tmc2130.cpp 17 KB

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  1. #include "Marlin.h"
  2. #ifdef HAVE_TMC2130_DRIVERS
  3. #include "tmc2130.h"
  4. #include <SPI.h>
  5. #define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
  6. #define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
  7. #define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
  8. //externals for debuging
  9. extern float current_position[4];
  10. extern void st_get_position_xy(long &x, long &y);
  11. extern long st_get_position(uint8_t axis);
  12. //chipselect pins
  13. uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
  14. //diag pins
  15. uint8_t tmc2130_diag[4] = { X_TMC2130_DIAG, Y_TMC2130_DIAG, Z_TMC2130_DIAG, E0_TMC2130_DIAG };
  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. //axis stalled flags
  23. uint8_t tmc2130_axis_stalled[2] = {0, 0};
  24. //pwm_ampl
  25. uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_XY, TMC2130_PWM_AMPL_XY};
  26. //pwm_grad
  27. uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_XY, TMC2130_PWM_GRAD_XY};
  28. //pwm_auto
  29. uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_XY, TMC2130_PWM_AUTO_XY};
  30. //pwm_freq
  31. uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_XY, TMC2130_PWM_FREQ_XY};
  32. uint32_t tmc2131_axis_sg_pos[2] = {0, 0};
  33. uint8_t sg_homing_axes_mask = 0x00;
  34. uint8_t sg_thrs_x = TMC2130_SG_THRS_X;
  35. uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
  36. bool skip_debug_msg = false;
  37. //TMC2130 registers
  38. #define TMC2130_REG_GCONF 0x00 // 17 bits
  39. #define TMC2130_REG_GSTAT 0x01 // 3 bits
  40. #define TMC2130_REG_IOIN 0x04 // 8+8 bits
  41. #define TMC2130_REG_IHOLD_IRUN 0x10 // 5+5+4 bits
  42. #define TMC2130_REG_TPOWERDOWN 0x11 // 8 bits
  43. #define TMC2130_REG_TSTEP 0x12 // 20 bits
  44. #define TMC2130_REG_TPWMTHRS 0x13 // 20 bits
  45. #define TMC2130_REG_TCOOLTHRS 0x14 // 20 bits
  46. #define TMC2130_REG_THIGH 0x15 // 20 bits
  47. #define TMC2130_REG_XDIRECT 0x2d // 32 bits
  48. #define TMC2130_REG_VDCMIN 0x33 // 23 bits
  49. #define TMC2130_REG_MSLUT0 0x60 // 32 bits
  50. #define TMC2130_REG_MSLUT1 0x61 // 32 bits
  51. #define TMC2130_REG_MSLUT2 0x62 // 32 bits
  52. #define TMC2130_REG_MSLUT3 0x63 // 32 bits
  53. #define TMC2130_REG_MSLUT4 0x64 // 32 bits
  54. #define TMC2130_REG_MSLUT5 0x65 // 32 bits
  55. #define TMC2130_REG_MSLUT6 0x66 // 32 bits
  56. #define TMC2130_REG_MSLUT7 0x67 // 32 bits
  57. #define TMC2130_REG_MSLUTSEL 0x68 // 32 bits
  58. #define TMC2130_REG_MSLUTSTART 0x69 // 8+8 bits
  59. #define TMC2130_REG_MSCNT 0x6a // 10 bits
  60. #define TMC2130_REG_MSCURACT 0x6b // 9+9 bits
  61. #define TMC2130_REG_CHOPCONF 0x6c // 32 bits
  62. #define TMC2130_REG_COOLCONF 0x6d // 25 bits
  63. #define TMC2130_REG_DCCTRL 0x6e // 24 bits
  64. #define TMC2130_REG_DRV_STATUS 0x6f // 32 bits
  65. #define TMC2130_REG_PWMCONF 0x70 // 22 bits
  66. #define TMC2130_REG_PWM_SCALE 0x71 // 8 bits
  67. #define TMC2130_REG_ENCM_CTRL 0x72 // 2 bits
  68. #define TMC2130_REG_LOST_STEPS 0x73 // 20 bits
  69. uint16_t tmc2130_rd_TSTEP(uint8_t cs);
  70. uint16_t tmc2130_rd_MSCNT(uint8_t cs);
  71. uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect);
  72. void tmc2130_wr_CHOPCONF(uint8_t cs, 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);
  73. void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
  74. void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32);
  75. void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32);
  76. uint8_t tmc2130_axis_by_cs(uint8_t cs);
  77. uint8_t tmc2130_mres(uint16_t microstep_resolution);
  78. uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval);
  79. uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval);
  80. uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval);
  81. void tmc2130_init()
  82. {
  83. MYSERIAL.print("tmc2130_init mode=");
  84. MYSERIAL.println(tmc2130_mode, DEC);
  85. WRITE(X_TMC2130_CS, HIGH);
  86. WRITE(Y_TMC2130_CS, HIGH);
  87. WRITE(Z_TMC2130_CS, HIGH);
  88. WRITE(E0_TMC2130_CS, HIGH);
  89. SET_OUTPUT(X_TMC2130_CS);
  90. SET_OUTPUT(Y_TMC2130_CS);
  91. SET_OUTPUT(Z_TMC2130_CS);
  92. SET_OUTPUT(E0_TMC2130_CS);
  93. SET_INPUT(X_TMC2130_DIAG);
  94. SET_INPUT(Y_TMC2130_DIAG);
  95. SET_INPUT(Z_TMC2130_DIAG);
  96. SET_INPUT(E0_TMC2130_DIAG);
  97. SPI.begin();
  98. for (int i = 0; i < 2; i++) // X Y axes
  99. {
  100. uint8_t mres = tmc2130_mres(TMC2130_USTEPS_XY);
  101. tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
  102. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
  103. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
  104. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
  105. tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
  106. tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
  107. //tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
  108. }
  109. for (int i = 2; i < 3; i++) // Z axis
  110. {
  111. uint8_t mres = tmc2130_mres(TMC2130_USTEPS_Z);
  112. if (tmc2130_current_r[i] <= 31)
  113. {
  114. tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
  115. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
  116. }
  117. else
  118. {
  119. tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, TMC2130_INTPOL_Z, 0, 0);
  120. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
  121. }
  122. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
  123. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000);
  124. }
  125. for (int i = 3; i < 4; i++) // E axis
  126. {
  127. uint8_t mres = tmc2130_mres(TMC2130_USTEPS_E);
  128. tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_E, 0, 0);
  129. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
  130. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
  131. tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000);
  132. }
  133. }
  134. bool tmc2130_update_sg()
  135. {
  136. #if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW))
  137. if (sg_homing_axes_mask == 0) return false;
  138. #ifdef TMC2130_DEBUG
  139. MYSERIAL.print("tmc2130_update_sg mask=0x");
  140. MYSERIAL.print((int)sg_homing_axes_mask, 16);
  141. MYSERIAL.print(" stalledX=");
  142. MYSERIAL.print((int)tmc2130_axis_stalled[0]);
  143. MYSERIAL.print(" stalledY=");
  144. MYSERIAL.println((int)tmc2130_axis_stalled[1]);
  145. #endif //TMC2130_DEBUG
  146. for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
  147. {
  148. uint8_t mask = (X_AXIS_MASK << axis);
  149. if (sg_homing_axes_mask & mask)
  150. {
  151. if (!tmc2130_axis_stalled[axis])
  152. {
  153. uint8_t cs = tmc2130_cs[axis];
  154. uint16_t tstep = tmc2130_rd_TSTEP(cs);
  155. if (tstep < TMC2130_TCOOLTHRS)
  156. {
  157. long pos = st_get_position(axis);
  158. if (abs(pos - tmc2131_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
  159. {
  160. uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
  161. if (sg == 0)
  162. {
  163. tmc2130_axis_stalled[axis] = true;
  164. #ifdef TMC2130_DEBUG
  165. MYSERIAL.print("tmc2130_update_sg AXIS STALLED ");
  166. MYSERIAL.println((int)axis);
  167. #endif //TMC2130_DEBUG
  168. }
  169. }
  170. }
  171. }
  172. }
  173. }
  174. return true;
  175. #endif
  176. }
  177. void tmc2130_home_enter(uint8_t axes_mask)
  178. {
  179. #ifdef TMC2130_DEBUG
  180. MYSERIAL.print("tmc2130_home_enter mask=0x");
  181. MYSERIAL.println((int)axes_mask, 16);
  182. #endif //TMC2130_DEBUG
  183. #ifdef TMC2130_SG_HOMING
  184. for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
  185. {
  186. uint8_t mask = (X_AXIS_MASK << axis);
  187. if (axes_mask & mask)
  188. {
  189. uint8_t cs = tmc2130_cs[axis];
  190. sg_homing_axes_mask |= mask;
  191. tmc2131_axis_sg_pos[axis] = st_get_position(axis);
  192. tmc2130_axis_stalled[axis] = false;
  193. //Configuration to spreadCycle
  194. tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
  195. tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((axis == X_AXIS)?sg_thrs_x:sg_thrs_y) << 16);
  196. tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
  197. #ifndef TMC2130_SG_HOMING_SW
  198. tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
  199. #endif //TMC2130_SG_HOMING_SW
  200. }
  201. }
  202. #endif //TMC2130_SG_HOMING
  203. }
  204. void tmc2130_home_exit()
  205. {
  206. #ifdef TMC2130_DEBUG
  207. MYSERIAL.print("tmc2130_home_exit mask=0x");
  208. MYSERIAL.println((int)sg_homing_axes_mask, 16);
  209. #endif //TMC2130_DEBUG
  210. #ifdef TMC2130_SG_HOMING
  211. if (sg_homing_axes_mask)
  212. {
  213. for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
  214. {
  215. uint8_t mask = (X_AXIS_MASK << axis);
  216. if (sg_homing_axes_mask & mask)
  217. {
  218. if (tmc2130_mode == TMC2130_MODE_SILENT)
  219. tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
  220. else
  221. #ifdef TMC2130_SG_HOMING_SW
  222. tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
  223. #else //TMC2130_SG_HOMING_SW
  224. tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
  225. #endif //TMC2130_SG_HOMING_SW
  226. }
  227. tmc2130_axis_stalled[axis] = false;
  228. }
  229. sg_homing_axes_mask = 0x00;
  230. }
  231. #endif
  232. }
  233. void tmc2130_home_restart(uint8_t axis)
  234. {
  235. tmc2131_axis_sg_pos[axis] = st_get_position(axis);
  236. tmc2130_axis_stalled[axis] = false;
  237. }
  238. void tmc2130_check_overtemp()
  239. {
  240. const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
  241. static uint32_t checktime = 0;
  242. if (millis() - checktime > 1000 )
  243. {
  244. for (int i = 0; i < 4; i++)
  245. {
  246. uint32_t drv_status = 0;
  247. skip_debug_msg = true;
  248. tmc2130_rd(tmc2130_cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
  249. if (drv_status & ((uint32_t)1 << 26))
  250. { // BIT 26 - over temp prewarning ~120C (+-20C)
  251. SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
  252. SERIAL_ECHOLN(i);
  253. for (int j = 0; j < 4; j++)
  254. tmc2130_wr(tmc2130_cs[j], TMC2130_REG_CHOPCONF, 0x00010000);
  255. kill(TMC_OVERTEMP_MSG);
  256. }
  257. }
  258. checktime = millis();
  259. }
  260. }
  261. void tmc2130_set_current_h(uint8_t axis, uint8_t current)
  262. {
  263. MYSERIAL.print("tmc2130_set_current_h ");
  264. MYSERIAL.print((int)axis);
  265. MYSERIAL.print(" ");
  266. MYSERIAL.println((int)current);
  267. tmc2130_current_h[axis] = current;
  268. tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
  269. }
  270. void tmc2130_set_current_r(uint8_t axis, uint8_t current)
  271. {
  272. MYSERIAL.print("tmc2130_set_current_r ");
  273. MYSERIAL.print((int)axis);
  274. MYSERIAL.print(" ");
  275. MYSERIAL.println((int)current);
  276. tmc2130_current_r[axis] = current;
  277. tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
  278. }
  279. void tmc2130_print_currents()
  280. {
  281. MYSERIAL.println("tmc2130_print_currents");
  282. MYSERIAL.println("\tH\rR");
  283. MYSERIAL.print("X\t");
  284. MYSERIAL.print((int)tmc2130_current_h[0]);
  285. MYSERIAL.print("\t");
  286. MYSERIAL.println((int)tmc2130_current_r[0]);
  287. MYSERIAL.print("Y\t");
  288. MYSERIAL.print((int)tmc2130_current_h[1]);
  289. MYSERIAL.print("\t");
  290. MYSERIAL.println((int)tmc2130_current_r[1]);
  291. MYSERIAL.print("Z\t");
  292. MYSERIAL.print((int)tmc2130_current_h[2]);
  293. MYSERIAL.print("\t");
  294. MYSERIAL.println((int)tmc2130_current_r[2]);
  295. MYSERIAL.print("E\t");
  296. MYSERIAL.print((int)tmc2130_current_h[3]);
  297. MYSERIAL.print("\t");
  298. MYSERIAL.println((int)tmc2130_current_r[3]);
  299. }
  300. void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
  301. {
  302. MYSERIAL.print("tmc2130_set_pwm_ampl ");
  303. MYSERIAL.print((int)axis);
  304. MYSERIAL.print(" ");
  305. MYSERIAL.println((int)pwm_ampl);
  306. tmc2130_pwm_ampl[axis] = pwm_ampl;
  307. if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
  308. tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
  309. }
  310. void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
  311. {
  312. MYSERIAL.print("tmc2130_set_pwm_grad ");
  313. MYSERIAL.print((int)axis);
  314. MYSERIAL.print(" ");
  315. MYSERIAL.println((int)pwm_grad);
  316. tmc2130_pwm_grad[axis] = pwm_grad;
  317. if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
  318. tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
  319. }
  320. uint16_t tmc2130_rd_TSTEP(uint8_t cs)
  321. {
  322. uint32_t val32 = 0;
  323. tmc2130_rd(cs, TMC2130_REG_TSTEP, &val32);
  324. if (val32 & 0x000f0000) return 0xffff;
  325. return val32 & 0xffff;
  326. }
  327. uint16_t tmc2130_rd_MSCNT(uint8_t cs)
  328. {
  329. uint32_t val32 = 0;
  330. tmc2130_rd(cs, TMC2130_REG_MSCNT, &val32);
  331. return val32 & 0x3ff;
  332. }
  333. uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs)
  334. {
  335. uint32_t val32 = 0;
  336. tmc2130_rd(cs, TMC2130_REG_DRV_STATUS, &val32);
  337. return val32;
  338. }
  339. void tmc2130_wr_CHOPCONF(uint8_t cs, 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)
  340. {
  341. uint32_t val = 0;
  342. val |= (uint32_t)(toff & 15);
  343. val |= (uint32_t)(hstrt & 7) << 4;
  344. val |= (uint32_t)(hend & 15) << 7;
  345. val |= (uint32_t)(fd3 & 1) << 11;
  346. val |= (uint32_t)(disfdcc & 1) << 12;
  347. val |= (uint32_t)(rndtf & 1) << 13;
  348. val |= (uint32_t)(chm & 1) << 14;
  349. val |= (uint32_t)(tbl & 3) << 15;
  350. val |= (uint32_t)(vsense & 1) << 17;
  351. val |= (uint32_t)(vhighfs & 1) << 18;
  352. val |= (uint32_t)(vhighchm & 1) << 19;
  353. val |= (uint32_t)(sync & 15) << 20;
  354. val |= (uint32_t)(mres & 15) << 24;
  355. val |= (uint32_t)(intpol & 1) << 28;
  356. val |= (uint32_t)(dedge & 1) << 29;
  357. val |= (uint32_t)(diss2g & 1) << 30;
  358. tmc2130_wr(cs, TMC2130_REG_CHOPCONF, val);
  359. }
  360. //void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
  361. void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel)
  362. {
  363. uint32_t val = 0;
  364. val |= (uint32_t)(pwm_ampl & 255);
  365. val |= (uint32_t)(pwm_grad & 255) << 8;
  366. val |= (uint32_t)(pwm_freq & 3) << 16;
  367. val |= (uint32_t)(pwm_auto & 1) << 18;
  368. val |= (uint32_t)(pwm_symm & 1) << 19;
  369. val |= (uint32_t)(freewheel & 3) << 20;
  370. tmc2130_wr(cs, TMC2130_REG_PWMCONF, val);
  371. // tmc2130_wr(cs, 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
  372. }
  373. void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32)
  374. {
  375. tmc2130_wr(cs, TMC2130_REG_TPWMTHRS, val32);
  376. }
  377. void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32)
  378. {
  379. tmc2130_wr(cs, TMC2130_REG_THIGH, val32);
  380. }
  381. #ifdef TMC2130_DEBUG
  382. uint8_t tmc2130_axis_by_cs(uint8_t cs)
  383. {
  384. switch (cs)
  385. {
  386. case X_TMC2130_CS: return 0;
  387. case Y_TMC2130_CS: return 1;
  388. case Z_TMC2130_CS: return 2;
  389. case E0_TMC2130_CS: return 3;
  390. }
  391. return -1;
  392. }
  393. #endif //TMC2130_DEBUG
  394. uint8_t tmc2130_mres(uint16_t microstep_resolution)
  395. {
  396. if (microstep_resolution == 256) return 0b0000;
  397. if (microstep_resolution == 128) return 0b0001;
  398. if (microstep_resolution == 64) return 0b0010;
  399. if (microstep_resolution == 32) return 0b0011;
  400. if (microstep_resolution == 16) return 0b0100;
  401. if (microstep_resolution == 8) return 0b0101;
  402. if (microstep_resolution == 4) return 0b0110;
  403. if (microstep_resolution == 2) return 0b0111;
  404. if (microstep_resolution == 1) return 0b1000;
  405. return 0;
  406. }
  407. uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval)
  408. {
  409. uint8_t stat = tmc2130_txrx(cs, addr | 0x80, wval, 0);
  410. #ifdef TMC2130_DEBUG_WR
  411. MYSERIAL.print("tmc2130_wr(");
  412. MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC);
  413. MYSERIAL.print(", 0x");
  414. MYSERIAL.print((unsigned char)addr, HEX);
  415. MYSERIAL.print(", 0x");
  416. MYSERIAL.print((unsigned long)wval, HEX);
  417. MYSERIAL.print(")=0x");
  418. MYSERIAL.println((unsigned char)stat, HEX);
  419. #endif //TMC2130_DEBUG_WR
  420. return stat;
  421. }
  422. uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval)
  423. {
  424. uint32_t val32 = 0;
  425. uint8_t stat = tmc2130_txrx(cs, addr, 0x00000000, &val32);
  426. if (rval != 0) *rval = val32;
  427. #ifdef TMC2130_DEBUG_RD
  428. if (!skip_debug_msg)
  429. {
  430. MYSERIAL.print("tmc2130_rd(");
  431. MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC);
  432. MYSERIAL.print(", 0x");
  433. MYSERIAL.print((unsigned char)addr, HEX);
  434. MYSERIAL.print(", 0x");
  435. MYSERIAL.print((unsigned long)val32, HEX);
  436. MYSERIAL.print(")=0x");
  437. MYSERIAL.println((unsigned char)stat, HEX);
  438. }
  439. skip_debug_msg = false;
  440. #endif //TMC2130_DEBUG_RD
  441. return stat;
  442. }
  443. uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval)
  444. {
  445. //datagram1 - request
  446. SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
  447. digitalWrite(cs, LOW);
  448. SPI.transfer(addr); // address
  449. SPI.transfer((wval >> 24) & 0xff); // MSB
  450. SPI.transfer((wval >> 16) & 0xff);
  451. SPI.transfer((wval >> 8) & 0xff);
  452. SPI.transfer(wval & 0xff); // LSB
  453. digitalWrite(cs, HIGH);
  454. SPI.endTransaction();
  455. //datagram2 - response
  456. SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
  457. digitalWrite(cs, LOW);
  458. uint8_t stat = SPI.transfer(0); // status
  459. uint32_t val32 = 0;
  460. val32 = SPI.transfer(0); // MSB
  461. val32 = (val32 << 8) | SPI.transfer(0);
  462. val32 = (val32 << 8) | SPI.transfer(0);
  463. val32 = (val32 << 8) | SPI.transfer(0); // LSB
  464. digitalWrite(cs, HIGH);
  465. SPI.endTransaction();
  466. if (rval != 0) *rval = val32;
  467. return stat;
  468. }
  469. #endif //HAVE_TMC2130_DRIVERS