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Merge pull request #4134 from gudnimg/tmc2130_home_exit-opt 

tmc2130: simplify parsing axis mask
This commit is contained in:
Alex Voinea 2023-04-12 21:35:46 +02:00 committed by GitHub
parent c16e7733e9 339c080b19
commit 6c6f98fb03
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 5 additions and 8 deletions
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13
Firmware/tmc2130.cpp
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@ -268,11 +268,10 @@ void tmc2130_home_enter(uint8_t axes_mask)
{ {
printf_P(PSTR("tmc2130_home_enter(axes_mask=0x%02x)\n"), axes_mask); printf_P(PSTR("tmc2130_home_enter(axes_mask=0x%02x)\n"), axes_mask);
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
if (axes_mask & 0x03) //X or Y if (axes_mask & (X_AXIS_MASK | Y_AXIS_MASK)) //X or Y
tmc2130_wait_standstill_xy(1000); tmc2130_wait_standstill_xy(1000);
for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes for (uint8_t axis = X_AXIS, mask = X_AXIS_MASK; axis <= Z_AXIS; axis++, mask <<= 1) //X Y and Z axes
{ {
uint8_t mask = (X_AXIS_MASK << axis);
if (axes_mask & mask) if (axes_mask & mask)
{ {
tmc2130_sg_homing_axes_mask |= mask; tmc2130_sg_homing_axes_mask |= mask;
@ -281,8 +280,7 @@ void tmc2130_home_enter(uint8_t axes_mask)
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16)); tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis)); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]); tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]);
if (mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK)) tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
} }
} }
#endif //TMC2130_SG_HOMING #endif //TMC2130_SG_HOMING
@ -296,10 +294,9 @@ void tmc2130_home_exit()
tmc2130_wait_standstill_xy(1000); tmc2130_wait_standstill_xy(1000);
if (tmc2130_sg_homing_axes_mask) if (tmc2130_sg_homing_axes_mask)
{ {
for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes for (uint8_t axis = X_AXIS, mask = X_AXIS_MASK; axis <= Z_AXIS; axis++, mask <<= 1) //X Y and Z axes
{ {
uint8_t mask = (X_AXIS_MASK << axis); if (tmc2130_sg_homing_axes_mask & mask)
if (tmc2130_sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
{ {
#ifndef TMC2130_STEALTH_Z #ifndef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS)) if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS))