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optimisation: correctly reset registers in tmc2130_home_exit 

Previously Z-axis would not be reset to
TMC2130_GCONF_DYNAMIC_SGSENS
in tmc2130_home_exit() when
TMC2130_STEALTH_Z is defined

Pulled configuration code into one common function
this ensures the registers are set correctly like in tmc2130_init()

Change in memory:
Flash: -206 bytes
SRAM: 0 bytes
This commit is contained in:
Guðni Már Gilbert 2023-06-11 11:10:14 +00:00 committed by DRracer
parent 60f1c2095f
commit 3842a5c98c
1 changed files with 30 additions and 43 deletions
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73
Firmware/tmc2130.cpp
View File

@ -169,6 +169,31 @@ uint16_t __tcoolthrs(uint8_t axis)
}
return 0;
}
static void tmc2130_XYZ_reg_init(uint8_t axis)
{
const bool isStealth = (tmc2130_mode == TMC2130_MODE_SILENT);
if (axis == Z_AXIS) {
#ifdef TMC2130_STEALTH_Z
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, isStealth ? 0 : __tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_DYNAMIC_SGSENS);
tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw);
tmc2130_wr_TPWMTHRS(axis, isStealth ? 0 : 0xFFFF0);
#else // TMC2130_STEALTH_Z
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#endif // TMC2130_STEALTH_Z
} else { // X Y
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, isStealth ? 0 : __tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_SGSENS);
tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw);
tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
}
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
}
void tmc2130_init(TMCInitParams params)
{
// DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("STEALTH"):_n("NORMAL"));
@ -190,30 +215,9 @@ void tmc2130_init(TMCInitParams params)
WRITE(Z_TMC2130_DIAG,HIGH);
WRITE(E0_TMC2130_DIAG,HIGH);
for (uint_least8_t axis = 0; axis < 2; axis++) // X Y axes
for (uint_least8_t axis = 0; axis < E_AXIS; axis++) // X Y Z axes
{
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw);
tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
//tmc2130_wr_THIGH(axis, TMC2130_THIGH);
}
for (uint_least8_t axis = 2; axis < 3; axis++) // Z axis
{
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
#ifndef TMC2130_STEALTH_Z
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#else //TMC2130_STEALTH_Z
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_DYNAMIC_SGSENS);
tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw);
tmc2130_wr_TPWMTHRS(axis, (tmc2130_mode == TMC2130_MODE_SILENT)?0:0xFFFF0);
#endif //TMC2130_STEALTH_Z
tmc2130_XYZ_reg_init(axis);
}
// E axis
@ -316,31 +320,14 @@ void tmc2130_home_exit()
{
printf_P(PSTR("tmc2130_home_exit tmc2130_sg_homing_axes_mask=0x%02x\n"), tmc2130_sg_homing_axes_mask);
#ifdef TMC2130_SG_HOMING
if (tmc2130_sg_homing_axes_mask & 0x03) //X or Y
if (tmc2130_sg_homing_axes_mask & (X_AXIS_MASK | Y_AXIS_MASK))
tmc2130_wait_standstill_xy(1000);
if (tmc2130_sg_homing_axes_mask)
{
for (uint8_t axis = X_AXIS, mask = X_AXIS_MASK; axis <= Z_AXIS; axis++, mask <<= 1) //X Y and Z axes
{
if (tmc2130_sg_homing_axes_mask & mask)
{
#ifndef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS))
#else //TMC2130_STEALTH_Z
if (tmc2130_mode == TMC2130_MODE_SILENT)
#endif //TMC2130_STEALTH_Z
{
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
}
else
{
// tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
}
if (tmc2130_sg_homing_axes_mask & mask) {
tmc2130_XYZ_reg_init(axis);
}
}
tmc2130_sg_homing_axes_mask = 0x00;