tmc2130: chopconf: Add constructor to ChopConfU
Removed redundant initialisations which the constructor now takes care of Change in memory: Flash: +8 bytes SRAM: 0 bytes
This commit is contained in:
Guðni Már Gilbert
DRracer
parent
bb8ebbb5e3
commit
664d4e2bbe
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@ -14,6 +14,19 @@
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#define TMC2130_GCONF_DYNAMIC_SGSENS 0x00000184 // stealthChop/spreadCycle (dynamic) with stallguard (stall activates DIAG0 and DIAG1 [open collector])
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#define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
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#ifdef TMC2130_DEDGE_STEPPING
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static constexpr uint8_t default_dedge_bit = 1;
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#define _DO_STEP_X TOGGLE(X_STEP_PIN)
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#define _DO_STEP_Y TOGGLE(Y_STEP_PIN)
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#define _DO_STEP_Z TOGGLE(Z_STEP_PIN)
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#define _DO_STEP_E TOGGLE(E0_STEP_PIN)
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#else // !TMC2130_DEDGE_STEPPING
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static constexpr uint8_t default_dedge_bit = 0;
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#define _DO_STEP_X { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); }
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#define _DO_STEP_Y { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); }
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#define _DO_STEP_Z { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); }
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#define _DO_STEP_E { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); }
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#endif // TMC2130_DEDGE_STEPPING
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//mode
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uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
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@ -24,6 +37,51 @@ uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
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//running currents for homing
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static uint8_t tmc2130_current_r_home[4] = TMC2130_CURRENTS_R_HOME;
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union ChopConfU {
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struct __attribute__((packed)) S {
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uint32_t toff : 4;
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uint32_t hstrt : 3;
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uint32_t hend : 4;
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uint32_t fd : 1;
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uint32_t disfdcc : 1;
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uint32_t rndtf : 1;
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uint32_t chm : 1;
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uint32_t tbl : 2;
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uint32_t vsense : 1;
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uint32_t vhighfs : 1;
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uint32_t vhighchm : 1;
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uint32_t sync : 4;
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uint32_t mres : 4;
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uint32_t intpol : 1;
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uint32_t dedge : 1;
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uint32_t diss2g : 1;
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uint32_t reserved : 1;
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constexpr S(bool vsense, uint8_t mres)
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: toff(TMC2130_TOFF_XYZ)
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, hstrt(5)
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, hend(1)
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, fd(0)
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, disfdcc(0)
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, rndtf(0)
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, chm(0)
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, tbl(2)
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, vsense(vsense)
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, vhighfs(0)
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, vhighchm(0)
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, sync(0)
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, mres(mres)
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, intpol(0)
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, dedge(default_dedge_bit)
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, diss2g(0)
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, reserved(0) {}
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} s;
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uint32_t dw;
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constexpr ChopConfU(bool vsense, uint8_t mres)
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: s(vsense, mres) {}
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};
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static_assert(sizeof(ChopConfU::S) == 4);
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static_assert(sizeof(ChopConfU) == 4);
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union PWMConfU {
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struct __attribute__((packed)) S {
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uint32_t pwm_ampl : 8; // User defined amplitude (offset)
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@ -160,20 +218,6 @@ static ShortTimer tmc2130_overtemp_timer;
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#define _SET_DIR_Z(dir) WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR)
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#define _SET_DIR_E(dir) WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR)
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#ifdef TMC2130_DEDGE_STEPPING
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static constexpr uint8_t default_dedge_bit = 1;
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#define _DO_STEP_X TOGGLE(X_STEP_PIN)
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#define _DO_STEP_Y TOGGLE(Y_STEP_PIN)
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#define _DO_STEP_Z TOGGLE(Z_STEP_PIN)
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#define _DO_STEP_E TOGGLE(E0_STEP_PIN)
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#else // !TMC2130_DEDGE_STEPPING
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static constexpr uint8_t default_dedge_bit = 0;
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#define _DO_STEP_X { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); }
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#define _DO_STEP_Y { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); }
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#define _DO_STEP_Z { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); }
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#define _DO_STEP_E { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); }
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#endif // TMC2130_DEDGE_STEPPING
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uint16_t tmc2130_rd_TSTEP(uint8_t axis);
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uint16_t tmc2130_rd_MSCNT(uint8_t axis);
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uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
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@ -440,65 +484,29 @@ static constexpr bool getIntpolBit([[maybe_unused]]const uint8_t axis, const uin
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void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
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{
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union ChopConfU {
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struct __attribute__((packed)) S {
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uint32_t toff : 4;
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uint32_t hstrt : 3;
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uint32_t hend : 4;
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uint32_t fd : 1;
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uint32_t disfdcc : 1;
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uint32_t rndtf : 1;
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uint32_t chm : 1;
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uint32_t tbl : 2;
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uint32_t vsense : 1;
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uint32_t vhighfs : 1;
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uint32_t vhighchm : 1;
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uint32_t sync : 4;
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uint32_t mres : 4;
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uint32_t intpol : 1;
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uint32_t dedge : 1;
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uint32_t diss2g : 1;
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uint32_t reserved : 1;
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} s;
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uint32_t dw;
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} chopconf;
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static_assert(sizeof(ChopConfU::S) == 4);
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static_assert(sizeof(ChopConfU) == 4);
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chopconf.dw = 0; // Zero initialise
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chopconf.s.intpol = getIntpolBit(axis, mres);
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chopconf.s.dedge = default_dedge_bit;
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chopconf.s.toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
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chopconf.s.hstrt = tmc2130_chopper_config[axis].hstr; // initial 4, modified to 5
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chopconf.s.hend = tmc2130_chopper_config[axis].hend; // original value = 1
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chopconf.s.fd = 0;
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chopconf.s.disfdcc = 0;
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chopconf.s.rndtf = 0; //random off time
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chopconf.s.chm = 0; //spreadCycle
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chopconf.s.tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
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chopconf.s.vsense = 0;
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chopconf.s.vhighfs = 0;
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chopconf.s.vhighchm = 0;
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chopconf.s.sync = 0;
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chopconf.s.mres = mres;
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#ifdef TMC2130_CNSTOFF_E
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if (axis == E_AXIS) {
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chopconf.s.hstrt = 0; // fd0..2
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chopconf.s.fd = 0; // fd3
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chopconf.s.hend = 0; // sine wave offset
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chopconf.s.chm = 0; // constant off time mod
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}
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#endif //TMC2130_CNSTOFF_E
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if (current_r <= 31)
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{
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chopconf.s.vsense = 1;
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bool vsense = 0;
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if (current_r <= 31) {
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vsense = 1;
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} else {
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current_r >>= 1;
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current_h >>= 1;
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}
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ChopConfU chopconf = ChopConfU(vsense, mres);
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chopconf.s.intpol = getIntpolBit(axis, mres);
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chopconf.s.toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
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chopconf.s.hstrt = tmc2130_chopper_config[axis].hstr; // initial 4, modified to 5
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chopconf.s.hend = tmc2130_chopper_config[axis].hend; // original value = 1
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chopconf.s.tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
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#ifdef TMC2130_CNSTOFF_E
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if (axis == E_AXIS) {
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chopconf.s.hstrt = 0; // fd0..2
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chopconf.s.hend = 0; // sine wave offset
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}
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#endif //TMC2130_CNSTOFF_E
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tmc2130_wr_CHOPCONF(axis, chopconf.dw);
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tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f));
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}
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