diff options
Diffstat (limited to 'src/DuetNG/TMC2660.cpp')
| -rw-r--r-- | src/DuetNG/TMC2660.cpp | 52 |
1 files changed, 31 insertions, 21 deletions
diff --git a/src/DuetNG/TMC2660.cpp b/src/DuetNG/TMC2660.cpp index f9a5220c..fb0c9477 100644 --- a/src/DuetNG/TMC2660.cpp +++ b/src/DuetNG/TMC2660.cpp @@ -8,7 +8,7 @@ #include "RepRapFirmware.h" #include "TMC2660.h" -const float MaximumMotorCurrent = 2500.0; +const float MaximumMotorCurrent = 2400.0; static size_t numTmc2660Drivers; @@ -20,6 +20,8 @@ const Pin DriversMosiPin = 22; // PA13 const Pin DriversMisoPin = 21; // PA22 const Pin DriversSclkPin = 23; // PA23 +const int ChopperControlRegisterMode = 999; // mode passed to get/set microstepping to indicate we want the chopper control register + #define USART_EXT_DRV USART1 #define ID_USART_EXT_DRV ID_USART1 #define TMC_CLOCK_TC TC0 @@ -105,15 +107,15 @@ const uint32_t TMC_SMARTEN_SEIMIN_QTR = 1 << 15; const unsigned int NumWriteRegisters = 5; // Chopper control register defaults +// 0x901B4 as per datasheet example +// CHM bit not set, so uses spread cycle mode const uint32_t defaultChopConfReg = TMC_REG_CHOPCONF - | TMC_CHOPCONF_TBL(2) - | TMC_CHOPCONF_HDEC(0) - | TMC_CHOPCONF_HEND(3) - | TMC_CHOPCONF_HSTRT(3) - | TMC_CHOPCONF_TOFF(0); // 0x901B4 as per datasheet example except TOFF set to zero to disable driver - -const uint32_t defaultChopConfToff = 4; // default value for TOFF when drive is enabled + | TMC_CHOPCONF_TBL(2) // blanking time 36 clocks which is about 2.4us typical (should maybe use 16 or 24 instead?) + | TMC_CHOPCONF_HDEC(0) // no hysteresis decrement + | TMC_CHOPCONF_HEND(3) // HEND = 0 + | TMC_CHOPCONF_HSTRT(3) // HSTRT = 4 + | TMC_CHOPCONF_TOFF(4); // TOFF = 9.2us // StallGuard configuration register const uint32_t defaultSgscConfReg = @@ -149,6 +151,7 @@ struct TmcDriverState uint32_t drvConfReg; uint32_t lastReadValue; uint32_t pin; + uint32_t configuredChopConfReg; void Init(uint32_t p_pin); void WriteAll(); @@ -165,7 +168,8 @@ void TmcDriverState::Init(uint32_t p_pin) pre(!driversPowered) { drvCtrlReg = defaultDrvCtrlReg; - chopConfReg = defaultChopConfReg; + configuredChopConfReg = defaultChopConfReg; + chopConfReg = configuredChopConfReg & ~TMC_CHOPCONF_TOFF_MASK; // disable driver at startup smartEnReg = defaultSmartEnReg; sgcsConfReg = defaultSgscConfReg; drvConfReg = defaultDrvConfReg; @@ -216,8 +220,8 @@ void TmcDriverState::WriteAll() // Set the chopper control register void TmcDriverState::SetChopConf(uint32_t newVal) { - chopConfReg = (newVal & 0x0001FFFF) | TMC_REG_CHOPCONF; - SpiSendWord(chopConfReg); + configuredChopConfReg = (newVal & 0x0001FFFF) | TMC_REG_CHOPCONF; // save the new value + Enable((chopConfReg & TMC_CHOPCONF_TOFF_MASK) != 0); // send the new value, keeping the current Enable status } // Set the microstepping and microstep interpolation @@ -251,14 +255,10 @@ void TmcDriverState::SetCurrent(float current) SpiSendWord(sgcsConfReg); } -// Enable or disable the driver +// Enable or disable the driver. Also called from SetChopConf after the chopper control configuration has been changed. void TmcDriverState::Enable(bool en) { - chopConfReg &= ~TMC_CHOPCONF_TOFF_MASK; - if (en) - { - chopConfReg |= TMC_CHOPCONF_TOFF(defaultChopConfToff); - } + chopConfReg = (en) ? configuredChopConfReg : (configuredChopConfReg & ~TMC_CHOPCONF_TOFF_MASK); SpiSendWord(chopConfReg); } @@ -359,13 +359,15 @@ namespace TMC2660 return (drive < numTmc2660Drivers) ? driverStates[drive].ReadStatus() : 0; } + // Set microstepping or chopper control register bool SetMicrostepping(size_t drive, int microsteps, int mode) { if (drive < numTmc2660Drivers) { - if (mode == 999 && microsteps >= 0) + if (mode == ChopperControlRegisterMode && microsteps >= 0) { driverStates[drive].SetChopConf((uint32_t)microsteps); // set the chopper control register + return true; } else if (microsteps > 0 && (mode == 0 || mode == 1)) { @@ -387,14 +389,22 @@ namespace TMC2660 return false; } - unsigned int GetMicrostepping(size_t drive, bool& interpolation) + // Get microstepping or chopper control register + unsigned int GetMicrostepping(size_t drive, int mode, bool& interpolation) { if (drive < numTmc2660Drivers) { const uint32_t drvCtrl = driverStates[drive].drvCtrlReg; interpolation = (drvCtrl & TMC_DRVCTRL_INTPOL) != 0; - const uint32_t mresBits = (drvCtrl & TMC_DRVCTRL_MRES_MASK) >> TMC_DRVCTRL_MRES_SHIFT; - return 256 >> mresBits; + if (mode == ChopperControlRegisterMode) + { + return driverStates[drive].configuredChopConfReg & TMC_DATA_MASK; + } + else + { + const uint32_t mresBits = (drvCtrl & TMC_DRVCTRL_MRES_MASK) >> TMC_DRVCTRL_MRES_SHIFT; + return 256 >> mresBits; + } } return 1; } |