|
|
@@ -5,7 +5,206 @@
|
|
|
#include "tmc2130.h"
|
|
|
#include <SPI.h>
|
|
|
|
|
|
-uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
|
|
|
+//externals for debuging
|
|
|
+extern float current_position[4];
|
|
|
+extern void st_get_position_xy(long &x, long &y);
|
|
|
+
|
|
|
+//chipselect pins
|
|
|
+uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
|
|
|
+//holding currents
|
|
|
+uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
|
|
|
+//running currents
|
|
|
+uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
|
|
|
+//axis stalled flags
|
|
|
+uint8_t tmc2130_axis_stalled[4] = {0, 0, 0, 0};
|
|
|
+//last homing stalled
|
|
|
+uint8_t tmc2130_LastHomingStalled = 0;
|
|
|
+
|
|
|
+uint8_t sg_homing_axis = 0xff;
|
|
|
+uint8_t sg_homing_delay = 0;
|
|
|
+
|
|
|
+
|
|
|
+uint32_t tmc2130_read(uint8_t cs, uint8_t address);
|
|
|
+void tmc2130_write(uint8_t cs, uint8_t address, uint8_t wval1, uint8_t wval2, uint8_t wval3, uint8_t wval4);
|
|
|
+uint8_t tmc2130_read8(uint8_t cs, uint8_t address);
|
|
|
+uint32_t tmc2130_readRegister(uint8_t cs, uint8_t address);
|
|
|
+uint16_t tmc2130_readSG(uint8_t cs);
|
|
|
+uint16_t tmc2130_readTStep(uint8_t cs);
|
|
|
+void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16);
|
|
|
+void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale = PWM_AUTOSCALE, uint8_t PWMfreq = PWM_FREQ, uint8_t PWMgrad = PWM_GRAD, uint8_t PWMampl = PWM_AMPL);
|
|
|
+void tmc2130_PWMthreshold(uint8_t cs);
|
|
|
+void tmc2130_disable_motor(uint8_t driver);
|
|
|
+
|
|
|
+
|
|
|
+void tmc2130_init()
|
|
|
+{
|
|
|
+ MYSERIAL.println("tmc2130_init");
|
|
|
+ WRITE(X_TMC2130_CS, HIGH);
|
|
|
+ WRITE(Y_TMC2130_CS, HIGH);
|
|
|
+ WRITE(Z_TMC2130_CS, HIGH);
|
|
|
+ WRITE(E0_TMC2130_CS, HIGH);
|
|
|
+ SET_OUTPUT(X_TMC2130_CS);
|
|
|
+ SET_OUTPUT(Y_TMC2130_CS);
|
|
|
+ SET_OUTPUT(Z_TMC2130_CS);
|
|
|
+ SET_OUTPUT(E0_TMC2130_CS);
|
|
|
+ SPI.begin();
|
|
|
+ for (int i = 0; i < 3; i++) //X Y Z axes
|
|
|
+ {
|
|
|
+ tmc2130_write(tmc2130_cs[i], 0x00, 0, 0, 0, 0x04); //address=0x0 GCONF - bit 2 activate stealthChop
|
|
|
+ tmc2130_write(tmc2130_cs[i], 0x10, 0, 15, tmc2130_current_r[i], tmc2130_current_h[i]); //0x10 IHOLD_IRUN
|
|
|
+ tmc2130_write(tmc2130_cs[i], 0x11, 0, 0, 0, 0);
|
|
|
+ tmc2130_PWMconf(tmc2130_cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
|
|
|
+ //tmc2130_PWMthreshold(tmc2130_cs[i]);
|
|
|
+ tmc2130_chopconf(tmc2130_cs[i], 1, 16);
|
|
|
+ }
|
|
|
+ for (int i = 3; i < 4; i++) //E axis
|
|
|
+ {
|
|
|
+ tmc2130_write(tmc2130_cs[i], 0x00, 0, 0, 0, 0x00); //address=0x0 GCONF - bit 2 activate stealthChop
|
|
|
+ tmc2130_write(tmc2130_cs[i], 0x10, 0, 15, tmc2130_current_r[i], tmc2130_current_h[i]); //0x10 IHOLD_IRUN
|
|
|
+ tmc2130_write(tmc2130_cs[i], 0x11, 0, 0, 0, 0);
|
|
|
+ tmc2130_chopconf(tmc2130_cs[i], 1, 16);
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+bool tmc2130_update_sg()
|
|
|
+{
|
|
|
+ if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == Y_AXIS))
|
|
|
+ {
|
|
|
+ uint8_t cs = tmc2130_cs[sg_homing_axis];
|
|
|
+ uint16_t tstep = tmc2130_readTStep(cs);
|
|
|
+ if (tstep < TCOOLTHRS)
|
|
|
+ {
|
|
|
+ if(sg_homing_delay < 10) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
|
|
|
+ sg_homing_delay++;
|
|
|
+ else
|
|
|
+ {
|
|
|
+ uint16_t sg = tmc2130_readSG(cs);
|
|
|
+ if (sg==0)
|
|
|
+ {
|
|
|
+ tmc2130_axis_stalled[sg_homing_axis] = true;
|
|
|
+ tmc2130_LastHomingStalled = true;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ tmc2130_axis_stalled[sg_homing_axis] = false;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ tmc2130_axis_stalled[sg_homing_axis] = false;
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ tmc2130_axis_stalled[X_AXIS] = false;
|
|
|
+ tmc2130_axis_stalled[Y_AXIS] = false;
|
|
|
+ }
|
|
|
+ return false;
|
|
|
+}
|
|
|
+
|
|
|
+void tmc2130_check_overtemp()
|
|
|
+{
|
|
|
+ const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
|
|
|
+ static uint32_t checktime = 0;
|
|
|
+ //drivers_disabled[0] = 1; //TEST
|
|
|
+ if( millis() - checktime > 1000 )
|
|
|
+ {
|
|
|
+ for(int i = 0; i < 4; i++)
|
|
|
+ {
|
|
|
+ uint32_t drv_status = tmc2130_read(tmc2130_cs[i], 0x6F); //0x6F DRV_STATUS
|
|
|
+ if (drv_status & ((uint32_t)1<<26))
|
|
|
+ { // BIT 26 - over temp prewarning ~120C (+-20C)
|
|
|
+ SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
|
|
|
+ SERIAL_ECHOLN(i);
|
|
|
+ for(int x = 0; x < 4; x++) tmc2130_disable_motor(x);
|
|
|
+ kill(TMC_OVERTEMP_MSG);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ checktime = millis();
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void tmc2130_home_enter(uint8_t axis)
|
|
|
+{
|
|
|
+ MYSERIAL.print("tmc2130_home_enter ");
|
|
|
+ MYSERIAL.println((int)axis);
|
|
|
+ uint8_t cs = tmc2130_cs[axis];
|
|
|
+ sg_homing_axis = axis;
|
|
|
+ sg_homing_delay = 0;
|
|
|
+ tmc2130_axis_stalled[X_AXIS] = false;
|
|
|
+ tmc2130_axis_stalled[Y_AXIS] = false;
|
|
|
+ //Configuration to spreadCycle
|
|
|
+ //tmc2130_write(cs, 0x0, 0, 0, 0, 0x01);
|
|
|
+ tmc2130_write(cs, 0x0, 0, 0, 0, 0x00);
|
|
|
+ tmc2130_write(cs, 0x6D, 0, (axis == X_AXIS)?SG_THRESHOLD_X:SG_THRESHOLD_Y,0,0);
|
|
|
+ tmc2130_write(cs, 0x14, 0, 0, 0, TCOOLTHRS);
|
|
|
+}
|
|
|
+
|
|
|
+void tmc2130_home_exit()
|
|
|
+{
|
|
|
+ MYSERIAL.println("tmc2130_home_exit");
|
|
|
+ if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == Y_AXIS))
|
|
|
+ {
|
|
|
+ // Configuration back to stealthChop
|
|
|
+ tmc2130_write(tmc2130_cs[sg_homing_axis], 0x0, 0, 0, 0, 0x04);
|
|
|
+ sg_homing_axis = 0xff;
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+extern uint8_t tmc2130_didLastHomingStall()
|
|
|
+{
|
|
|
+ uint8_t ret = tmc2130_LastHomingStalled;
|
|
|
+ tmc2130_LastHomingStalled = false;
|
|
|
+ return ret;
|
|
|
+}
|
|
|
+
|
|
|
+void tmc2130_set_current_h(uint8_t axis, uint8_t current)
|
|
|
+{
|
|
|
+ MYSERIAL.print("tmc2130_set_current_h ");
|
|
|
+ MYSERIAL.print((int)axis);
|
|
|
+ MYSERIAL.print(" ");
|
|
|
+ MYSERIAL.println((int)current);
|
|
|
+ if (current > 15) current = 15; //current>15 is unsafe
|
|
|
+ tmc2130_current_h[axis] = current;
|
|
|
+ tmc2130_write(tmc2130_cs[axis], 0x10, 0, 15, tmc2130_current_r[axis], tmc2130_current_h[axis]); //0x10 IHOLD_IRUN
|
|
|
+}
|
|
|
+
|
|
|
+void tmc2130_set_current_r(uint8_t axis, uint8_t current)
|
|
|
+{
|
|
|
+ MYSERIAL.print("tmc2130_set_current_r ");
|
|
|
+ MYSERIAL.print((int)axis);
|
|
|
+ MYSERIAL.print(" ");
|
|
|
+ MYSERIAL.println((int)current);
|
|
|
+ if (current > 15) current = 15; //current>15 is unsafe
|
|
|
+ tmc2130_current_r[axis] = current;
|
|
|
+ tmc2130_write(tmc2130_cs[axis], 0x10, 0, 15, tmc2130_current_r[axis], tmc2130_current_h[axis]); //0x10 IHOLD_IRUN
|
|
|
+}
|
|
|
+
|
|
|
+void tmc2130_print_currents()
|
|
|
+{
|
|
|
+ MYSERIAL.println("tmc2130_print_currents");
|
|
|
+ MYSERIAL.println("\tH\rR");
|
|
|
+
|
|
|
+ MYSERIAL.print("X\t");
|
|
|
+ MYSERIAL.print((int)tmc2130_current_h[0]);
|
|
|
+ MYSERIAL.print("\t");
|
|
|
+ MYSERIAL.println((int)tmc2130_current_r[0]);
|
|
|
+
|
|
|
+ MYSERIAL.print("Y\t");
|
|
|
+ MYSERIAL.print((int)tmc2130_current_h[1]);
|
|
|
+ MYSERIAL.print("\t");
|
|
|
+ MYSERIAL.println((int)tmc2130_current_r[1]);
|
|
|
+
|
|
|
+ MYSERIAL.print("Z\t");
|
|
|
+ MYSERIAL.print((int)tmc2130_current_h[2]);
|
|
|
+ MYSERIAL.print("\t");
|
|
|
+ MYSERIAL.println((int)tmc2130_current_r[2]);
|
|
|
+
|
|
|
+ MYSERIAL.print("E\t");
|
|
|
+ MYSERIAL.print((int)tmc2130_current_h[3]);
|
|
|
+ MYSERIAL.print("\t");
|
|
|
+ MYSERIAL.println((int)tmc2130_current_r[3]);
|
|
|
+}
|
|
|
+
|
|
|
+uint32_t tmc2130_read(uint8_t cs, uint8_t address)
|
|
|
{
|
|
|
uint32_t val32;
|
|
|
uint8_t val0;
|
|
|
@@ -15,23 +214,23 @@ uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
|
|
|
uint8_t val4;
|
|
|
//datagram1 - read request (address + dummy write)
|
|
|
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
|
|
|
- digitalWrite(chipselect,LOW);
|
|
|
+ digitalWrite(cs,LOW);
|
|
|
SPI.transfer(address);
|
|
|
SPI.transfer(0);
|
|
|
SPI.transfer(0);
|
|
|
SPI.transfer(0);
|
|
|
SPI.transfer(0);
|
|
|
- digitalWrite(chipselect, HIGH);
|
|
|
+ digitalWrite(cs, HIGH);
|
|
|
SPI.endTransaction();
|
|
|
//datagram2 - response
|
|
|
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
|
|
|
- digitalWrite(chipselect,LOW);
|
|
|
+ digitalWrite(cs,LOW);
|
|
|
val0 = SPI.transfer(0);
|
|
|
val1 = SPI.transfer(0);
|
|
|
val2 = SPI.transfer(0);
|
|
|
val3 = SPI.transfer(0);
|
|
|
val4 = SPI.transfer(0);
|
|
|
- digitalWrite(chipselect, HIGH);
|
|
|
+ digitalWrite(cs, HIGH);
|
|
|
SPI.endTransaction();
|
|
|
#ifdef TMC_DBG_READS
|
|
|
MYSERIAL.print("SPIRead 0x");
|
|
|
@@ -55,7 +254,7 @@ uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
|
|
|
return val32;
|
|
|
}
|
|
|
|
|
|
-void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
|
|
|
+void tmc2130_write(uint8_t cs, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
|
|
|
{
|
|
|
uint32_t val32;
|
|
|
uint8_t val0;
|
|
|
@@ -65,23 +264,23 @@ void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wva
|
|
|
uint8_t val4;
|
|
|
//datagram1 - write
|
|
|
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
|
|
- digitalWrite(chipselect,LOW);
|
|
|
+ digitalWrite(cs,LOW);
|
|
|
SPI.transfer(address+0x80);
|
|
|
SPI.transfer(wval1);
|
|
|
SPI.transfer(wval2);
|
|
|
SPI.transfer(wval3);
|
|
|
SPI.transfer(wval4);
|
|
|
- digitalWrite(chipselect, HIGH);
|
|
|
+ digitalWrite(cs, HIGH);
|
|
|
SPI.endTransaction();
|
|
|
//datagram2 - response
|
|
|
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
|
|
- digitalWrite(chipselect,LOW);
|
|
|
+ digitalWrite(cs,LOW);
|
|
|
val0 = SPI.transfer(0);
|
|
|
val1 = SPI.transfer(0);
|
|
|
val2 = SPI.transfer(0);
|
|
|
val3 = SPI.transfer(0);
|
|
|
val4 = SPI.transfer(0);
|
|
|
- digitalWrite(chipselect, HIGH);
|
|
|
+ digitalWrite(cs, HIGH);
|
|
|
SPI.endTransaction();
|
|
|
#ifdef TMC_DBG_WRITE
|
|
|
MYSERIAL.print("WriteRead 0x");
|
|
|
@@ -102,66 +301,66 @@ void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wva
|
|
|
#endif //TMC_DBG_READS
|
|
|
}
|
|
|
|
|
|
-uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address)
|
|
|
+uint8_t tmc2130_read8(uint8_t cs, uint8_t address)
|
|
|
{
|
|
|
//datagram1 - write
|
|
|
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
|
|
- digitalWrite(chipselect,LOW);
|
|
|
+ digitalWrite(cs,LOW);
|
|
|
SPI.transfer(address);
|
|
|
SPI.transfer(0x00);
|
|
|
SPI.transfer(0x00);
|
|
|
SPI.transfer(0x00);
|
|
|
SPI.transfer(0x00);
|
|
|
- digitalWrite(chipselect, HIGH);
|
|
|
+ digitalWrite(cs, HIGH);
|
|
|
SPI.endTransaction();
|
|
|
uint8_t val0;
|
|
|
//datagram2 - response
|
|
|
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
|
|
- digitalWrite(chipselect,LOW);
|
|
|
+ digitalWrite(cs,LOW);
|
|
|
val0 = SPI.transfer(0);
|
|
|
- digitalWrite(chipselect, HIGH);
|
|
|
+ digitalWrite(cs, HIGH);
|
|
|
SPI.endTransaction();
|
|
|
return val0;
|
|
|
}
|
|
|
|
|
|
-uint32_t tmc2130_readRegister(uint8_t chipselect, uint8_t address)
|
|
|
+uint32_t tmc2130_readRegister(uint8_t cs, uint8_t address)
|
|
|
{
|
|
|
//datagram1 - write
|
|
|
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
|
|
- digitalWrite(chipselect,LOW);
|
|
|
+ digitalWrite(cs,LOW);
|
|
|
SPI.transfer(address);
|
|
|
SPI.transfer(0x00);
|
|
|
SPI.transfer(0x00);
|
|
|
SPI.transfer(0x00);
|
|
|
SPI.transfer(0x00);
|
|
|
- digitalWrite(chipselect, HIGH);
|
|
|
+ digitalWrite(cs, HIGH);
|
|
|
SPI.endTransaction();
|
|
|
uint32_t val0;
|
|
|
//datagram2 - response
|
|
|
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
|
|
- digitalWrite(chipselect,LOW);
|
|
|
+ digitalWrite(cs,LOW);
|
|
|
SPI.transfer(0); // ignore status bits
|
|
|
val0 = SPI.transfer(0); // MSB
|
|
|
val0 = (val0 << 8) | SPI.transfer(0);
|
|
|
val0 = (val0 << 8) | SPI.transfer(0);
|
|
|
val0 = (val0 << 8) | SPI.transfer(0); //LSB
|
|
|
- digitalWrite(chipselect, HIGH);
|
|
|
+ digitalWrite(cs, HIGH);
|
|
|
SPI.endTransaction();
|
|
|
return val0;
|
|
|
}
|
|
|
|
|
|
-uint16_t tmc2130_readSG(uint8_t chipselect)
|
|
|
+uint16_t tmc2130_readSG(uint8_t cs)
|
|
|
{
|
|
|
uint8_t address = 0x6F;
|
|
|
- uint32_t registerValue = tmc2130_readRegister(chipselect, address);
|
|
|
+ uint32_t registerValue = tmc2130_readRegister(cs, address);
|
|
|
uint16_t val0 = registerValue & 0x3ff;
|
|
|
return val0;
|
|
|
}
|
|
|
|
|
|
-uint16_t tmc2130_readTStep(uint8_t chipselect)
|
|
|
+uint16_t tmc2130_readTStep(uint8_t cs)
|
|
|
{
|
|
|
uint8_t address = 0x12;
|
|
|
- uint32_t registerValue = tmc2130_readRegister(chipselect, address);
|
|
|
+ uint32_t registerValue = tmc2130_readRegister(cs, address);
|
|
|
uint16_t val0 = 0;
|
|
|
if(registerValue & 0x000f0000)
|
|
|
val0 = 0xffff;
|
|
|
@@ -170,9 +369,9 @@ uint16_t tmc2130_readTStep(uint8_t chipselect)
|
|
|
return val0;
|
|
|
}
|
|
|
|
|
|
-void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16)
|
|
|
+void tmc2130_chopconf(uint8_t cs, bool extrapolate256, uint16_t microstep_resolution)
|
|
|
{
|
|
|
- uint8_t mres=0b0100;
|
|
|
+ uint8_t mres = 0b0100;
|
|
|
if(microstep_resolution == 256) mres = 0b0000;
|
|
|
if(microstep_resolution == 128) mres = 0b0001;
|
|
|
if(microstep_resolution == 64) mres = 0b0010;
|
|
|
@@ -183,182 +382,23 @@ void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_re
|
|
|
if(microstep_resolution == 2) mres = 0b0111;
|
|
|
if(microstep_resolution == 1) mres = 0b1000;
|
|
|
mres |= extrapolate256 << 4; //bit28 intpol
|
|
|
- //tmc2130_write(cs,0x6C,mres,0x01,0x00,0xD3);
|
|
|
- tmc2130_write(cs,0x6C,mres,0x01,0x00,0xC3);
|
|
|
+ //tmc2130_write(cs, 0x6C, mres, 0x01, 0x00, 0xD3);
|
|
|
+ tmc2130_write(cs, 0x6C, mres, 0x01, 0x00, 0xC3);
|
|
|
}
|
|
|
|
|
|
-void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale = PWM_AUTOSCALE, uint8_t PWMfreq = PWM_FREQ, uint8_t PWMgrad = PWM_GRAD, uint8_t PWMampl = PWM_AMPL)
|
|
|
+void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
|
|
|
{
|
|
|
- tmc2130_write(cs,0x70,0x00,(PWMautoScale+PWMfreq),PWMgrad,PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
|
|
|
+ tmc2130_write(cs, 0x70, 0x00, (PWMautoScale+PWMfreq), PWMgrad, PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
|
|
|
}
|
|
|
|
|
|
void tmc2130_PWMthreshold(uint8_t cs)
|
|
|
{
|
|
|
- tmc2130_write(cs,0x13,0x00,0x00,0x00,0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
|
|
|
-}
|
|
|
-
|
|
|
-
|
|
|
-uint8_t st_didLastHomingStall()
|
|
|
-{
|
|
|
- uint8_t returnValue = sg_lastHomingStalled;
|
|
|
- sg_lastHomingStalled = false;
|
|
|
- return returnValue;
|
|
|
+ tmc2130_write(cs, 0x13, 0x00, 0x00, 0x00, 0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
|
|
|
}
|
|
|
|
|
|
void tmc2130_disable_motor(uint8_t driver)
|
|
|
{
|
|
|
- uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
|
|
|
- tmc2130_write(cs[driver],0x6C,0,01,0,0);
|
|
|
-}
|
|
|
-
|
|
|
-void tmc2130_check_overtemp()
|
|
|
-{
|
|
|
- const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
|
|
|
- uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
|
|
|
- static uint32_t checktime = 0;
|
|
|
- //drivers_disabled[0] = 1; //TEST
|
|
|
- if( millis() - checktime > 1000 )
|
|
|
- {
|
|
|
- for(int i=0;i<4;i++)
|
|
|
- {
|
|
|
- uint32_t drv_status = tmc2130_read(cs[i], 0x6F); //0x6F DRV_STATUS
|
|
|
- if (drv_status & ((uint32_t)1<<26))
|
|
|
- { // BIT 26 - over temp prewarning ~120C (+-20C)
|
|
|
- SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
|
|
|
- SERIAL_ECHOLN(i);
|
|
|
- for(int x=0; x<4;x++) tmc2130_disable_motor(x);
|
|
|
- kill(TMC_OVERTEMP_MSG);
|
|
|
- }
|
|
|
- }
|
|
|
- checktime = millis();
|
|
|
- }
|
|
|
-}
|
|
|
-
|
|
|
-void tmc2130_init()
|
|
|
-{
|
|
|
- uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
|
|
|
- // uint8_t current[4] = { 31, 31, 31, 31 };
|
|
|
- // uint8_t current_h[4] = { 12, 12, 12, 12 };
|
|
|
- // uint8_t current_r[4] = { 24, 24, 24, 24 };
|
|
|
- // uint8_t current_r[4] = { 32, 32, 32, 32 };
|
|
|
- // uint8_t current_h[4] = { 14, 14, 14, 14 };
|
|
|
- uint8_t current_h[4] = { 2, 2, 2, 4 };
|
|
|
- uint8_t current_r[4] = { 6, 6, 8, 8 };
|
|
|
- WRITE(X_TMC2130_CS, HIGH);
|
|
|
- WRITE(Y_TMC2130_CS, HIGH);
|
|
|
- WRITE(Z_TMC2130_CS, HIGH);
|
|
|
- WRITE(E0_TMC2130_CS, HIGH);
|
|
|
- SET_OUTPUT(X_TMC2130_CS);
|
|
|
- SET_OUTPUT(Y_TMC2130_CS);
|
|
|
- SET_OUTPUT(Z_TMC2130_CS);
|
|
|
- SET_OUTPUT(E0_TMC2130_CS);
|
|
|
- SPI.begin();
|
|
|
-/* for(int i=0;i<4;i++)
|
|
|
- {
|
|
|
- //tmc2130_write(cs[i],0x6C,0b10100,01,00,0xC5);
|
|
|
- tmc2130_chopconf(cs[i],1,16);
|
|
|
- tmc2130_write(cs[i],0x10,0,15,current_h[i],current_r[i]); //0x10 IHOLD_IRUN
|
|
|
- //tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF
|
|
|
- tmc2130_write(cs[i],0x0,0,0,0,0x05); //address=0x0 GCONF EXT VREF - activate stealthChop
|
|
|
- //tmc2130_write(cs[i],0x11,0,0,0,0xA);
|
|
|
-
|
|
|
- // Uncomment lines below to use a different configuration (pwm_autoscale = 0) for XY axes
|
|
|
- if(i==0 || i==1)
|
|
|
- tmc2130_PWMconf(cs[i],PWM_AUTOSCALE_XY,PWM_FREQ_XY,PWM_GRAD_XY,PWM_AMPL_XY); //address=0x70 PWM_CONF //reset default=0x00050480
|
|
|
- else
|
|
|
- tmc2130_PWMconf(cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
|
|
|
- tmc2130_PWMthreshold(cs[i]);
|
|
|
- }
|
|
|
-*/
|
|
|
-#ifdef MK3_TEST1
|
|
|
- for (int i=0;i<4;i++)
|
|
|
- {
|
|
|
- tmc2130_write(cs[i],0x0,0,0,0,0x00); //address=0x0 GCONF - bit 2 activate stealthChop
|
|
|
- tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
|
|
|
- tmc2130_chopconf(cs[i],0,16);
|
|
|
- }
|
|
|
-#else //MK3_TEST1
|
|
|
- for (int i=0;i<3;i++)
|
|
|
- {
|
|
|
- tmc2130_write(cs[i],0x0,0,0,0,0x04); //address=0x0 GCONF - bit 2 activate stealthChop
|
|
|
- tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
|
|
|
- tmc2130_write(cs[i],0x11,0,0,0,0);
|
|
|
- tmc2130_PWMconf(cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
|
|
|
- // tmc2130_PWMthreshold(cs[i]);
|
|
|
- tmc2130_chopconf(cs[i],1,16);
|
|
|
- }
|
|
|
- for (int i=3;i<4;i++)
|
|
|
- {
|
|
|
- tmc2130_write(cs[i],0x0,0,0,0,0x00); //address=0x0 GCONF - bit 2 activate stealthChop
|
|
|
- tmc2130_write(cs[i],0x10,0,15,current_r[i],current_h[i]); //0x10 IHOLD_IRUN
|
|
|
- tmc2130_write(cs[i],0x11,0,0,0,0);
|
|
|
- tmc2130_chopconf(cs[i],1,16);
|
|
|
- }
|
|
|
-#endif //MK3_TEST1
|
|
|
-}
|
|
|
-
|
|
|
-void tmc2130_st_synchronize()
|
|
|
-{
|
|
|
- uint8_t delay = 0;
|
|
|
- if(sg_homing_axis == X_AXIS || sg_homing_axis == Y_AXIS)
|
|
|
- {
|
|
|
- uint8_t axis;
|
|
|
- if(sg_homing_axis == X_AXIS)
|
|
|
- axis = X_TMC2130_CS;
|
|
|
- else
|
|
|
- axis = Y_TMC2130_CS;
|
|
|
- uint16_t tstep = tmc2130_readTStep(axis);
|
|
|
- // SERIAL_PROTOCOLLN(tstep);
|
|
|
- if(tstep < TCOOLTHRS)
|
|
|
- {
|
|
|
- if(delay < 255) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
|
|
|
- delay++;
|
|
|
- else
|
|
|
- {
|
|
|
- uint16_t sg = tmc2130_readSG(axis);
|
|
|
- if(sg==0)
|
|
|
- {
|
|
|
- sg_axis_stalled[sg_homing_axis] = true;
|
|
|
- sg_lastHomingStalled = true;
|
|
|
- }
|
|
|
- else
|
|
|
- sg_axis_stalled[sg_homing_axis] = false;
|
|
|
-// SERIAL_PROTOCOLLN(sg);
|
|
|
- }
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- sg_axis_stalled[sg_homing_axis] = false;
|
|
|
- delay = 0;
|
|
|
- }
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- sg_axis_stalled[X_AXIS] = false;
|
|
|
- sg_axis_stalled[Y_AXIS] = false;
|
|
|
- }
|
|
|
-}
|
|
|
-
|
|
|
-void tmc2130_st_home_enter(uint8_t axis)
|
|
|
-{
|
|
|
- sg_homing_axis = axis;
|
|
|
-// Configuration to spreadCycle
|
|
|
-// tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x0,0,0,0,0x01);
|
|
|
- tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x0,0,0,0,0x00);
|
|
|
- tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x6D,0,(axis == X_AXIS)?SG_THRESHOLD_X:SG_THRESHOLD_Y,0,0);
|
|
|
- tmc2130_write((axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS,0x14,0,0,0,TCOOLTHRS);
|
|
|
-}
|
|
|
-
|
|
|
-void tmc2130_st_home_exit()
|
|
|
-{
|
|
|
- if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == X_AXIS))
|
|
|
- {
|
|
|
- // Configuration back to stealthChop
|
|
|
- tmc2130_write((sg_homing_axis == X_AXIS)? X_TMC2130_CS : Y_TMC2130_CS, 0x0, 0, 0, 0, 0x04);
|
|
|
- sg_homing_axis = 0xff;
|
|
|
- sg_axis_stalled[X_AXIS] = false;
|
|
|
- sg_axis_stalled[Y_AXIS] = false;
|
|
|
- }
|
|
|
+ tmc2130_write(tmc2130_cs[driver], 0x6C, 0, 01, 0, 0);
|
|
|
}
|
|
|
|
|
|
#endif //HAVE_TMC2130_DRIVERS
|
Robert Pelnar