PrusaFirmware/Firmware/tmc2130.cpp

#include "Marlin.h"

#ifdef HAVE_TMC2130_DRIVERS

#include "tmc2130.h"
#include <SPI.h>

uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
{
	uint32_t val32;
	uint8_t val0;
	uint8_t val1;
	uint8_t val2;
	uint8_t val3;
	uint8_t val4;
	//datagram1 - read request (address + dummy write)
	SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
	digitalWrite(chipselect,LOW);
	SPI.transfer(address);
	SPI.transfer(0);
	SPI.transfer(0);
	SPI.transfer(0);
	SPI.transfer(0);
	digitalWrite(chipselect, HIGH);
	SPI.endTransaction();
	//datagram2 - response
	SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
	digitalWrite(chipselect,LOW);
	val0 = SPI.transfer(0);
	val1 = SPI.transfer(0);
	val2 = SPI.transfer(0);
	val3 = SPI.transfer(0);
	val4 = SPI.transfer(0);
	digitalWrite(chipselect, HIGH);
	SPI.endTransaction();
#ifdef TMC_DBG_READS
	MYSERIAL.print("SPIRead 0x");
	MYSERIAL.print(address,HEX);
	MYSERIAL.print(" Status:");
	MYSERIAL.print(val0 & 0b00000111,BIN);
	MYSERIAL.print("  ");
	MYSERIAL.print(val1,BIN);
	MYSERIAL.print("  ");
	MYSERIAL.print(val2,BIN);
	MYSERIAL.print("  ");
	MYSERIAL.print(val3,BIN);
	MYSERIAL.print("  ");
	MYSERIAL.print(val4,BIN);
#endif
	val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
#ifdef TMC_DBG_READS
	MYSERIAL.print(" 0x");
	MYSERIAL.println(val32,HEX);
#endif
	return val32;
}

void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
{
	uint32_t val32;
	uint8_t val0;
	uint8_t val1;
	uint8_t val2;
	uint8_t val3;
	uint8_t val4;
	//datagram1 - write
	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
	digitalWrite(chipselect,LOW);
	SPI.transfer(address+0x80);
	SPI.transfer(wval1);
	SPI.transfer(wval2);
	SPI.transfer(wval3);
	SPI.transfer(wval4);
	digitalWrite(chipselect, HIGH);
	SPI.endTransaction();
	//datagram2 - response
	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
	digitalWrite(chipselect,LOW);
	val0 = SPI.transfer(0);
	val1 = SPI.transfer(0);
	val2 = SPI.transfer(0);
	val3 = SPI.transfer(0);
	val4 = SPI.transfer(0);
	digitalWrite(chipselect, HIGH);
	SPI.endTransaction();
#ifdef TMC_DBG_WRITE
	MYSERIAL.print("WriteRead 0x");
	MYSERIAL.print(address,HEX);
	MYSERIAL.print(" Status:");
	MYSERIAL.print(val0 & 0b00000111,BIN);
	MYSERIAL.print("  ");
	MYSERIAL.print(val1,BIN);
	MYSERIAL.print("  ");
	MYSERIAL.print(val2,BIN);
	MYSERIAL.print("  ");
	MYSERIAL.print(val3,BIN);
	MYSERIAL.print("  ");
	MYSERIAL.print(val4,BIN);
	val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
	MYSERIAL.print(" 0x");
	MYSERIAL.println(val32,HEX);
#endif //TMC_DBG_READS
}

uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address)
{
	//datagram1 - write
	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
	digitalWrite(chipselect,LOW);
	SPI.transfer(address);
	SPI.transfer(0x00);
	SPI.transfer(0x00);
	SPI.transfer(0x00);
	SPI.transfer(0x00);
	digitalWrite(chipselect, HIGH);
	SPI.endTransaction();
	uint8_t val0;
	//datagram2 - response
	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
	digitalWrite(chipselect,LOW);
	val0 = SPI.transfer(0);
	digitalWrite(chipselect, HIGH);
	SPI.endTransaction();
	return val0;
}

uint32_t tmc2130_readRegister(uint8_t chipselect, uint8_t address)
{
	//datagram1 - write
	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
	digitalWrite(chipselect,LOW);
	SPI.transfer(address);
	SPI.transfer(0x00);
	SPI.transfer(0x00);
	SPI.transfer(0x00);
	SPI.transfer(0x00);
	digitalWrite(chipselect, HIGH);
	SPI.endTransaction();
	uint32_t val0;
	//datagram2 - response
	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
	digitalWrite(chipselect,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);
	SPI.endTransaction();
	return val0;
}

uint16_t tmc2130_readSG(uint8_t chipselect)
{
	uint8_t address = 0x6F;
	uint32_t registerValue = tmc2130_readRegister(chipselect, address);
	uint16_t val0 = registerValue & 0x3ff;
	return val0;
}

uint16_t tmc2130_readTStep(uint8_t chipselect)
{
	uint8_t address = 0x12;
	uint32_t registerValue = tmc2130_readRegister(chipselect, address);
	uint16_t val0 = 0;
	if(registerValue & 0x000f0000)
		val0 = 0xffff;
	else
		val0 = registerValue & 0xffff;
	return val0;
}

void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16)
{
	uint8_t mres=0b0100;
	if(microstep_resolution == 256) mres = 0b0000;
	if(microstep_resolution == 128) mres = 0b0001;
	if(microstep_resolution == 64)  mres = 0b0010;
	if(microstep_resolution == 32)  mres = 0b0011;
	if(microstep_resolution == 16)  mres = 0b0100;
	if(microstep_resolution == 8)   mres = 0b0101;
	if(microstep_resolution == 4)   mres = 0b0110;
	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);
}

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)
{
	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;
}

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;
	}
}

#endif //HAVE_TMC2130_DRIVERS