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tmc2130: chopconf: add comments to structure

This commit is contained in:
Guðni Már Gilbert 2023-07-22 15:43:28 +00:00 committed by DRracer
parent ed13d008d9
commit 0ab10a9df6
1 changed files with 19 additions and 19 deletions
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38
Firmware/tmc2130.cpp
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@ -46,31 +46,31 @@ MotorCurrents currents[NUM_AXIS] = {
union ChopConfU { union ChopConfU {
struct __attribute__((packed)) S { struct __attribute__((packed)) S {
uint32_t toff : 4; uint32_t toff : 4; // Off time and driver enable
uint32_t hstrt : 3; uint32_t hstrt : 3; // Hysteresis start value added to HEND
uint32_t hend : 4; uint32_t hend : 4; // HEND hysteresis low value (chm = 0) or OFFSET sine wave offset (chm = 1)
uint32_t fd : 1; uint32_t fd : 1;
uint32_t disfdcc : 1; uint32_t disfdcc : 1; // Fast decay mode
uint32_t rndtf : 1; uint32_t rndtf : 1; // Random TOFF time
uint32_t chm : 1; uint32_t chm : 1; // Chopper mode
uint32_t tbl : 2; uint32_t tbl : 2; // Blank time select
uint32_t vsense : 1; uint32_t vsense : 1; // Sense resistor voltage based current scaling
uint32_t vhighfs : 1; uint32_t vhighfs : 1; // High velocity fullstep selection
uint32_t vhighchm : 1; uint32_t vhighchm : 1; // High velocity chopper mode
uint32_t sync : 4; uint32_t sync : 4; // PWM synchronization clock
uint32_t mres : 4; uint32_t mres : 4; // Micro step resolution
uint32_t intpol : 1; uint32_t intpol : 1; // Interpolation to 256 microsteps
uint32_t dedge : 1; uint32_t dedge : 1; // Enable double edgestep pulses
uint32_t diss2g : 1; uint32_t diss2g : 1; // Short to GND protection disable
uint32_t reserved : 1; uint32_t reserved : 1; // Reserved, set to 0
constexpr S(bool vsense, uint8_t mres) constexpr S(bool vsense, uint8_t mres)
: toff(TMC2130_TOFF_XYZ) : toff(TMC2130_TOFF_XYZ)
, hstrt(5) , hstrt(5)
, hend(1) , hend(1)
, fd(0) , fd(0)
, disfdcc(0) , disfdcc(0)
, rndtf(0) , rndtf(0) // Chopper off time is fixed as set by TOFF
, chm(0) , chm(0) // Standard mode (spreadCycle)
, tbl(2) , tbl(2)
, vsense(vsense) , vsense(vsense)
, vhighfs(0) , vhighfs(0)
@ -79,7 +79,7 @@ union ChopConfU {
, mres(mres) , mres(mres)
, intpol(0) , intpol(0)
, dedge(default_dedge_bit) , dedge(default_dedge_bit)
, diss2g(0) , diss2g(0) // Short to GND protection is on
, reserved(0) {} , reserved(0) {}
} s; } s;
uint32_t dw; uint32_t dw;