tmc2130.cpp 32 KB

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  1. #include "Marlin.h"
  2. #ifdef TMC2130
  3. #include "tmc2130.h"
  4. #include "ultralcd.h"
  5. #include "language.h"
  6. #include "spi.h"
  7. #define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
  8. #define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
  9. #define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
  10. //externals for debuging
  11. extern float current_position[4];
  12. extern void st_get_position_xy(long &x, long &y);
  13. extern long st_get_position(uint8_t axis);
  14. extern void crashdet_stop_and_save_print();
  15. extern void crashdet_stop_and_save_print2();
  16. //mode
  17. uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
  18. //holding currents
  19. uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
  20. //running currents
  21. uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
  22. //running currents for homing
  23. uint8_t tmc2130_current_r_home[4] = {8, 10, 20, 18};
  24. //pwm_ampl
  25. uint8_t tmc2130_pwm_ampl[4] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y, TMC2130_PWM_AMPL_Z, TMC2130_PWM_AMPL_E};
  26. //pwm_grad
  27. uint8_t tmc2130_pwm_grad[4] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y, TMC2130_PWM_GRAD_Z, TMC2130_PWM_GRAD_E};
  28. //pwm_auto
  29. uint8_t tmc2130_pwm_auto[4] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y, TMC2130_PWM_AUTO_Z, TMC2130_PWM_AUTO_E};
  30. //pwm_freq
  31. uint8_t tmc2130_pwm_freq[4] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y, TMC2130_PWM_FREQ_Z, TMC2130_PWM_FREQ_E};
  32. uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
  33. uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
  34. uint8_t tmc2130_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
  35. uint8_t tmc2130_sg_homing_axes_mask = 0x00;
  36. uint8_t tmc2130_sg_meassure = 0xff;
  37. uint32_t tmc2130_sg_meassure_cnt = 0;
  38. uint32_t tmc2130_sg_meassure_val = 0;
  39. uint8_t tmc2130_home_enabled = 0;
  40. uint8_t tmc2130_home_origin[2] = {0, 0};
  41. uint8_t tmc2130_home_bsteps[2] = {48, 48};
  42. uint8_t tmc2130_home_fsteps[2] = {48, 48};
  43. uint8_t tmc2130_wave_fac[4] = {0, 0, 0, 0};
  44. tmc2130_chopper_config_t tmc2130_chopper_config[4] = {
  45. {TMC2130_TOFF_XYZ, 5, 1, 2, 0},
  46. {TMC2130_TOFF_XYZ, 5, 1, 2, 0},
  47. {TMC2130_TOFF_XYZ, 5, 1, 2, 0},
  48. {TMC2130_TOFF_E, 5, 1, 2, 0}
  49. };
  50. bool tmc2130_sg_stop_on_crash = true;
  51. uint8_t tmc2130_sg_diag_mask = 0x00;
  52. uint8_t tmc2130_sg_crash = 0;
  53. uint16_t tmc2130_sg_err[4] = {0, 0, 0, 0};
  54. uint16_t tmc2130_sg_cnt[4] = {0, 0, 0, 0};
  55. bool tmc2130_sg_change = false;
  56. bool skip_debug_msg = false;
  57. #define DBG(args...) printf_P(args)
  58. #ifndef _n
  59. #define _n PSTR
  60. #endif //_n
  61. #ifndef _i
  62. #define _i PSTR
  63. #endif //_i
  64. //TMC2130 registers
  65. #define TMC2130_REG_GCONF 0x00 // 17 bits
  66. #define TMC2130_REG_GSTAT 0x01 // 3 bits
  67. #define TMC2130_REG_IOIN 0x04 // 8+8 bits
  68. #define TMC2130_REG_IHOLD_IRUN 0x10 // 5+5+4 bits
  69. #define TMC2130_REG_TPOWERDOWN 0x11 // 8 bits
  70. #define TMC2130_REG_TSTEP 0x12 // 20 bits
  71. #define TMC2130_REG_TPWMTHRS 0x13 // 20 bits
  72. #define TMC2130_REG_TCOOLTHRS 0x14 // 20 bits
  73. #define TMC2130_REG_THIGH 0x15 // 20 bits
  74. #define TMC2130_REG_XDIRECT 0x2d // 32 bits
  75. #define TMC2130_REG_VDCMIN 0x33 // 23 bits
  76. #define TMC2130_REG_MSLUT0 0x60 // 32 bits
  77. #define TMC2130_REG_MSLUT1 0x61 // 32 bits
  78. #define TMC2130_REG_MSLUT2 0x62 // 32 bits
  79. #define TMC2130_REG_MSLUT3 0x63 // 32 bits
  80. #define TMC2130_REG_MSLUT4 0x64 // 32 bits
  81. #define TMC2130_REG_MSLUT5 0x65 // 32 bits
  82. #define TMC2130_REG_MSLUT6 0x66 // 32 bits
  83. #define TMC2130_REG_MSLUT7 0x67 // 32 bits
  84. #define TMC2130_REG_MSLUTSEL 0x68 // 32 bits
  85. #define TMC2130_REG_MSLUTSTART 0x69 // 8+8 bits
  86. #define TMC2130_REG_MSCNT 0x6a // 10 bits
  87. #define TMC2130_REG_MSCURACT 0x6b // 9+9 bits
  88. #define TMC2130_REG_CHOPCONF 0x6c // 32 bits
  89. #define TMC2130_REG_COOLCONF 0x6d // 25 bits
  90. #define TMC2130_REG_DCCTRL 0x6e // 24 bits
  91. #define TMC2130_REG_DRV_STATUS 0x6f // 32 bits
  92. #define TMC2130_REG_PWMCONF 0x70 // 22 bits
  93. #define TMC2130_REG_PWM_SCALE 0x71 // 8 bits
  94. #define TMC2130_REG_ENCM_CTRL 0x72 // 2 bits
  95. #define TMC2130_REG_LOST_STEPS 0x73 // 20 bits
  96. uint16_t tmc2130_rd_TSTEP(uint8_t axis);
  97. uint16_t tmc2130_rd_MSCNT(uint8_t axis);
  98. uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
  99. void tmc2130_wr_CHOPCONF(uint8_t axis, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0);
  100. void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
  101. void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32);
  102. void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32);
  103. #define tmc2130_rd(axis, addr, rval) tmc2130_rx(axis, addr, rval)
  104. #define tmc2130_wr(axis, addr, wval) tmc2130_tx(axis, (addr) | 0x80, wval)
  105. static void tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval);
  106. static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval);
  107. void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
  108. uint16_t __tcoolthrs(uint8_t axis)
  109. {
  110. switch (axis)
  111. {
  112. case X_AXIS: return TMC2130_TCOOLTHRS_X;
  113. case Y_AXIS: return TMC2130_TCOOLTHRS_Y;
  114. case Z_AXIS: return TMC2130_TCOOLTHRS_Z;
  115. }
  116. return 0;
  117. }
  118. void tmc2130_init()
  119. {
  120. DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("STEALTH"):_n("NORMAL"));
  121. WRITE(X_TMC2130_CS, HIGH);
  122. WRITE(Y_TMC2130_CS, HIGH);
  123. WRITE(Z_TMC2130_CS, HIGH);
  124. WRITE(E0_TMC2130_CS, HIGH);
  125. SET_OUTPUT(X_TMC2130_CS);
  126. SET_OUTPUT(Y_TMC2130_CS);
  127. SET_OUTPUT(Z_TMC2130_CS);
  128. SET_OUTPUT(E0_TMC2130_CS);
  129. SET_INPUT(X_TMC2130_DIAG);
  130. SET_INPUT(Y_TMC2130_DIAG);
  131. SET_INPUT(Z_TMC2130_DIAG);
  132. SET_INPUT(E0_TMC2130_DIAG);
  133. for (int axis = 0; axis < 2; axis++) // X Y axes
  134. {
  135. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  136. tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
  137. tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
  138. tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
  139. tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
  140. tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
  141. tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
  142. //tmc2130_wr_THIGH(axis, TMC2130_THIGH);
  143. }
  144. for (int axis = 2; axis < 3; axis++) // Z axis
  145. {
  146. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  147. tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
  148. #ifndef TMC2130_STEALTH_Z
  149. tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
  150. #else //TMC2130_STEALTH_Z
  151. tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
  152. tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
  153. tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
  154. tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
  155. tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
  156. #endif //TMC2130_STEALTH_Z
  157. }
  158. for (int axis = 3; axis < 4; axis++) // E axis
  159. {
  160. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  161. tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
  162. #ifndef TMC2130_STEALTH_E
  163. tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
  164. #else //TMC2130_STEALTH_E
  165. tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
  166. tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
  167. tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
  168. tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
  169. tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
  170. #endif //TMC2130_STEALTH_E
  171. }
  172. tmc2130_sg_err[0] = 0;
  173. tmc2130_sg_err[1] = 0;
  174. tmc2130_sg_err[2] = 0;
  175. tmc2130_sg_err[3] = 0;
  176. tmc2130_sg_cnt[0] = 0;
  177. tmc2130_sg_cnt[1] = 0;
  178. tmc2130_sg_cnt[2] = 0;
  179. tmc2130_sg_cnt[3] = 0;
  180. #ifdef TMC2130_LINEARITY_CORRECTION
  181. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  182. tmc2130_set_wave(X_AXIS, 247, tmc2130_wave_fac[X_AXIS]);
  183. tmc2130_set_wave(Y_AXIS, 247, tmc2130_wave_fac[Y_AXIS]);
  184. tmc2130_set_wave(Z_AXIS, 247, tmc2130_wave_fac[Z_AXIS]);
  185. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  186. tmc2130_set_wave(E_AXIS, 247, tmc2130_wave_fac[E_AXIS]);
  187. #endif //TMC2130_LINEARITY_CORRECTION
  188. }
  189. uint8_t tmc2130_sample_diag()
  190. {
  191. uint8_t mask = 0;
  192. if (READ(X_TMC2130_DIAG)) mask |= X_AXIS_MASK;
  193. if (READ(Y_TMC2130_DIAG)) mask |= Y_AXIS_MASK;
  194. // if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
  195. // if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
  196. return mask;
  197. }
  198. extern bool is_usb_printing;
  199. void tmc2130_st_isr()
  200. {
  201. if (tmc2130_mode == TMC2130_MODE_SILENT || tmc2130_sg_stop_on_crash == false) return;
  202. uint8_t crash = 0;
  203. uint8_t diag_mask = tmc2130_sample_diag();
  204. // for (uint8_t axis = X_AXIS; axis <= E_AXIS; axis++)
  205. for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++)
  206. {
  207. uint8_t mask = (X_AXIS_MASK << axis);
  208. if (diag_mask & mask) tmc2130_sg_err[axis]++;
  209. else
  210. if (tmc2130_sg_err[axis] > 0) tmc2130_sg_err[axis]--;
  211. if (tmc2130_sg_cnt[axis] < tmc2130_sg_err[axis])
  212. {
  213. tmc2130_sg_cnt[axis] = tmc2130_sg_err[axis];
  214. tmc2130_sg_change = true;
  215. uint8_t sg_thr = 64;
  216. // if (axis == Y_AXIS) sg_thr = 64;
  217. if (tmc2130_sg_err[axis] >= sg_thr)
  218. {
  219. tmc2130_sg_err[axis] = 0;
  220. crash |= mask;
  221. }
  222. }
  223. }
  224. if (tmc2130_sg_homing_axes_mask == 0)
  225. {
  226. if (tmc2130_sg_stop_on_crash && crash)
  227. {
  228. tmc2130_sg_crash = crash;
  229. tmc2130_sg_stop_on_crash = false;
  230. crashdet_stop_and_save_print();
  231. }
  232. }
  233. }
  234. bool tmc2130_update_sg()
  235. {
  236. if (tmc2130_sg_meassure <= E_AXIS)
  237. {
  238. uint32_t val32 = 0;
  239. tmc2130_rd(tmc2130_sg_meassure, TMC2130_REG_DRV_STATUS, &val32);
  240. tmc2130_sg_meassure_val += (val32 & 0x3ff);
  241. tmc2130_sg_meassure_cnt++;
  242. return true;
  243. }
  244. return false;
  245. }
  246. void tmc2130_home_enter(uint8_t axes_mask)
  247. {
  248. printf_P(PSTR("tmc2130_home_enter(axes_mask=0x%02x)\n"), axes_mask);
  249. #ifdef TMC2130_SG_HOMING
  250. if (axes_mask & 0x03) //X or Y
  251. tmc2130_wait_standstill_xy(1000);
  252. for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
  253. {
  254. uint8_t mask = (X_AXIS_MASK << axis);
  255. if (axes_mask & mask)
  256. {
  257. tmc2130_sg_homing_axes_mask |= mask;
  258. //Configuration to spreadCycle
  259. tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
  260. tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
  261. // tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
  262. tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
  263. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]);
  264. if (mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
  265. tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
  266. }
  267. }
  268. #endif //TMC2130_SG_HOMING
  269. }
  270. void tmc2130_home_exit()
  271. {
  272. printf_P(PSTR("tmc2130_home_exit tmc2130_sg_homing_axes_mask=0x%02x\n"), tmc2130_sg_homing_axes_mask);
  273. #ifdef TMC2130_SG_HOMING
  274. if (tmc2130_sg_homing_axes_mask & 0x03) //X or Y
  275. tmc2130_wait_standstill_xy(1000);
  276. if (tmc2130_sg_homing_axes_mask)
  277. {
  278. for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
  279. {
  280. uint8_t mask = (X_AXIS_MASK << axis);
  281. if (tmc2130_sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
  282. {
  283. #ifndef TMC2130_STEALTH_Z
  284. if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS))
  285. #else //TMC2130_STEALTH_Z
  286. if (tmc2130_mode == TMC2130_MODE_SILENT)
  287. #endif //TMC2130_STEALTH_Z
  288. {
  289. tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
  290. tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
  291. // tmc2130_wr_PWMCONF(i, tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
  292. }
  293. else
  294. {
  295. // tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
  296. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  297. // tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
  298. tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
  299. tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
  300. tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
  301. }
  302. }
  303. }
  304. tmc2130_sg_homing_axes_mask = 0x00;
  305. }
  306. tmc2130_sg_crash = false;
  307. #endif
  308. }
  309. void tmc2130_sg_meassure_start(uint8_t axis)
  310. {
  311. tmc2130_sg_meassure = axis;
  312. tmc2130_sg_meassure_cnt = 0;
  313. tmc2130_sg_meassure_val = 0;
  314. }
  315. uint16_t tmc2130_sg_meassure_stop()
  316. {
  317. tmc2130_sg_meassure = 0xff;
  318. return tmc2130_sg_meassure_val / tmc2130_sg_meassure_cnt;
  319. }
  320. bool tmc2130_wait_standstill_xy(int timeout)
  321. {
  322. // DBG(_n("tmc2130_wait_standstill_xy(timeout=%d)\n"), timeout);
  323. bool standstill = false;
  324. while (!standstill && (timeout > 0))
  325. {
  326. uint32_t drv_status_x = 0;
  327. uint32_t drv_status_y = 0;
  328. tmc2130_rd(X_AXIS, TMC2130_REG_DRV_STATUS, &drv_status_x);
  329. tmc2130_rd(Y_AXIS, TMC2130_REG_DRV_STATUS, &drv_status_y);
  330. // DBG(_n("\tdrv_status_x=0x%08x drv_status_x=0x%08x\n"), drv_status_x, drv_status_y);
  331. standstill = (drv_status_x & 0x80000000) && (drv_status_y & 0x80000000);
  332. tmc2130_check_overtemp();
  333. timeout--;
  334. }
  335. return standstill;
  336. }
  337. void tmc2130_check_overtemp()
  338. {
  339. static uint32_t checktime = 0;
  340. if (millis() - checktime > 1000 )
  341. {
  342. for (int i = 0; i < 4; i++)
  343. {
  344. uint32_t drv_status = 0;
  345. skip_debug_msg = true;
  346. tmc2130_rd(i, TMC2130_REG_DRV_STATUS, &drv_status);
  347. if (drv_status & ((uint32_t)1 << 26))
  348. { // BIT 26 - over temp prewarning ~120C (+-20C)
  349. SERIAL_ERRORRPGM(MSG_TMC_OVERTEMP);
  350. SERIAL_ECHOLN(i);
  351. for (int j = 0; j < 4; j++)
  352. tmc2130_wr(j, TMC2130_REG_CHOPCONF, 0x00010000);
  353. kill(MSG_TMC_OVERTEMP);
  354. }
  355. }
  356. checktime = millis();
  357. tmc2130_sg_change = true;
  358. }
  359. #ifdef DEBUG_CRASHDET_COUNTERS
  360. if (tmc2130_sg_change)
  361. {
  362. for (int i = 0; i < 4; i++)
  363. {
  364. tmc2130_sg_change = false;
  365. lcd_set_cursor(0 + i*4, 3);
  366. lcd_print(itostr3(tmc2130_sg_cnt[i]));
  367. lcd_print(' ');
  368. }
  369. }
  370. #endif //DEBUG_CRASHDET_COUNTERS
  371. }
  372. void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
  373. {
  374. uint8_t intpol = 1;
  375. uint8_t toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
  376. uint8_t hstrt = tmc2130_chopper_config[axis].hstr; //initial 4, modified to 5
  377. uint8_t hend = tmc2130_chopper_config[axis].hend; //original value = 1
  378. uint8_t fd3 = 0;
  379. uint8_t rndtf = 0; //random off time
  380. uint8_t chm = 0; //spreadCycle
  381. uint8_t tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
  382. if (axis == E_AXIS)
  383. {
  384. #ifdef TMC2130_CNSTOFF_E
  385. // fd = 0 (slow decay only)
  386. hstrt = 0; //fd0..2
  387. fd3 = 0; //fd3
  388. hend = 0; //sine wave offset
  389. chm = 1; // constant off time mod
  390. #endif //TMC2130_CNSTOFF_E
  391. // toff = TMC2130_TOFF_E; // toff = 3-5
  392. // rndtf = 1;
  393. }
  394. DBG(_n("tmc2130_setup_chopper(axis=%hhd, mres=%hhd, curh=%hhd, curr=%hhd\n"), axis, mres, current_h, current_r);
  395. DBG(_n(" toff=%hhd, hstr=%hhd, hend=%hhd, tbl=%hhd\n"), toff, hstrt, hend, tbl);
  396. if (current_r <= 31)
  397. {
  398. tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0);
  399. tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f));
  400. }
  401. else
  402. {
  403. tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 0, 0, 0, 0, mres, intpol, 0, 0);
  404. tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((current_r >> 1) & 0x1f) << 8) | ((current_h >> 1) & 0x1f));
  405. }
  406. }
  407. void tmc2130_set_current_h(uint8_t axis, uint8_t current)
  408. {
  409. DBG(_n("tmc2130_set_current_h(axis=%d, current=%d\n"), axis, current);
  410. tmc2130_current_h[axis] = current;
  411. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  412. }
  413. void tmc2130_set_current_r(uint8_t axis, uint8_t current)
  414. {
  415. DBG(_n("tmc2130_set_current_r(axis=%d, current=%d\n"), axis, current);
  416. tmc2130_current_r[axis] = current;
  417. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  418. }
  419. void tmc2130_print_currents()
  420. {
  421. DBG(_n("tmc2130_print_currents()\n\tH\tR\nX\t%d\t%d\nY\t%d\t%d\nZ\t%d\t%d\nE\t%d\t%d\n"),
  422. tmc2130_current_h[0], tmc2130_current_r[0],
  423. tmc2130_current_h[1], tmc2130_current_r[1],
  424. tmc2130_current_h[2], tmc2130_current_r[2],
  425. tmc2130_current_h[3], tmc2130_current_r[3]
  426. );
  427. }
  428. void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
  429. {
  430. DBG(_n("tmc2130_set_pwm_ampl(axis=%hhd, pwm_ampl=%hhd\n"), axis, pwm_ampl);
  431. tmc2130_pwm_ampl[axis] = pwm_ampl;
  432. if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
  433. tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
  434. }
  435. void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
  436. {
  437. DBG(_n("tmc2130_set_pwm_grad(axis=%hhd, pwm_grad=%hhd\n"), axis, pwm_grad);
  438. tmc2130_pwm_grad[axis] = pwm_grad;
  439. if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
  440. tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
  441. }
  442. uint16_t tmc2130_rd_TSTEP(uint8_t axis)
  443. {
  444. uint32_t val32 = 0;
  445. tmc2130_rd(axis, TMC2130_REG_TSTEP, &val32);
  446. if (val32 & 0x000f0000) return 0xffff;
  447. return val32 & 0xffff;
  448. }
  449. uint16_t tmc2130_rd_MSCNT(uint8_t axis)
  450. {
  451. uint32_t val32 = 0;
  452. tmc2130_rd(axis, TMC2130_REG_MSCNT, &val32);
  453. return val32 & 0x3ff;
  454. }
  455. uint32_t tmc2130_rd_MSCURACT(uint8_t axis)
  456. {
  457. uint32_t val32 = 0;
  458. tmc2130_rd(axis, TMC2130_REG_MSCURACT, &val32);
  459. return val32;
  460. }
  461. void tmc2130_wr_MSLUTSTART(uint8_t axis, uint8_t start_sin, uint8_t start_sin90)
  462. {
  463. uint32_t val = 0;
  464. val |= (uint32_t)start_sin;
  465. val |= ((uint32_t)start_sin90) << 16;
  466. tmc2130_wr(axis, TMC2130_REG_MSLUTSTART, val);
  467. //printf_P(PSTR("MSLUTSTART=%08lx (start_sin=%d start_sin90=%d)\n"), val, start_sin, start_sin90);
  468. }
  469. void tmc2130_wr_MSLUTSEL(uint8_t axis, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t w0, uint8_t w1, uint8_t w2, uint8_t w3)
  470. {
  471. uint32_t val = 0;
  472. val |= ((uint32_t)w0);
  473. val |= ((uint32_t)w1) << 2;
  474. val |= ((uint32_t)w2) << 4;
  475. val |= ((uint32_t)w3) << 6;
  476. val |= ((uint32_t)x1) << 8;
  477. val |= ((uint32_t)x2) << 16;
  478. val |= ((uint32_t)x3) << 24;
  479. tmc2130_wr(axis, TMC2130_REG_MSLUTSEL, val);
  480. //printf_P(PSTR("MSLUTSEL=%08lx (x1=%d x2=%d x3=%d w0=%d w1=%d w2=%d w3=%d)\n"), val, x1, x2, x3, w0, w1, w2, w3);
  481. }
  482. void tmc2130_wr_MSLUT(uint8_t axis, uint8_t i, uint32_t val)
  483. {
  484. tmc2130_wr(axis, TMC2130_REG_MSLUT0 + (i & 7), val);
  485. //printf_P(PSTR("MSLUT[%d]=%08lx\n"), i, val);
  486. }
  487. void tmc2130_wr_CHOPCONF(uint8_t axis, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t fd3, uint8_t disfdcc, uint8_t rndtf, uint8_t chm, uint8_t tbl, uint8_t vsense, uint8_t vhighfs, uint8_t vhighchm, uint8_t sync, uint8_t mres, uint8_t intpol, uint8_t dedge, uint8_t diss2g)
  488. {
  489. uint32_t val = 0;
  490. val |= (uint32_t)(toff & 15);
  491. val |= (uint32_t)(hstrt & 7) << 4;
  492. val |= (uint32_t)(hend & 15) << 7;
  493. val |= (uint32_t)(fd3 & 1) << 11;
  494. val |= (uint32_t)(disfdcc & 1) << 12;
  495. val |= (uint32_t)(rndtf & 1) << 13;
  496. val |= (uint32_t)(chm & 1) << 14;
  497. val |= (uint32_t)(tbl & 3) << 15;
  498. val |= (uint32_t)(vsense & 1) << 17;
  499. val |= (uint32_t)(vhighfs & 1) << 18;
  500. val |= (uint32_t)(vhighchm & 1) << 19;
  501. val |= (uint32_t)(sync & 15) << 20;
  502. val |= (uint32_t)(mres & 15) << 24;
  503. val |= (uint32_t)(intpol & 1) << 28;
  504. val |= (uint32_t)(dedge & 1) << 29;
  505. val |= (uint32_t)(diss2g & 1) << 30;
  506. tmc2130_wr(axis, TMC2130_REG_CHOPCONF, val);
  507. }
  508. //void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
  509. void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel)
  510. {
  511. uint32_t val = 0;
  512. val |= (uint32_t)(pwm_ampl & 255);
  513. val |= (uint32_t)(pwm_grad & 255) << 8;
  514. val |= (uint32_t)(pwm_freq & 3) << 16;
  515. val |= (uint32_t)(pwm_auto & 1) << 18;
  516. val |= (uint32_t)(pwm_symm & 1) << 19;
  517. val |= (uint32_t)(freewheel & 3) << 20;
  518. tmc2130_wr(axis, TMC2130_REG_PWMCONF, val);
  519. // tmc2130_wr(axis, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
  520. }
  521. void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32)
  522. {
  523. tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, val32);
  524. }
  525. void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32)
  526. {
  527. tmc2130_wr(axis, TMC2130_REG_THIGH, val32);
  528. }
  529. uint8_t tmc2130_usteps2mres(uint16_t usteps)
  530. {
  531. uint8_t mres = 8; while (mres && (usteps >>= 1)) mres--;
  532. return mres;
  533. }
  534. inline void tmc2130_cs_low(uint8_t axis)
  535. {
  536. switch (axis)
  537. {
  538. case X_AXIS: WRITE(X_TMC2130_CS, LOW); break;
  539. case Y_AXIS: WRITE(Y_TMC2130_CS, LOW); break;
  540. case Z_AXIS: WRITE(Z_TMC2130_CS, LOW); break;
  541. case E_AXIS: WRITE(E0_TMC2130_CS, LOW); break;
  542. }
  543. }
  544. inline void tmc2130_cs_high(uint8_t axis)
  545. {
  546. switch (axis)
  547. {
  548. case X_AXIS: WRITE(X_TMC2130_CS, HIGH); break;
  549. case Y_AXIS: WRITE(Y_TMC2130_CS, HIGH); break;
  550. case Z_AXIS: WRITE(Z_TMC2130_CS, HIGH); break;
  551. case E_AXIS: WRITE(E0_TMC2130_CS, HIGH); break;
  552. }
  553. }
  554. //spi
  555. #define TMC2130_SPI_ENTER() spi_setup(TMC2130_SPCR, TMC2130_SPSR)
  556. #define TMC2130_SPI_TXRX spi_txrx
  557. #define TMC2130_SPI_LEAVE()
  558. static void tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval)
  559. {
  560. //datagram1 - request
  561. TMC2130_SPI_ENTER();
  562. tmc2130_cs_low(axis);
  563. TMC2130_SPI_TXRX(addr); // address
  564. TMC2130_SPI_TXRX((wval >> 24) & 0xff); // MSB
  565. TMC2130_SPI_TXRX((wval >> 16) & 0xff);
  566. TMC2130_SPI_TXRX((wval >> 8) & 0xff);
  567. TMC2130_SPI_TXRX(wval & 0xff); // LSB
  568. tmc2130_cs_high(axis);
  569. TMC2130_SPI_LEAVE();
  570. }
  571. static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
  572. {
  573. //datagram1 - request
  574. TMC2130_SPI_ENTER();
  575. tmc2130_cs_low(axis);
  576. TMC2130_SPI_TXRX(addr); // address
  577. TMC2130_SPI_TXRX(0); // MSB
  578. TMC2130_SPI_TXRX(0);
  579. TMC2130_SPI_TXRX(0);
  580. TMC2130_SPI_TXRX(0); // LSB
  581. tmc2130_cs_high(axis);
  582. TMC2130_SPI_LEAVE();
  583. //datagram2 - response
  584. TMC2130_SPI_ENTER();
  585. tmc2130_cs_low(axis);
  586. uint8_t stat = TMC2130_SPI_TXRX(0); // status
  587. uint32_t val32 = 0;
  588. val32 = TMC2130_SPI_TXRX(0); // MSB
  589. val32 = (val32 << 8) | TMC2130_SPI_TXRX(0);
  590. val32 = (val32 << 8) | TMC2130_SPI_TXRX(0);
  591. val32 = (val32 << 8) | TMC2130_SPI_TXRX(0); // LSB
  592. tmc2130_cs_high(axis);
  593. TMC2130_SPI_LEAVE();
  594. if (rval != 0) *rval = val32;
  595. return stat;
  596. }
  597. #define _GET_PWR_X (READ(X_ENABLE_PIN) == X_ENABLE_ON)
  598. #define _GET_PWR_Y (READ(Y_ENABLE_PIN) == Y_ENABLE_ON)
  599. #define _GET_PWR_Z (READ(Z_ENABLE_PIN) == Z_ENABLE_ON)
  600. #define _GET_PWR_E (READ(E0_ENABLE_PIN) == E_ENABLE_ON)
  601. #define _SET_PWR_X(ena) { WRITE(X_ENABLE_PIN, ena?X_ENABLE_ON:!X_ENABLE_ON); asm("nop"); }
  602. #define _SET_PWR_Y(ena) { WRITE(Y_ENABLE_PIN, ena?Y_ENABLE_ON:!Y_ENABLE_ON); asm("nop"); }
  603. #define _SET_PWR_Z(ena) { WRITE(Z_ENABLE_PIN, ena?Z_ENABLE_ON:!Z_ENABLE_ON); asm("nop"); }
  604. #define _SET_PWR_E(ena) { WRITE(E0_ENABLE_PIN, ena?E_ENABLE_ON:!E_ENABLE_ON); asm("nop"); }
  605. #define _GET_DIR_X (READ(X_DIR_PIN) == INVERT_X_DIR)
  606. #define _GET_DIR_Y (READ(Y_DIR_PIN) == INVERT_Y_DIR)
  607. #define _GET_DIR_Z (READ(Z_DIR_PIN) == INVERT_Z_DIR)
  608. #define _GET_DIR_E (READ(E0_DIR_PIN) == INVERT_E0_DIR)
  609. #define _SET_DIR_X(dir) { WRITE(X_DIR_PIN, dir?INVERT_X_DIR:!INVERT_X_DIR); asm("nop"); }
  610. #define _SET_DIR_Y(dir) { WRITE(Y_DIR_PIN, dir?INVERT_Y_DIR:!INVERT_Y_DIR); asm("nop"); }
  611. #define _SET_DIR_Z(dir) { WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR); asm("nop"); }
  612. #define _SET_DIR_E(dir) { WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR); asm("nop"); }
  613. #define _DO_STEP_X { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); asm("nop"); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); asm("nop"); }
  614. #define _DO_STEP_Y { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); asm("nop"); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); asm("nop"); }
  615. #define _DO_STEP_Z { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); asm("nop"); WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); asm("nop"); }
  616. #define _DO_STEP_E { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); asm("nop"); WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); asm("nop"); }
  617. uint16_t tmc2130_get_res(uint8_t axis)
  618. {
  619. return tmc2130_mres2usteps(tmc2130_mres[axis]);
  620. }
  621. void tmc2130_set_res(uint8_t axis, uint16_t res)
  622. {
  623. tmc2130_mres[axis] = tmc2130_usteps2mres(res);
  624. // uint32_t u = micros();
  625. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  626. // u = micros() - u;
  627. // printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u);
  628. }
  629. uint8_t tmc2130_get_pwr(uint8_t axis)
  630. {
  631. switch (axis)
  632. {
  633. case X_AXIS: return _GET_PWR_X;
  634. case Y_AXIS: return _GET_PWR_Y;
  635. case Z_AXIS: return _GET_PWR_Z;
  636. case E_AXIS: return _GET_PWR_E;
  637. }
  638. return 0;
  639. }
  640. void tmc2130_set_pwr(uint8_t axis, uint8_t pwr)
  641. {
  642. switch (axis)
  643. {
  644. case X_AXIS: _SET_PWR_X(pwr); break;
  645. case Y_AXIS: _SET_PWR_Y(pwr); break;
  646. case Z_AXIS: _SET_PWR_Z(pwr); break;
  647. case E_AXIS: _SET_PWR_E(pwr); break;
  648. }
  649. }
  650. uint8_t tmc2130_get_inv(uint8_t axis)
  651. {
  652. switch (axis)
  653. {
  654. case X_AXIS: return INVERT_X_DIR;
  655. case Y_AXIS: return INVERT_Y_DIR;
  656. case Z_AXIS: return INVERT_Z_DIR;
  657. case E_AXIS: return INVERT_E0_DIR;
  658. }
  659. return 0;
  660. }
  661. uint8_t tmc2130_get_dir(uint8_t axis)
  662. {
  663. switch (axis)
  664. {
  665. case X_AXIS: return _GET_DIR_X;
  666. case Y_AXIS: return _GET_DIR_Y;
  667. case Z_AXIS: return _GET_DIR_Z;
  668. case E_AXIS: return _GET_DIR_E;
  669. }
  670. return 0;
  671. }
  672. void tmc2130_set_dir(uint8_t axis, uint8_t dir)
  673. {
  674. switch (axis)
  675. {
  676. case X_AXIS: _SET_DIR_X(dir); break;
  677. case Y_AXIS: _SET_DIR_Y(dir); break;
  678. case Z_AXIS: _SET_DIR_Z(dir); break;
  679. case E_AXIS: _SET_DIR_E(dir); break;
  680. }
  681. }
  682. void tmc2130_do_step(uint8_t axis)
  683. {
  684. switch (axis)
  685. {
  686. case X_AXIS: _DO_STEP_X; break;
  687. case Y_AXIS: _DO_STEP_Y; break;
  688. case Z_AXIS: _DO_STEP_Z; break;
  689. case E_AXIS: _DO_STEP_E; break;
  690. }
  691. }
  692. void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us)
  693. {
  694. tmc2130_set_dir(axis, dir);
  695. delayMicroseconds(100);
  696. while (steps--)
  697. {
  698. tmc2130_do_step(axis);
  699. delayMicroseconds(delay_us);
  700. }
  701. }
  702. void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution)
  703. {
  704. printf_P(PSTR("tmc2130_goto_step %d %d %d %d \n"), axis, step, dir, delay_us, microstep_resolution);
  705. uint8_t shift; for (shift = 0; shift < 8; shift++) if (microstep_resolution == (256u >> shift)) break;
  706. uint16_t cnt = 4 * (1 << (8 - shift));
  707. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  708. if (dir == 2)
  709. {
  710. dir = tmc2130_get_inv(axis)?0:1;
  711. int steps = (int)step - (int)(mscnt >> shift);
  712. if (steps < 0)
  713. {
  714. dir ^= 1;
  715. steps = -steps;
  716. }
  717. if (steps > static_cast<int>(cnt / 2))
  718. {
  719. dir ^= 1;
  720. steps = cnt - steps;
  721. }
  722. cnt = steps;
  723. }
  724. tmc2130_set_dir(axis, dir);
  725. delayMicroseconds(100);
  726. mscnt = tmc2130_rd_MSCNT(axis);
  727. while ((cnt--) && ((mscnt >> shift) != step))
  728. {
  729. tmc2130_do_step(axis);
  730. delayMicroseconds(delay_us);
  731. mscnt = tmc2130_rd_MSCNT(axis);
  732. }
  733. }
  734. void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream)
  735. {
  736. uint8_t pwr = tmc2130_get_pwr(axis);
  737. tmc2130_set_pwr(axis, 0);
  738. tmc2130_setup_chopper(axis, tmc2130_usteps2mres(256), tmc2130_current_h[axis], tmc2130_current_r[axis]);
  739. tmc2130_goto_step(axis, 0, 2, 100, 256);
  740. tmc2130_set_dir(axis, tmc2130_get_inv(axis)?0:1);
  741. for (unsigned int i = 0; i <= 255; i++)
  742. {
  743. uint32_t val = tmc2130_rd_MSCURACT(axis);
  744. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  745. int curA = (val & 0xff) | ((val << 7) & 0x8000);
  746. if (stream)
  747. {
  748. if (mscnt == i)
  749. fprintf_P(stream, PSTR("%d\t%d\n"), i, curA);
  750. else //TODO - remove this check
  751. fprintf_P(stream, PSTR("!! (i=%d MSCNT=%d)\n"), i, mscnt);
  752. }
  753. if (data) *(data++) = curA;
  754. tmc2130_do_step(axis);
  755. delayMicroseconds(100);
  756. }
  757. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  758. tmc2130_set_pwr(axis, pwr);
  759. }
  760. void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000)
  761. {
  762. // TMC2130 wave compression algorithm
  763. // optimized for minimal memory requirements
  764. printf_P(PSTR("tmc2130_set_wave %hhd %hhd\n"), axis, fac1000);
  765. if (fac1000 < TMC2130_WAVE_FAC1000_MIN) fac1000 = 0;
  766. if (fac1000 > TMC2130_WAVE_FAC1000_MAX) fac1000 = TMC2130_WAVE_FAC1000_MAX;
  767. float fac = 0;
  768. if (fac1000) fac = ((float)((uint16_t)fac1000 + 1000) / 1000); //correction factor
  769. printf_P(PSTR(" factor: %s\n"), ftostr43(fac));
  770. uint8_t vA = 0; //value of currentA
  771. uint8_t va = 0; //previous vA
  772. int8_t d0 = 0; //delta0
  773. int8_t d1 = 1; //delta1
  774. uint8_t w[4] = {1,1,1,1}; //W bits (MSLUTSEL)
  775. uint8_t x[3] = {255,255,255}; //X segment bounds (MSLUTSEL)
  776. uint8_t s = 0; //current segment
  777. int8_t b; //encoded bit value
  778. int8_t dA; //delta value
  779. int i; //microstep index
  780. uint32_t reg = 0; //tmc2130 register
  781. tmc2130_wr_MSLUTSTART(axis, 0, amp);
  782. for (i = 0; i < 256; i++)
  783. {
  784. if ((i & 0x1f) == 0)
  785. reg = 0;
  786. // calculate value
  787. if (fac == 0) // default TMC wave
  788. vA = (uint8_t)((amp+1) * sin((2*PI*i + PI)/1024) + 0.5) - 1;
  789. else // corrected wave
  790. vA = (uint8_t)(amp * pow(sin(2*PI*i/1024), fac) + 0.5);
  791. dA = vA - va; // calculate delta
  792. va = vA;
  793. b = -1;
  794. if (dA == d0) b = 0; //delta == delta0 => bit=0
  795. else if (dA == d1) b = 1; //delta == delta1 => bit=1
  796. else
  797. {
  798. if (dA < d0) // delta < delta0 => switch wbit down
  799. {
  800. //printf("dn\n");
  801. b = 0;
  802. switch (dA)
  803. {
  804. case -1: d0 = -1; d1 = 0; w[s+1] = 0; break;
  805. case 0: d0 = 0; d1 = 1; w[s+1] = 1; break;
  806. case 1: d0 = 1; d1 = 2; w[s+1] = 2; break;
  807. default: b = -1; break;
  808. }
  809. if (b >= 0) { x[s] = i; s++; }
  810. }
  811. else if (dA > d1) // delta > delta0 => switch wbit up
  812. {
  813. //printf("up\n");
  814. b = 1;
  815. switch (dA)
  816. {
  817. case 1: d0 = 0; d1 = 1; w[s+1] = 1; break;
  818. case 2: d0 = 1; d1 = 2; w[s+1] = 2; break;
  819. case 3: d0 = 2; d1 = 3; w[s+1] = 3; break;
  820. default: b = -1; break;
  821. }
  822. if (b >= 0) { x[s] = i; s++; }
  823. }
  824. }
  825. if (b < 0) break; // delta out of range (<-1 or >3)
  826. if (s > 3) break; // segment out of range (> 3)
  827. //printf("%d\n", vA);
  828. if (b == 1) reg |= 0x80000000;
  829. if ((i & 31) == 31)
  830. tmc2130_wr_MSLUT(axis, (uint8_t)(i >> 5), reg);
  831. else
  832. reg >>= 1;
  833. // printf("%3d\t%3d\t%2d\t%2d\t%2d\t%2d %08x\n", i, vA, dA, b, w[s], s, reg);
  834. }
  835. tmc2130_wr_MSLUTSEL(axis, x[0], x[1], x[2], w[0], w[1], w[2], w[3]);
  836. }
  837. void bubblesort_uint8(uint8_t* data, uint8_t size, uint8_t* data2)
  838. {
  839. uint8_t changed = 1;
  840. while (changed)
  841. {
  842. changed = 0;
  843. for (uint8_t i = 0; i < (size - 1); i++)
  844. if (data[i] > data[i+1])
  845. {
  846. uint8_t register d = data[i];
  847. data[i] = data[i+1];
  848. data[i+1] = d;
  849. if (data2)
  850. {
  851. d = data2[i];
  852. data2[i] = data2[i+1];
  853. data2[i+1] = d;
  854. }
  855. changed = 1;
  856. }
  857. }
  858. }
  859. uint8_t clusterize_uint8(uint8_t* data, uint8_t size, uint8_t* ccnt, uint8_t* cval, uint8_t tol)
  860. {
  861. uint8_t cnt = 1;
  862. uint16_t sum = data[0];
  863. uint8_t cl = 0;
  864. for (uint8_t i = 1; i < size; i++)
  865. {
  866. uint8_t d = data[i];
  867. uint8_t val = sum / cnt;
  868. uint8_t dif = 0;
  869. if (val > d) dif = val - d;
  870. else dif = d - val;
  871. if (dif <= tol)
  872. {
  873. cnt += 1;
  874. sum += d;
  875. }
  876. else
  877. {
  878. if (ccnt) ccnt[cl] = cnt;
  879. if (cval) cval[cl] = val;
  880. cnt = 1;
  881. sum = d;
  882. cl += 1;
  883. }
  884. }
  885. if (ccnt) ccnt[cl] = cnt;
  886. if (cval) cval[cl] = sum / cnt;
  887. return ++cl;
  888. }
  889. bool tmc2130_home_calibrate(uint8_t axis)
  890. {
  891. uint8_t step[16];
  892. uint8_t cnt[16];
  893. uint8_t val[16];
  894. homeaxis(axis, 16, step);
  895. bubblesort_uint8(step, 16, 0);
  896. printf_P(PSTR("sorted samples:\n"));
  897. for (uint8_t i = 0; i < 16; i++)
  898. printf_P(PSTR(" i=%2d step=%2d\n"), i, step[i]);
  899. uint8_t cl = clusterize_uint8(step, 16, cnt, val, 1);
  900. printf_P(PSTR("clusters:\n"));
  901. for (uint8_t i = 0; i < cl; i++)
  902. printf_P(PSTR(" i=%2d cnt=%2d val=%2d\n"), i, cnt[i], val[i]);
  903. bubblesort_uint8(cnt, cl, val);
  904. tmc2130_home_origin[axis] = val[cl-1];
  905. printf_P(PSTR("result value: %d\n"), tmc2130_home_origin[axis]);
  906. if (axis == X_AXIS) eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN, tmc2130_home_origin[X_AXIS]);
  907. else if (axis == Y_AXIS) eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN, tmc2130_home_origin[Y_AXIS]);
  908. return true;
  909. }
  910. #endif //TMC2130