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Tweak STM32F7 TMC2660 class

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This commit is contained in:
Scott Lahteine
2018-09-27 21:12:10 -05:00
parent a0a3b23e35
commit b682a1961a
2 changed files with 136 additions and 138 deletions
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178
Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp
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@@ -87,7 +87,7 @@
#define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul
#define SE_MIN_PATTERN 0xFul
//definitions for stall guard2 current register
//definitions for StallGuard2 current register
#define STALL_GUARD_FILTER_ENABLED 0x10000ul
#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul
#define CURRENT_SCALING_PATTERN 0x1Ful
@@ -118,7 +118,7 @@ SPIClass SPI_6(SPI6, SPI6_MOSI_PIN, SPI6_MISO_PIN, SPI6_SCK_PIN);
//#define TMC_DEBUG1
unsigned char current_scaling = 0;
uint8_t current_scaling = 0;
/**
* Constructor
@@ -127,7 +127,7 @@ unsigned char current_scaling = 0;
* dir_pin - the pin where the direction pin is connected
* step_pin - the pin where the step pin is connected
*/
TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor) {
TMC26XStepper::TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor) {
// We are not started yet
started = false;
@@ -155,7 +155,7 @@ TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int s
microsteps = _BV(INITIAL_MICROSTEPPING);
chopper_config_register = CHOPPER_CONFIG_REGISTER;
cool_step_register_value = COOL_STEP_REGISTER;
stall_guard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER;
stallguard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER;
driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
// Set the current
@@ -202,7 +202,7 @@ void TMC26XStepper::start() {
send262(driver_control_register_value);
send262(chopper_config_register);
send262(cool_step_register_value);
send262(stall_guard2_current_register_value);
send262(stallguard2_current_register_value);
send262(driver_configuration_register_value);
//save that we are in running mode
@@ -218,9 +218,9 @@ void TMC26XStepper::un_start() { started = false; }
/**
* Sets the speed in revs per minute
*/
void TMC26XStepper::setSpeed(unsigned int whatSpeed) {
void TMC26XStepper::setSpeed(uint16_t whatSpeed) {
this->speed = whatSpeed;
this->step_delay = 60UL * sq(1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps);
this->step_delay = 60UL * sq(1000UL) / ((uint32_t)this->number_of_steps * (uint32_t)whatSpeed * (uint32_t)this->microsteps);
#ifdef TMC_DEBUG0 // crashes
//SERIAL_PRINTF("Step delay in micros: ");
SERIAL_ECHOPAIR("\nStep delay in micros: ", this->step_delay);
@@ -229,13 +229,13 @@ void TMC26XStepper::setSpeed(unsigned int whatSpeed) {
this->next_step_time = this->last_step_time + this->step_delay;
}
unsigned int TMC26XStepper::getSpeed(void) { return this->speed; }
uint16_t TMC26XStepper::getSpeed(void) { return this->speed; }
/**
* Moves the motor steps_to_move steps.
* Negative indicates the reverse direction.
*/
char TMC26XStepper::step(int steps_to_move) {
char TMC26XStepper::step(int16_t steps_to_move) {
if (this->steps_left == 0) {
this->steps_left = ABS(steps_to_move); // how many steps to take
@@ -252,7 +252,7 @@ char TMC26XStepper::step(int steps_to_move) {
char TMC26XStepper::move(void) {
// decrement the number of steps, moving one step each time:
if (this->steps_left > 0) {
unsigned long time = micros();
uint32_t time = micros();
// move only if the appropriate delay has passed:
// rem if (time >= this->next_step_time) {
@@ -282,7 +282,7 @@ char TMC26XStepper::move(void) {
char TMC26XStepper::isMoving(void) { return this->steps_left > 0; }
unsigned int TMC26XStepper::getStepsLeft(void) { return this->steps_left; }
uint16_t TMC26XStepper::getStepsLeft(void) { return this->steps_left; }
char TMC26XStepper::stop(void) {
//note to self if the motor is currently moving
@@ -294,8 +294,8 @@ char TMC26XStepper::stop(void) {
return state;
}
void TMC26XStepper::setCurrent(unsigned int current) {
unsigned char current_scaling = 0;
void TMC26XStepper::setCurrent(uint16_t current) {
uint8_t current_scaling = 0;
//calculate the current scaling from the max current setting (in mA)
float mASetting = (float)current,
resistor_value = (float)this->resistor;
@@ -327,49 +327,49 @@ void TMC26XStepper::setCurrent(unsigned int current) {
NOMORE(current_scaling, 31);
// delete the old value
stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
stallguard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
// set the new current scaling
stall_guard2_current_register_value |= current_scaling;
stallguard2_current_register_value |= current_scaling;
// if started we directly send it to the motor
if (started) {
send262(driver_configuration_register_value);
send262(stall_guard2_current_register_value);
send262(stallguard2_current_register_value);
}
}
unsigned int TMC26XStepper::getCurrent(void) {
uint16_t TMC26XStepper::getCurrent(void) {
// Calculate the current according to the datasheet to be on the safe side.
// This is not the fastest but the most accurate and illustrative way.
float result = (float)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN),
float result = (float)(stallguard2_current_register_value & CURRENT_SCALING_PATTERN),
resistor_value = (float)this->resistor,
voltage = (driver_configuration_register_value & VSENSE) ? 0.165 : 0.31;
result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
return (unsigned int)result;
return (uint16_t)result;
}
void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) {
void TMC26XStepper::setStallGuardThreshold(char stallguard_threshold, char stallguard_filter_enabled) {
// We just have 5 bits
LIMIT(stall_guard_threshold, -64, 63);
LIMIT(stallguard_threshold, -64, 63);
// Add trim down to 7 bits
stall_guard_threshold &= 0x7F;
// Delete old stall guard settings
stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
if (stall_guard_filter_enabled)
stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
stallguard_threshold &= 0x7F;
// Delete old StallGuard settings
stallguard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
if (stallguard_filter_enabled)
stallguard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
// Set the new stall guard threshold
stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
// Set the new StallGuard threshold
stallguard2_current_register_value |= (((uint32_t)stallguard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
// If started we directly send it to the motor
if (started) send262(stall_guard2_current_register_value);
if (started) send262(stallguard2_current_register_value);
}
char TMC26XStepper::getStallGuardThreshold(void) {
unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
uint32_t stallguard_threshold = stallguard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
//shift it down to bit 0
stall_guard_threshold >>= 8;
//convert the value to an int to correctly handle the negative numbers
char result = stall_guard_threshold;
stallguard_threshold >>= 8;
//convert the value to an int16_t to correctly handle the negative numbers
char result = stallguard_threshold;
//check if it is negative and fill it up with leading 1 for proper negative number representation
//rem if (result & _BV(6)) {
@@ -378,7 +378,7 @@ char TMC26XStepper::getStallGuardThreshold(void) {
}
char TMC26XStepper::getStallGuardFilter(void) {
if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED)
if (stallguard2_current_register_value & STALL_GUARD_FILTER_ENABLED)
return -1;
return 0;
}
@@ -389,7 +389,7 @@ char TMC26XStepper::getStallGuardFilter(void) {
* any value in between will be mapped to the next smaller value
* 0 and 1 set the motor in full step mode
*/
void TMC26XStepper::setMicrosteps(int number_of_steps) {
void TMC26XStepper::setMicrosteps(int16_t number_of_steps) {
long setting_pattern;
//poor mans log
if (number_of_steps >= 256) {
@@ -448,7 +448,7 @@ void TMC26XStepper::setMicrosteps(int number_of_steps) {
/**
* returns the effective number of microsteps at the moment
*/
int TMC26XStepper::getMicrosteps(void) { return microsteps; }
int16_t TMC26XStepper::getMicrosteps(void) { return microsteps; }
/**
* constant_off_time: The off time setting controls the minimum chopper frequency.
@@ -473,7 +473,7 @@ int TMC26XStepper::getMicrosteps(void) { return microsteps; }
* 1: enable comparator termination of fast decay cycle
* 0: end by time only
*/
void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) {
void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, uint8_t use_current_comparator) {
// Perform some sanity checks
LIMIT(constant_off_time, 2, 15);
@@ -497,16 +497,16 @@ void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank
// Set the constant off pattern
chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
// Set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
// Setting the constant off time
chopper_config_register |= constant_off_time;
// Set the fast decay time
// Set msb
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT);
chopper_config_register |= (((uint32_t)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT);
// Other bits
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT);
chopper_config_register |= (((uint32_t)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT);
// Set the sine wave offset
chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
chopper_config_register |= (uint32_t)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
// Using the current comparator?
if (!use_current_comparator)
chopper_config_register |= _BV(12);
@@ -564,15 +564,15 @@ void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_tim
chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the hysteresis_start
chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
chopper_config_register |= ((uint32_t)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
//set the hysteresis end
chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
chopper_config_register |= ((uint32_t)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
//set the hystereis decrement
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
@@ -605,12 +605,12 @@ void TMC26XStepper::setRandomOffTime(char value) {
}
void TMC26XStepper::setCoolStepConfiguration(
unsigned int lower_SG_threshold,
unsigned int SG_hysteresis,
unsigned char current_decrement_step_size,
unsigned char current_increment_step_size,
unsigned char lower_current_limit)
{
uint16_t lower_SG_threshold,
uint16_t SG_hysteresis,
uint8_t current_decrement_step_size,
uint8_t current_increment_step_size,
uint8_t lower_current_limit
) {
// Sanitize the input values
NOMORE(lower_SG_threshold, 480);
// Divide by 32
@@ -628,11 +628,11 @@ void TMC26XStepper::setCoolStepConfiguration(
if (!this->cool_step_enabled) lower_SG_threshold = 0;
// The good news is that we can start with a complete new cool step register value
// And simply set the values in the register
cool_step_register_value = ((unsigned long)lower_SG_threshold)
| (((unsigned long)SG_hysteresis) << 8)
| (((unsigned long)current_decrement_step_size) << 5)
| (((unsigned long)current_increment_step_size) << 13)
| (((unsigned long)lower_current_limit) << 15)
cool_step_register_value = ((uint32_t)lower_SG_threshold)
| (((uint32_t)SG_hysteresis) << 8)
| (((uint32_t)current_decrement_step_size) << 5)
| (((uint32_t)current_increment_step_size) << 13)
| (((uint32_t)lower_current_limit) << 15)
| COOL_STEP_REGISTER; // Register signature
//SERIAL_PRINTFln(cool_step_register_value,HEX);
@@ -653,25 +653,25 @@ void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
boolean TMC26XStepper::isCoolStepEnabled(void) { return this->cool_step_enabled; }
unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() {
uint16_t TMC26XStepper::getCoolStepLowerSgThreshold() {
// We return our internally stored value - in order to provide the correct setting even if cool step is not enabled
return this->cool_step_lower_threshold<<5;
}
unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() {
return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5;
uint16_t TMC26XStepper::getCoolStepUpperSgThreshold() {
return (uint8_t)((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5;
}
unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() {
return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13);
uint8_t TMC26XStepper::getCoolStepCurrentIncrementSize() {
return (uint8_t)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13);
}
unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() {
return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5);
uint8_t TMC26XStepper::getCoolStepNumberOfSGReadings() {
return (uint8_t)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5);
}
unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() {
return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15);
uint8_t TMC26XStepper::getCoolStepLowerCurrentLimit() {
return (uint8_t)((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15);
}
void TMC26XStepper::setEnabled(boolean enabled) {
@@ -693,7 +693,7 @@ boolean TMC26XStepper::isEnabled() { return !!(chopper_config_register & T_OFF_P
*
*/
void TMC26XStepper::readStatus(char read_value) {
unsigned long old_driver_configuration_register_value = driver_configuration_register_value;
uint32_t old_driver_configuration_register_value = driver_configuration_register_value;
//reset the readout configuration
driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
//this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
@@ -712,42 +712,42 @@ void TMC26XStepper::readStatus(char read_value) {
send262(driver_configuration_register_value);
}
int TMC26XStepper::getMotorPosition(void) {
int16_t TMC26XStepper::getMotorPosition(void) {
//we read it out even if we are not started yet - perhaps it is useful information for somebody
readStatus(TMC26X_READOUT_POSITION);
return getReadoutValue();
}
//reads the stall guard setting from last status
//returns -1 if stallguard information is not present
int TMC26XStepper::getCurrentStallGuardReading(void) {
//if we don't yet started there cannot be a stall guard value
//reads the StallGuard setting from last status
//returns -1 if StallGuard information is not present
int16_t TMC26XStepper::getCurrentStallGuardReading(void) {
//if we don't yet started there cannot be a StallGuard value
if (!started) return -1;
//not time optimal, but solution optiomal:
//first read out the stall guard value
//first read out the StallGuard value
readStatus(TMC26X_READOUT_STALLGUARD);
return getReadoutValue();
}
unsigned char TMC26XStepper::getCurrentCSReading(void) {
//if we don't yet started there cannot be a stall guard value
uint8_t TMC26XStepper::getCurrentCSReading(void) {
//if we don't yet started there cannot be a StallGuard value
if (!started) return 0;
//not time optimal, but solution optiomal:
//first read out the stall guard value
//first read out the StallGuard value
readStatus(TMC26X_READOUT_CURRENT);
return (getReadoutValue() & 0x1F);
}
unsigned int TMC26XStepper::getCurrentCurrent(void) {
uint16_t TMC26XStepper::getCurrentCurrent(void) {
float result = (float)getCurrentCSReading(),
resistor_value = (float)this->resistor,
voltage = (driver_configuration_register_value & VSENSE)? 0.165 : 0.31;
result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
return (unsigned int)result;
return (uint16_t)result;
}
/**
* Return true if the stallguard threshold has been reached
* Return true if the StallGuard threshold has been reached
*/
boolean TMC26XStepper::isStallGuardOverThreshold(void) {
if (!this->started) return false;
@@ -808,13 +808,13 @@ boolean TMC26XStepper::isStallGuardReached(void) {
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
//reads the stall guard setting from last status
//returns -1 if stallguard inforamtion is not present
int TMC26XStepper::getReadoutValue(void) {
//reads the StallGuard setting from last status
//returns -1 if StallGuard information is not present
int16_t TMC26XStepper::getReadoutValue(void) {
return (int)(driver_status_result >> 10);
}
int TMC26XStepper::getResistor() { return this->resistor; }
int16_t TMC26XStepper::getResistor() { return this->resistor; }
boolean TMC26XStepper::isCurrentScalingHalfed() {
return !!(this->driver_configuration_register_value & VSENSE);
@@ -822,7 +822,7 @@ boolean TMC26XStepper::isCurrentScalingHalfed() {
/**
* version() returns the version of the library:
*/
int TMC26XStepper::version(void) { return 1; }
int16_t TMC26XStepper::version(void) { return 1; }
void TMC26XStepper::debugLastStatus() {
#ifdef TMC_DEBUG1
@@ -850,8 +850,8 @@ void TMC26XStepper::debugLastStatus() {
if (this->isStandStill())
SERIAL_ECHOLNPGM("\n INFO: Motor is standing still.");
unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
const int value = getReadoutValue();
uint32_t readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
const int16_t value = getReadoutValue();
if (readout_config == READ_MICROSTEP_POSTION) {
//SERIAL_PRINTF("Microstep postion phase A: ");
SERIAL_ECHOPAIR("\n Microstep postion phase A: ", value);
@@ -861,7 +861,7 @@ void TMC26XStepper::debugLastStatus() {
SERIAL_ECHOPAIR("\n Stall Guard value:", value);
}
else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
int stallGuard = value & 0xF, current = value & 0x1F0;
int16_t stallGuard = value & 0xF, current = value & 0x1F0;
//SERIAL_PRINTF("Approx Stall Guard: ");
SERIAL_ECHOPAIR("\n Approx Stall Guard: ", stallGuard);
//SERIAL_PRINTF("Current level");
@@ -875,11 +875,11 @@ void TMC26XStepper::debugLastStatus() {
* send register settings to the stepper driver via SPI
* returns the current status
*/
inline void TMC26XStepper::send262(unsigned long datagram) {
unsigned long i_datagram;
inline void TMC26XStepper::send262(uint32_t datagram) {
uint32_t i_datagram;
//preserver the previous spi mode
//unsigned char oldMode = SPCR & SPI_MODE_MASK;
//uint8_t oldMode = SPCR & SPI_MODE_MASK;
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {