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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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96
Marlin/src/HAL/HAL_STM32F7/TMC2660.h
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@@ -83,7 +83,7 @@
* \code
* TMC26XStepper stepper = TMC26XStepper(200,1,2,3,500);
* \endcode
* see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current)
* see TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t rms_current)
*
* Keep in mind that you need to start the driver with start() in order to get the TMC26X configured.
*
@@ -122,7 +122,7 @@ class TMC26XStepper {
* You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps()
*/
TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=100); //resistor=150
TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor=100); //resistor=150
/*!
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
@@ -150,13 +150,13 @@ class TMC26XStepper {
* \brief Sets the rotation speed in revolutions per minute.
* \param whatSpeed the desired speed in rotations per minute.
*/
void setSpeed(unsigned int whatSpeed);
void setSpeed(uint16_t whatSpeed);
/*!
* \brief reads out the currently selected speed in revolutions per minute.
* \sa setSpeed()
*/
unsigned int getSpeed(void);
uint16_t getSpeed(void);
/*!
* \brief Set the number of microsteps in 2^i values (rounded) up to 256
@@ -166,7 +166,7 @@ class TMC26XStepper {
* If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2).
* You can always check the current microstepping with getMicrosteps().
*/
void setMicrosteps(int number_of_steps);
void setMicrosteps(int16_t number_of_steps);
/*!
* \brief returns the effective current number of microsteps selected.
@@ -176,7 +176,7 @@ class TMC26XStepper {
*
* \sa setMicrosteps()
*/
int getMicrosteps(void);
int16_t getMicrosteps(void);
/*!
* \brief Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction.
@@ -193,7 +193,7 @@ class TMC26XStepper {
* You can always verify with isMoving() or even use stop() to stop the motor before giving it new step directions.
* \sa isMoving(), getStepsLeft(), stop()
*/
char step(int number_of_steps);
char step(int16_t number_of_steps);
/*!
* \brief Central movement method, must be called as often as possible in the lopp function and is very fast.
@@ -228,7 +228,7 @@ class TMC26XStepper {
* \brief Get the number of steps left in the current movement.
* \return The number of steps left in the movement. This number is always positive.
*/
unsigned int getStepsLeft(void);
uint16_t getStepsLeft(void);
/*!
* \brief Stops the motor regardless if it moves or not.
@@ -262,7 +262,7 @@ class TMC26XStepper {
* \sa setSpreadCycleChoper() for other alternatives.
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, uint8_t use_current_comparator);
/*!
* \brief Sets and configures with spread cycle chopper.
@@ -310,7 +310,7 @@ class TMC26XStepper {
* \param current the maximum motor current in mA
* \sa getCurrent(), getCurrentCurrent()
*/
void setCurrent(unsigned int current);
void setCurrent(uint16_t current);
/*!
* \brief readout the motor maximum current in mA (1000 is an Amp)
@@ -318,12 +318,12 @@ class TMC26XStepper {
* \return the maximum motor current in milli amps
* \sa getCurrentCurrent()
*/
unsigned int getCurrent(void);
uint16_t getCurrent(void);
/*!
* \brief set the StallGuard threshold in order to get sensible StallGuard readings.
* \param stall_guard_threshold -64 … 63 the StallGuard threshold
* \param stall_guard_filter_enabled 0 if the filter is disabled, -1 if it is enabled
* \param stallguard_threshold -64 … 63 the StallGuard threshold
* \param stallguard_filter_enabled 0 if the filter is disabled, -1 if it is enabled
*
* The StallGuard threshold is used to optimize the StallGuard reading to sensible values. It should be at 0 at
* the maximum allowable load on the otor (but not before). = is a good starting point (and the default)
@@ -335,7 +335,7 @@ class TMC26XStepper {
*
* \sa getCurrentStallGuardReading() to read out the current value.
*/
void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
void setStallGuardThreshold(char stallguard_threshold, char stallguard_filter_enabled);
/*!
* \brief reads out the StallGuard threshold
@@ -366,8 +366,8 @@ class TMC26XStepper {
* (1/2 or 1/4th otf the configured current).
* \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
*/
void 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);
void setCoolStepConfiguration(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);
/*!
* \brief enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it.
@@ -387,32 +387,32 @@ class TMC26XStepper {
* \brief returns the lower StallGuard threshold for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned int getCoolStepLowerSgThreshold();
uint16_t getCoolStepLowerSgThreshold();
/*!
* \brief returns the upper StallGuard threshold for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned int getCoolStepUpperSgThreshold();
uint16_t getCoolStepUpperSgThreshold();
/*!
* \brief returns the number of StallGuard readings befor CoolStep adjusts the motor current.
* \sa setCoolStepConfiguration()
*/
unsigned char getCoolStepNumberOfSGReadings();
uint8_t getCoolStepNumberOfSGReadings();
/*!
* \brief returns the increment steps for the current for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned char getCoolStepCurrentIncrementSize();
uint8_t getCoolStepCurrentIncrementSize();
/*!
* \brief returns the absolut minium current for the CoolStep operation
* \sa setCoolStepConfiguration()
* \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
*/
unsigned char getCoolStepLowerCurrentLimit();
uint8_t getCoolStepLowerCurrentLimit();
/*!
* \brief Get the current microstep position for phase A
@@ -420,7 +420,7 @@ class TMC26XStepper {
*
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
*/
int getMotorPosition(void);
int16_t getMotorPosition(void);
/*!
* \brief Reads the current StallGuard value.
@@ -428,14 +428,14 @@ class TMC26XStepper {
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
int getCurrentStallGuardReading(void);
int16_t getCurrentStallGuardReading(void);
/*!
* \brief Reads the current current setting value as fraction of the maximum current
* Returns values between 0 and 31, representing 1/32 to 32/32 (=1)
* \sa setCoolStepConfiguration()
*/
unsigned char getCurrentCSReading(void);
uint8_t getCurrentCSReading(void);
/*!
@@ -451,7 +451,7 @@ class TMC26XStepper {
* may not be the fastest.
* \sa getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent()
*/
unsigned int getCurrentCurrent(void);
uint16_t getCurrentCurrent(void);
/*!
* \brief checks if there is a StallGuard warning in the last status
@@ -552,56 +552,54 @@ class TMC26XStepper {
* \brief Returns the current sense resistor value in milliohm.
* The default value of ,15 Ohm will return 150.
*/
int getResistor();
int16_t getResistor();
/*!
* \brief Prints out all the information that can be found in the last status read out - it does not force a status readout.
* The result is printed via Serial
*/
void debugLastStatus(void);
/*!
* \brief library version
* \return the version number as int.
*/
int version(void);
int16_t version(void);
private:
unsigned int steps_left; // The steps the motor has to do to complete the movement
int direction; // Direction of rotation
unsigned long step_delay; // Delay between steps, in ms, based on speed
int number_of_steps; // Total number of steps this motor can take
unsigned int speed; // Store the current speed in order to change the speed after changing microstepping
unsigned int resistor; // Current sense resitor value in milliohm
uint16_t steps_left; // The steps the motor has to do to complete the movement
int16_t direction; // Direction of rotation
uint32_t step_delay; // Delay between steps, in ms, based on speed
int16_t number_of_steps; // Total number of steps this motor can take
uint16_t speed; // Store the current speed in order to change the speed after changing microstepping
uint16_t resistor; // Current sense resitor value in milliohm
unsigned long last_step_time; // Time stamp in ms of when the last step was taken
unsigned long next_step_time; // Time stamp in ms of when the last step was taken
uint32_t last_step_time, // Timestamp (ms) of the last step
next_step_time; // Timestamp (ms) of the next step
// Driver control register copies to easily set & modify the registers
unsigned long driver_control_register_value;
unsigned long chopper_config_register;
unsigned long cool_step_register_value;
unsigned long stall_guard2_current_register_value;
unsigned long driver_configuration_register_value;
// The driver status result
unsigned long driver_status_result;
uint32_t driver_control_register_value,
chopper_config_register,
cool_step_register_value,
stallguard2_current_register_value,
driver_configuration_register_value,
driver_status_result; // The driver status result
// Helper routione to get the top 10 bit of the readout
inline int getReadoutValue();
inline int16_t getReadoutValue();
// The pins for the stepper driver
unsigned char cs_pin;
unsigned char step_pin;
unsigned char dir_pin;
uint8_t cs_pin, step_pin, dir_pin;
// Status values
boolean started; // If the stepper has been started yet
int microsteps; // The current number of micro steps
int16_t microsteps; // The current number of micro steps
char constant_off_time; // We need to remember this value in order to enable and disable the motor
unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
uint8_t cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
boolean cool_step_enabled; // We need to remember this to configure the coolstep if it si enabled
// SPI sender
inline void send262(unsigned long datagram);
inline void send262(uint32_t datagram);
};
#endif // _TMC26XSTEPPER_H_