diff options
Diffstat (limited to 'src/DuetNG/TMC2660.cpp')
| -rw-r--r-- | src/DuetNG/TMC2660.cpp | 79 |
1 files changed, 77 insertions, 2 deletions
diff --git a/src/DuetNG/TMC2660.cpp b/src/DuetNG/TMC2660.cpp index fb0c9477..12f2f4fb 100644 --- a/src/DuetNG/TMC2660.cpp +++ b/src/DuetNG/TMC2660.cpp @@ -85,6 +85,7 @@ const uint32_t TMC_DRVCTRL_INTPOL = 1 << 9; const uint32_t TMC_SGCSCONF_CS_MASK = 31; #define TMC_SGCSCONF_CS(n) ((((uint32_t)n) & 31) << 0) const uint32_t TMC_SGCSCONF_SGT_MASK = 127 << 8; +const uint32_t TMC_SGCSCONF_SGT_SHIFT = 8; #define TMC_SGCSCONF_SGT(n) ((((uint32_t)n) & 127) << 8) const uint32_t TMC_SGCSCONF_SGT_SFILT = 1 << 16; @@ -126,6 +127,7 @@ const uint32_t defaultSgscConfReg = const uint32_t defaultDrvConfReg = TMC_REG_DRVCONF | TMC_DRVCONF_VSENSE // use high sensitivity range + | TMC_DRVCONF_TS2G_0P8 // fast short-to-ground detection | 0; // Driver control register @@ -137,7 +139,7 @@ const uint32_t defaultDrvCtrlReg = // coolStep control register const uint32_t defaultSmartEnReg = TMC_REG_SMARTEN - | 0; // disable coolStep, we already do this in the main firmware + | 0; // disable coolStep, it needs to be tuned ot the motor to work properly //---------------------------------------------------------------------------------------------------------------------------------- // Private types and methods @@ -161,6 +163,10 @@ struct TmcDriverState void Enable(bool en); void SpiSendWord(uint32_t dataOut); uint32_t ReadStatus(); + void SetStallThreshold(int sgThreshold); + void SetStallFilter(bool sgFilter); + void SetCoolStep(uint16_t coolStepConfig); + void AppendStallConfig(StringRef& reply); }; // Initialise the state of the driver. @@ -270,11 +276,48 @@ uint32_t TmcDriverState::ReadStatus() return lastReadValue & (TMC_RR_SG | TMC_RR_OT | TMC_RR_OTPW | TMC_RR_S2G | TMC_RR_OLA | TMC_RR_OLB | TMC_RR_STST); } +void TmcDriverState::SetStallThreshold(int sgThreshold) +{ + const uint32_t sgVal = ((uint32_t)constrain<int>(sgThreshold, -64, 63)) & 127; + sgcsConfReg = (sgcsConfReg & ~TMC_SGCSCONF_SGT_MASK) | (sgVal << TMC_SGCSCONF_SGT_SHIFT); + SpiSendWord(sgcsConfReg); +} + +void TmcDriverState::SetStallFilter(bool sgFilter) +{ + if (sgFilter) + { + sgcsConfReg |= TMC_SGCSCONF_SGT_SFILT; + } + else + { + sgcsConfReg &= ~TMC_SGCSCONF_SGT_SFILT; + } + SpiSendWord(sgcsConfReg); +} + +void TmcDriverState::SetCoolStep(uint16_t coolStepConfig) +{ + smartEnReg = TMC_REG_SMARTEN | coolStepConfig; + SpiSendWord(smartEnReg); +} + +void TmcDriverState::AppendStallConfig(StringRef& reply) +{ + const bool filtered = ((sgcsConfReg & TMC_SGCSCONF_SGT_SFILT) != 0); + int threshold = (int)((sgcsConfReg & TMC_SGCSCONF_SGT_MASK) >> TMC_SGCSCONF_SGT_SHIFT); + if (threshold >= 64) + { + threshold -= 128; + } + reply.catf("stall threshold %d, filter %s, coolstep %" PRIx32, threshold, ((filtered) ? "on" : "off"), smartEnReg & 0xFFFF); +} + static TmcDriverState driverStates[DRIVES]; //--------------------------- Public interface --------------------------------- -namespace TMC2660 +namespace SmartDrivers { // Initialise the driver interface and the drivers, leaving each drive disabled. // It is assumed that the drivers are not powered, so driversPowered(true) must be called after calling this before the motors can be moved. @@ -434,6 +477,38 @@ namespace TMC2660 } } + void SetStallThreshold(size_t drive, int sgThreshold) + { + if (drive < numTmc2660Drivers) + { + driverStates[drive].SetStallThreshold(sgThreshold); + } + } + + void SetStallFilter(size_t drive, bool sgFilter) + { + if (drive < numTmc2660Drivers) + { + driverStates[drive].SetStallFilter(sgFilter); + } + } + + void SetCoolStep(size_t drive, uint16_t coolStepConfig) + { + if (drive < numTmc2660Drivers) + { + driverStates[drive].SetCoolStep(coolStepConfig); + } + } + + void AppendStallConfig(size_t drive, StringRef& reply) + { + if (drive < numTmc2660Drivers) + { + driverStates[drive].AppendStallConfig(reply); + } + } + }; // end namespace // End |