diff options
| author | David Crocker <dcrocker@eschertech.com> | 2021-10-22 12:19:53 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-10-22 12:19:53 +0300 |
| commit | bfdd16fc98afee821ec3db216d630b9a76a38e37 (patch) | |
| tree | 7e7c9bf4b3216dcc9383f3a3d8e7c5505327dbb5 | |
| parent | 0a438e515f081a89a0bc2be56dc8a91079f20c99 (diff) | |
Fixes to TMC51xx driver
| -rw-r--r-- | src/Movement/StepperDrivers/TMC51xx.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/Movement/StepperDrivers/TMC51xx.cpp b/src/Movement/StepperDrivers/TMC51xx.cpp index a2cb4b11..ae673995 100644 --- a/src/Movement/StepperDrivers/TMC51xx.cpp +++ b/src/Movement/StepperDrivers/TMC51xx.cpp @@ -56,6 +56,7 @@ constexpr unsigned int DefaultMinimumStepsPerSecond = 200; // for stall detectio constexpr uint32_t DefaultTcoolthrs = 2000; // max interval between 1/256 microsteps for stall detection to be enabled constexpr uint32_t DefaultThigh = 200; constexpr size_t TmcTaskStackWords = 140; // with 100 stack words, deckingman's M122 on the main board after a major axis shift showed just 10 words left +constexpr uint32_t TmcClockSpeed = 12000000; // the rate at which the TMC driver is clocked, internally or externally #if TMC_TYPE == 5130 constexpr float SenseResistor = 0.11; // 0.082R external + 0.03 internal @@ -819,8 +820,8 @@ void TmcDriverState::SetStallDetectFilter(bool sgFilter) noexcept void TmcDriverState::SetStallMinimumStepsPerSecond(unsigned int stepsPerSecond) noexcept { - maxStallStepInterval = StepClockRate/max<unsigned int>(stepsPerSecond, 1); - UpdateRegister(WriteTcoolthrs, (12000000 + (128 * stepsPerSecond))/(256 * stepsPerSecond)); + maxStallStepInterval = StepClockRate/max<unsigned int>(stepsPerSecond, 1u); + UpdateRegister(WriteTcoolthrs, (TmcClockSpeed + (128 * stepsPerSecond))/(256 * stepsPerSecond)); } void TmcDriverState::AppendStallConfig(const StringRef& reply) const noexcept @@ -835,7 +836,7 @@ void TmcDriverState::AppendStallConfig(const StringRef& reply) const noexcept const float speed1 = ((fullstepsPerSecond << microstepShiftFactor)/reprap.GetPlatform().DriveStepsPerUnit(axisNumber)); const uint32_t tcoolthrs = writeRegisters[WriteTcoolthrs] & ((1ul << 20) - 1u); bool bdummy; - const float speed2 = (12000000.0 * GetMicrostepping(bdummy))/(256 * tcoolthrs * reprap.GetPlatform().DriveStepsPerUnit(axisNumber)); + const float speed2 = ((float)TmcClockSpeed * GetMicrostepping(bdummy))/(256 * tcoolthrs * reprap.GetPlatform().DriveStepsPerUnit(axisNumber)); reply.catf("stall threshold %d, filter %s, steps/sec %" PRIu32 " (%.1f mm/sec), coolstep threshold %" PRIu32 " (%.1f mm/sec)", threshold, ((filtered) ? "on" : "off"), fullstepsPerSecond, (double)speed1, tcoolthrs, (double)speed2); } @@ -940,9 +941,10 @@ void TmcDriverState::TransferSucceeded(const uint8_t *rcvDataBlock) noexcept } } - // Deal with the stall status + // Deal with the stall status. Note that the TCoolThrs setting prevents us getting a DIAG output at low speeds, but it doesn't seem to affect the stall status if ( (rcvDataBlock[0] & (1u << 2)) != 0 // if the status indicates stalled && interval != 0 + && interval <= maxStallStepInterval // if the motor speed is high enough to get a reliable stall indication ) { readRegisters[ReadDrvStat] |= TMC_RR_SG; |