 0};
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uint8_t sg_homing_axes_mask = 0x00;
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bool tmc2130_sg_stop_on_crash = false;
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bool tmc2130_sg_crash = false;
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uint8_t tmc2130_diag_mask = 0x00;
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bool skip_debug_msg = false;
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//TMC2130 registers
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#define TMC2130_REG_GCONF 0x00 // 17 bits
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#define TMC2130_REG_GSTAT 0x01 // 3 bits
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#define TMC2130_REG_IOIN 0x04 // 8+8 bits
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#define TMC2130_REG_IHOLD_IRUN 0x10 // 5+5+4 bits
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#define TMC2130_REG_TPOWERDOWN 0x11 // 8 bits
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#define TMC2130_REG_TSTEP 0x12 // 20 bits
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#define TMC2130_REG_TPWMTHRS 0x13 // 20 bits
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#define TMC2130_REG_TCOOLTHRS 0x14 // 20 bits
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#define TMC2130_REG_THIGH 0x15 // 20 bits
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#define TMC2130_REG_XDIRECT 0x2d // 32 bits
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#define TMC2130_REG_VDCMIN 0x33 // 23 bits
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#define TMC2130_REG_MSLUT0 0x60 // 32 bits
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#define TMC2130_REG_MSLUT1 0x61 // 32 bits
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#define TMC2130_REG_MSLUT2 0x62 // 32 bits
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#define TMC2130_REG_MSLUT3 0x63 // 32 bits
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#define TMC2130_REG_MSLUT4 0x64 // 32 bits
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#define TMC2130_REG_MSLUT5 0x65 // 32 bits
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#define TMC2130_REG_MSLUT6 0x66 // 32 bits
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#define TMC2130_REG_MSLUT7 0x67 // 32 bits
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#define TMC2130_REG_MSLUTSEL 0x68 // 32 bits
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#define TMC2130_REG_MSLUTSTART 0x69 // 8+8 bits
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#define TMC2130_REG_MSCNT 0x6a // 10 bits
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#define TMC2130_REG_MSCURACT 0x6b // 9+9 bits
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#define TMC2130_REG_CHOPCONF 0x6c // 32 bits
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#define TMC2130_REG_COOLCONF 0x6d // 25 bits
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#define TMC2130_REG_DCCTRL 0x6e // 24 bits
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#define TMC2130_REG_DRV_STATUS 0x6f // 32 bits
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#define TMC2130_REG_PWMCONF 0x70 // 22 bits
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#define TMC2130_REG_PWM_SCALE 0x71 // 8 bits
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#define TMC2130_REG_ENCM_CTRL 0x72 // 2 bits
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#define TMC2130_REG_LOST_STEPS 0x73 // 20 bits
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uint16_t tmc2130_rd_TSTEP(uint8_t cs);
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uint16_t tmc2130_rd_MSCNT(uint8_t cs);
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uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs);
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void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0);
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void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
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void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32);
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void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32);
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uint8_t tmc2130_axis_by_cs(uint8_t cs);
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uint8_t tmc2130_mres(uint16_t microstep_resolution);
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uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval);
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uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval);
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uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval);
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void tmc2130_init()
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{
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MYSERIAL.print("tmc2130_init mode=");
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MYSERIAL.println(tmc2130_mode, DEC);
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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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SET_INPUT(X_TMC2130_DIAG);
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SET_INPUT(Y_TMC2130_DIAG);
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SET_INPUT(Z_TMC2130_DIAG);
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SET_INPUT(E0_TMC2130_DIAG);
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SPI.begin();
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for (int i = 0; i < 2; i++) // X Y axes
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{
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uint8_t mres = tmc2130_mres(TMC2130_USTEPS_XY);
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if (tmc2130_current_r[i] <= 31)
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{
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tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
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}
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else
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{
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tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
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}
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// tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
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// tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_COOLCONF, (((uint32_t)tmc2131_axis_sg_thr[i]) << 16) | ((uint32_t)1 << 24));
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:TMC2130_TCOOLTHRS);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
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tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
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tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
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//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
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}
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for (int i = 2; i < 3; i++) // Z axis
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{
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uint8_t mres = tmc2130_mres(TMC2130_USTEPS_Z);
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if (tmc2130_current_r[i] <= 31)
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{
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tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
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}
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else
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{
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tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
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}
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
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}
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for (int i = 3; i < 4; i++) // E axis
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{
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uint8_t mres = tmc2130_mres(TMC2130_USTEPS_E);
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tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_E, 0, 0);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
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tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000);
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}
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}
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uint8_t tmc2130_sample_diag()
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{
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uint8_t mask = 0;
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if (READ(X_TMC2130_DIAG)) mask |= X_AXIS_MASK;
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if (READ(Y_TMC2130_DIAG)) mask |= Y_AXIS_MASK;
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// if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
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// if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
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return mask;
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}
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void tmc2130_st_isr(uint8_t last_step_mask)
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{
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bool error = false;
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uint8_t diag_mask = tmc2130_sample_diag();
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for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++)
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{
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uint8_t mask = (X_AXIS_MASK << axis);
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if ((diag_mask & mask) && !(tmc2130_diag_mask & mask))
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error = true;
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}
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tmc2130_diag_mask = diag_mask;
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if (sg_homing_axes_mask == 0)
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if (tmc2130_sg_stop_on_crash && error)
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{
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tmc2130_sg_crash = true;
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tmc2130_sg_stop_on_crash = false;
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}
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}
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void tmc2130_update_sg_axis(uint8_t axis)
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{
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if (!tmc2130_axis_stalled[axis])
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{
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uint8_t cs = tmc2130_cs[axis];
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uint16_t tstep = tmc2130_rd_TSTEP(cs);
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if (tstep < TMC2130_TCOOLTHRS)
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{
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long pos = st_get_position(axis);
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if (abs(pos - tmc2131_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
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{
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uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
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if (sg == 0)
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tmc2130_axis_stalled[axis] = true;
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}
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}
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}
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}
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bool tmc2130_update_sg()
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{
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#ifdef TMC2130_SG_HOMING_SW_XY
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if (sg_homing_axes_mask & X_AXIS_MASK) tmc2130_update_sg_axis(X_AXIS);
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if (sg_homing_axes_mask & Y_AXIS_MASK) tmc2130_update_sg_axis(Y_AXIS);
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#endif //TMC2130_SG_HOMING_SW_XY
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#ifdef TMC2130_SG_HOMING_SW_Z
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if (sg_homing_axes_mask & Z_AXIS_MASK) tmc2130_update_sg_axis(Z_AXIS);
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#endif //TMC2130_SG_HOMING_SW_Z
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#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW_XY))
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if (sg_homing_axes_mask == 0) return false;
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#ifdef TMC2130_DEBUG
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MYSERIAL.print("tmc2130_update_sg mask=0x");
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MYSERIAL.print((int)sg_homing_axes_mask, 16);
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MYSERIAL.print(" stalledX=");
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MYSERIAL.print((int)tmc2130_axis_stalled[0]);
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MYSERIAL.print(" stalledY=");
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MYSERIAL.println((int)tmc2130_axis_stalled[1]);
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#endif //TMC2130_DEBUG
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for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
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{
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uint8_t mask = (X_AXIS_MASK << axis);
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if (sg_homing_axes_mask & mask)
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{
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if (!tmc2130_axis_stalled[axis])
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{
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uint8_t cs = tmc2130_cs[axis];
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uint16_t tstep = tmc2130_rd_TSTEP(cs);
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if (tstep < TMC2130_TCOOLTHRS)
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{
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long pos = st_get_position(axis);
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if (abs(pos - tmc2131_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
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{
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uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
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if (sg == 0)
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{
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tmc2130_axis_stalled[axis] = true;
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#ifdef TMC2130_DEBUG
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MYSERIAL.print("tmc2130_update_sg AXIS STALLED ");
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MYSERIAL.println((int)axis);
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#endif //TMC2130_DEBUG
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}
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}
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}
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}
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}
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}
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return true;
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#endif
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return false;
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}
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void tmc2130_home_enter(uint8_t axes_mask)
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{
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#ifdef TMC2130_DEBUG
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MYSERIAL.print("tmc2130_home_enter mask=0x");
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MYSERIAL.println((int)axes_mask, 16);
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#endif //TMC2130_DEBUG
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#ifdef TMC2130_SG_HOMING
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for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
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{
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uint8_t mask = (X_AXIS_MASK << axis);
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uint8_t cs = tmc2130_cs[axis];
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if (axes_mask & mask)
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{
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sg_homing_axes_mask |= mask;
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tmc2131_axis_sg_pos[axis] = st_get_position(axis);
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tmc2130_axis_stalled[axis] = false;
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//Configuration to spreadCycle
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tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
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tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2131_axis_sg_thr_home[axis]) << 16));
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// tmc2130_wr(cs, TMC2130_REG_COOLCONF, (((uint32_t)tmc2131_axis_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
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tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
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#ifndef TMC2130_SG_HOMING_SW_XY
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if (mask & (X_AXIS_MASK | Y_AXIS_MASK))
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tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
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#endif //TMC2130_SG_HOMING_SW_XY
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}
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}
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#endif //TMC2130_SG_HOMING
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}
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void tmc2130_home_exit()
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{
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#ifdef TMC2130_DEBUG
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MYSERIAL.print("tmc2130_home_exit mask=0x");
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MYSERIAL.println((int)sg_homing_axes_mask, 16);
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#endif //TMC2130_DEBUG
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#ifdef TMC2130_SG_HOMING
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if (sg_homing_axes_mask)
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{
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for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
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{
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uint8_t mask = (X_AXIS_MASK << axis);
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if (sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK))
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{
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if (tmc2130_mode == TMC2130_MODE_SILENT)
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{
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tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
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tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, 0);
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// tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
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}
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else
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{
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#ifdef TMC2130_SG_HOMING_SW_XY
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tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
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#else //TMC2130_SG_HOMING_SW_XY
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tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2131_axis_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
|
|
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
|
|
#endif //TMC2130_SG_HOMING_SW_XY
|
|
}
|
|
}
|
|
tmc2130_axis_stalled[axis] = false;
|
|
}
|
|
sg_homing_axes_mask = 0x00;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void tmc2130_home_restart(uint8_t axis)
|
|
{
|
|
tmc2131_axis_sg_pos[axis] = st_get_position(axis);
|
|
tmc2130_axis_stalled[axis] = false;
|
|
}
|
|
|
|
void tmc2130_check_overtemp()
|
|
{
|
|
const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
|
|
static uint32_t checktime = 0;
|
|
if (millis() - checktime > 1000 )
|
|
{
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
uint32_t drv_status = 0;
|
|
skip_debug_msg = true;
|
|
tmc2130_rd(tmc2130_cs[i], TMC2130_REG_DRV_STATUS, &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 j = 0; j < 4; j++)
|
|
tmc2130_wr(tmc2130_cs[j], TMC2130_REG_CHOPCONF, 0x00010000);
|
|
kill(TMC_OVERTEMP_MSG);
|
|
}
|
|
}
|
|
checktime = millis();
|
|
}
|
|
}
|
|
|
|
void tmc2130_set_current_h(uint8_t axis, uint8_t current)
|
|
{
|
|
MYSERIAL.print("tmc2130_set_current_h ");
|
|
MYSERIAL.print((int)axis);
|
|
MYSERIAL.print(" ");
|
|
MYSERIAL.println((int)current);
|
|
tmc2130_current_h[axis] = current;
|
|
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
|
|
}
|
|
|
|
void tmc2130_set_current_r(uint8_t axis, uint8_t current)
|
|
{
|
|
MYSERIAL.print("tmc2130_set_current_r ");
|
|
MYSERIAL.print((int)axis);
|
|
MYSERIAL.print(" ");
|
|
MYSERIAL.println((int)current);
|
|
tmc2130_current_r[axis] = current;
|
|
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
|
|
}
|
|
|
|
void tmc2130_print_currents()
|
|
{
|
|
MYSERIAL.println("tmc2130_print_currents");
|
|
MYSERIAL.println("\tH\rR");
|
|
MYSERIAL.print("X\t");
|
|
MYSERIAL.print((int)tmc2130_current_h[0]);
|
|
MYSERIAL.print("\t");
|
|
MYSERIAL.println((int)tmc2130_current_r[0]);
|
|
MYSERIAL.print("Y\t");
|
|
MYSERIAL.print((int)tmc2130_current_h[1]);
|
|
MYSERIAL.print("\t");
|
|
MYSERIAL.println((int)tmc2130_current_r[1]);
|
|
MYSERIAL.print("Z\t");
|
|
MYSERIAL.print((int)tmc2130_current_h[2]);
|
|
MYSERIAL.print("\t");
|
|
MYSERIAL.println((int)tmc2130_current_r[2]);
|
|
MYSERIAL.print("E\t");
|
|
MYSERIAL.print((int)tmc2130_current_h[3]);
|
|
MYSERIAL.print("\t");
|
|
MYSERIAL.println((int)tmc2130_current_r[3]);
|
|
}
|
|
|
|
void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
|
|
{
|
|
MYSERIAL.print("tmc2130_set_pwm_ampl ");
|
|
MYSERIAL.print((int)axis);
|
|
MYSERIAL.print(" ");
|
|
MYSERIAL.println((int)pwm_ampl);
|
|
tmc2130_pwm_ampl[axis] = pwm_ampl;
|
|
if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
|
|
tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
|
|
}
|
|
|
|
void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
|
|
{
|
|
MYSERIAL.print("tmc2130_set_pwm_grad ");
|
|
MYSERIAL.print((int)axis);
|
|
MYSERIAL.print(" ");
|
|
MYSERIAL.println((int)pwm_grad);
|
|
tmc2130_pwm_grad[axis] = pwm_grad;
|
|
if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
|
|
tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
|
|
}
|
|
|
|
uint16_t tmc2130_rd_TSTEP(uint8_t cs)
|
|
{
|
|
uint32_t val32 = 0;
|
|
tmc2130_rd(cs, TMC2130_REG_TSTEP, &val32);
|
|
if (val32 & 0x000f0000) return 0xffff;
|
|
return val32 & 0xffff;
|
|
}
|
|
|
|
uint16_t tmc2130_rd_MSCNT(uint8_t cs)
|
|
{
|
|
uint32_t val32 = 0;
|
|
tmc2130_rd(cs, TMC2130_REG_MSCNT, &val32);
|
|
return val32 & 0x3ff;
|
|
}
|
|
|
|
uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs)
|
|
{
|
|
uint32_t val32 = 0;
|
|
tmc2130_rd(cs, TMC2130_REG_DRV_STATUS, &val32);
|
|
return val32;
|
|
}
|
|
|
|
void tmc2130_wr_CHOPCONF(uint8_t cs, 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)
|
|
{
|
|
uint32_t val = 0;
|
|
val |= (uint32_t)(toff & 15);
|
|
val |= (uint32_t)(hstrt & 7) << 4;
|
|
val |= (uint32_t)(hend & 15) << 7;
|
|
val |= (uint32_t)(fd3 & 1) << 11;
|
|
val |= (uint32_t)(disfdcc & 1) << 12;
|
|
val |= (uint32_t)(rndtf & 1) << 13;
|
|
val |= (uint32_t)(chm & 1) << 14;
|
|
val |= (uint32_t)(tbl & 3) << 15;
|
|
val |= (uint32_t)(vsense & 1) << 17;
|
|
val |= (uint32_t)(vhighfs & 1) << 18;
|
|
val |= (uint32_t)(vhighchm & 1) << 19;
|
|
val |= (uint32_t)(sync & 15) << 20;
|
|
val |= (uint32_t)(mres & 15) << 24;
|
|
val |= (uint32_t)(intpol & 1) << 28;
|
|
val |= (uint32_t)(dedge & 1) << 29;
|
|
val |= (uint32_t)(diss2g & 1) << 30;
|
|
tmc2130_wr(cs, TMC2130_REG_CHOPCONF, val);
|
|
}
|
|
|
|
//void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
|
|
void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel)
|
|
{
|
|
uint32_t val = 0;
|
|
val |= (uint32_t)(pwm_ampl & 255);
|
|
val |= (uint32_t)(pwm_grad & 255) << 8;
|
|
val |= (uint32_t)(pwm_freq & 3) << 16;
|
|
val |= (uint32_t)(pwm_auto & 1) << 18;
|
|
val |= (uint32_t)(pwm_symm & 1) << 19;
|
|
val |= (uint32_t)(freewheel & 3) << 20;
|
|
tmc2130_wr(cs, TMC2130_REG_PWMCONF, val);
|
|
// tmc2130_wr(cs, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
|
|
}
|
|
|
|
void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32)
|
|
{
|
|
tmc2130_wr(cs, TMC2130_REG_TPWMTHRS, val32);
|
|
}
|
|
|
|
void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32)
|
|
{
|
|
tmc2130_wr(cs, TMC2130_REG_THIGH, val32);
|
|
}
|
|
|
|
#if defined(TMC2130_DEBUG_RD) || defined(TMC2130_DEBUG_WR)
|
|
uint8_t tmc2130_axis_by_cs(uint8_t cs)
|
|
{
|
|
switch (cs)
|
|
{
|
|
case X_TMC2130_CS: return 0;
|
|
case Y_TMC2130_CS: return 1;
|
|
case Z_TMC2130_CS: return 2;
|
|
case E0_TMC2130_CS: return 3;
|
|
}
|
|
return -1;
|
|
}
|
|
#endif //TMC2130_DEBUG
|
|
|
|
uint8_t tmc2130_mres(uint16_t microstep_resolution)
|
|
{
|
|
if (microstep_resolution == 256) return 0b0000;
|
|
if (microstep_resolution == 128) return 0b0001;
|
|
if (microstep_resolution == 64) return 0b0010;
|
|
if (microstep_resolution == 32) return 0b0011;
|
|
if (microstep_resolution == 16) return 0b0100;
|
|
if (microstep_resolution == 8) return 0b0101;
|
|
if (microstep_resolution == 4) return 0b0110;
|
|
if (microstep_resolution == 2) return 0b0111;
|
|
if (microstep_resolution == 1) return 0b1000;
|
|
return 0;
|
|
}
|
|
|
|
uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval)
|
|
{
|
|
uint8_t stat = tmc2130_txrx(cs, addr | 0x80, wval, 0);
|
|
#ifdef TMC2130_DEBUG_WR
|
|
MYSERIAL.print("tmc2130_wr(");
|
|
MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), 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 cs, uint8_t addr, uint32_t* rval)
|
|
{
|
|
uint32_t val32 = 0;
|
|
uint8_t stat = tmc2130_txrx(cs, addr, 0x00000000, &val32);
|
|
if (rval != 0) *rval = val32;
|
|
#ifdef TMC2130_DEBUG_RD
|
|
if (!skip_debug_msg)
|
|
{
|
|
MYSERIAL.print("tmc2130_rd(");
|
|
MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), 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;
|
|
}
|
|
|
|
uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval)
|
|
{
|
|
//datagram1 - request
|
|
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
|
digitalWrite(cs, LOW);
|
|
SPI.transfer(addr); // address
|
|
SPI.transfer((wval >> 24) & 0xff); // MSB
|
|
SPI.transfer((wval >> 16) & 0xff);
|
|
SPI.transfer((wval >> 8) & 0xff);
|
|
SPI.transfer(wval & 0xff); // LSB
|
|
digitalWrite(cs, HIGH);
|
|
SPI.endTransaction();
|
|
//datagram2 - response
|
|
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
|
digitalWrite(cs, LOW);
|
|
uint8_t stat = SPI.transfer(0); // status
|
|
uint32_t val32 = 0;
|
|
val32 = SPI.transfer(0); // MSB
|
|
val32 = (val32 << 8) | SPI.transfer(0);
|
|
val32 = (val32 << 8) | SPI.transfer(0);
|
|
val32 = (val32 << 8) | SPI.transfer(0); // LSB
|
|
digitalWrite(cs, HIGH);
|
|
SPI.endTransaction();
|
|
if (rval != 0) *rval = val32;
|
|
return stat;
|
|
}
|
|
|
|
#endif //TMC2130
|