optimisation: use union in for TMC2130 PWMCONF
Simplify writing the value to PWMCONF by gathering all the bits into one dword. Change in memory: Flash: -128 bytes SRAM: 0 bytes
This commit is contained in:
Guðni Már Gilbert
DRracer
parent
06100e366c
commit
ae1a7898dc
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@ -24,19 +24,48 @@ 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 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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uint32_t pwm_grad : 8; // User defined amplitude (gradient) or regulation loop gradient
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uint32_t pwm_freq0 : 1; // PWM frequency selection
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uint32_t pwm_freq1 : 1;
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uint32_t pwm_autoscale : 1; // PWM automatic amplitude scaling
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uint32_t pwm_symmetric : 1; // Currently always zero
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uint32_t freewheel0 : 1; // Currently always zero
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uint32_t freewheel1 : 1; // Currently always zero
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uint32_t reserved : 10; // Set to zero
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} s;
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uint32_t dw;
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constexpr PWMConfU(uint32_t val)
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: dw(val) {}
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};
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static_assert(sizeof(PWMConfU::S) == 4);
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static_assert(sizeof(PWMConfU) == 4);
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//pwm_ampl
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static uint8_t tmc2130_pwm_ampl[4] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y, TMC2130_PWM_AMPL_Z, TMC2130_PWM_AMPL_E};
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//pwm_grad
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static uint8_t tmc2130_pwm_grad[4] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y, TMC2130_PWM_GRAD_Z, TMC2130_PWM_GRAD_E};
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//pwm_auto
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static uint8_t tmc2130_pwm_auto[4] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y, TMC2130_PWM_AUTO_Z, TMC2130_PWM_AUTO_E};
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//pwm_freq
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static uint8_t tmc2130_pwm_freq[4] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y, TMC2130_PWM_FREQ_Z, TMC2130_PWM_FREQ_E};
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/// Helper function to set bit shifts in one line
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constexpr uint32_t PWMCONF_REG(uint32_t PWM_AMPL, uint32_t PWM_GRAD, uint32_t PWM_FREQ, uint32_t PWM_AUTO)
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{
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return uint32_t((PWM_AMPL << 0U) | (PWM_GRAD<< 8U) | (PWM_FREQ << 16U) | (PWM_AUTO << 18U));
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}
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static constexpr uint32_t PWM_AMPL[NUM_AXIS] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y, TMC2130_PWM_AMPL_Z, TMC2130_PWM_AMPL_E};
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static constexpr uint32_t PWM_GRAD[NUM_AXIS] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y, TMC2130_PWM_GRAD_Z, TMC2130_PWM_GRAD_E};
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static constexpr uint32_t PWM_FREQ[NUM_AXIS] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y, TMC2130_PWM_FREQ_Z, TMC2130_PWM_FREQ_E};
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static constexpr uint32_t PWM_AUTO[NUM_AXIS] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y, TMC2130_PWM_AUTO_Z, TMC2130_PWM_AUTO_E};
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static PWMConfU pwmconf[NUM_AXIS] = {
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PWMConfU(PWMCONF_REG(PWM_AMPL[X_AXIS], PWM_GRAD[X_AXIS], PWM_FREQ[X_AXIS], PWM_AUTO[X_AXIS])),
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PWMConfU(PWMCONF_REG(PWM_AMPL[Y_AXIS], PWM_GRAD[Y_AXIS], PWM_FREQ[Y_AXIS], PWM_AUTO[Y_AXIS])),
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PWMConfU(PWMCONF_REG(PWM_AMPL[Z_AXIS], PWM_GRAD[Z_AXIS], PWM_FREQ[Z_AXIS], PWM_AUTO[Z_AXIS])),
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PWMConfU(PWMCONF_REG(PWM_AMPL[E_AXIS], PWM_GRAD[E_AXIS], PWM_FREQ[E_AXIS], PWM_AUTO[E_AXIS]))
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};
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// E-axis PWMCONF setting when using E-cool mode. Can be disabled/enabled at run time.
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static constexpr PWMConfU pwmconf_Ecool = PWMConfU(PWMCONF_REG(TMC2130_PWM_AMPL_Ecool, TMC2130_PWM_GRAD_Ecool, PWM_FREQ[E_AXIS], TMC2130_PWM_AUTO_Ecool));
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uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
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uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
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static uint8_t tmc2130_sg_thr_home[4] = TMC2130_SG_THRS_HOME;
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@ -117,7 +146,7 @@ uint16_t tmc2130_rd_MSCNT(uint8_t axis);
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uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
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void tmc2130_wr_CHOPCONF(uint8_t axis, uint32_t conf);
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void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
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void tmc2130_wr_PWMCONF(uint8_t axis, uint32_t conf);
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void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32);
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void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32);
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@ -168,7 +197,7 @@ void tmc2130_init(TMCInitParams params)
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tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
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tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
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tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
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tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
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tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw);
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tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
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//tmc2130_wr_THIGH(axis, TMC2130_THIGH);
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}
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@ -182,33 +211,32 @@ void tmc2130_init(TMCInitParams params)
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tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
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tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
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tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_DYNAMIC_SGSENS);
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tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
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tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw);
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tmc2130_wr_TPWMTHRS(axis, (tmc2130_mode == TMC2130_MODE_SILENT)?0:0xFFFF0);
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#endif //TMC2130_STEALTH_Z
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}
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for (uint_least8_t axis = 3; axis < 4; axis++) // E axis
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{
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tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
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tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
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// E axis
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tmc2130_setup_chopper(E_AXIS, tmc2130_mres[E_AXIS], tmc2130_current_h[E_AXIS], tmc2130_current_r[E_AXIS]);
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tmc2130_wr(E_AXIS, TMC2130_REG_TPOWERDOWN, 0x00000000);
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#ifndef TMC2130_STEALTH_E
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if( ! params.enableECool ){
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tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
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} else {
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tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
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tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
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tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
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tmc2130_wr_PWMCONF(axis, TMC2130_PWM_AMPL_Ecool, TMC2130_PWM_GRAD_Ecool, tmc2130_pwm_freq[axis], TMC2130_PWM_AUTO_Ecool, 0, 0);
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tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS_E);
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SERIAL_ECHOLNRPGM(eMotorCurrentScalingEnabled);
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}
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if( ! params.enableECool ){
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tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
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} else {
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tmc2130_wr(E_AXIS, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[E_AXIS]) << 16));
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tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0);
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tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
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tmc2130_wr_PWMCONF(E_AXIS, pwmconf_Ecool.dw);
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tmc2130_wr_TPWMTHRS(E_AXIS, TMC2130_TPWMTHRS_E);
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SERIAL_ECHOLNRPGM(eMotorCurrentScalingEnabled);
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}
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#else //TMC2130_STEALTH_E
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tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
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tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
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tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
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tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
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tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
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tmc2130_wr(E_AXIS, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[E_AXIS]) << 16));
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tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0);
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tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
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tmc2130_wr_PWMCONF(E_AXIS, pwmconf[E_AXIS].dw);
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tmc2130_wr_TPWMTHRS(E_AXIS, TMC2130_TPWMTHRS);
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#endif //TMC2130_STEALTH_E
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}
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#ifdef TMC2130_LINEARITY_CORRECTION
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#ifdef TMC2130_LINEARITY_CORRECTION_XYZ
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@ -304,7 +332,6 @@ void tmc2130_home_exit()
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{
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tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
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tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
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// tmc2130_wr_PWMCONF(i, tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
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}
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else
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{
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@ -487,18 +514,16 @@ void tmc2130_print_currents()
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void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
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{
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// DBG(_n("tmc2130_set_pwm_ampl(axis=%d, pwm_ampl=%d\n"), axis, pwm_ampl);
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tmc2130_pwm_ampl[axis] = pwm_ampl;
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if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
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tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
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pwmconf[axis].s.pwm_ampl = pwm_ampl;
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if (((axis == X_AXIS) || (axis == Y_AXIS)) && (tmc2130_mode == TMC2130_MODE_SILENT))
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tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw);
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}
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void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
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{
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// DBG(_n("tmc2130_set_pwm_grad(axis=%d, pwm_grad=%d\n"), axis, pwm_grad);
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tmc2130_pwm_grad[axis] = pwm_grad;
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if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
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tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
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pwmconf[axis].s.pwm_grad = pwm_grad;
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if (((axis == X_AXIS) || (axis == Y_AXIS)) && (tmc2130_mode == TMC2130_MODE_SILENT))
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tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw);
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}
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uint16_t tmc2130_rd_TSTEP(uint8_t axis)
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@ -557,18 +582,9 @@ void tmc2130_wr_CHOPCONF(uint8_t axis, uint32_t conf)
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tmc2130_wr(axis, TMC2130_REG_CHOPCONF, conf);
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}
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//void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
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void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel)
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void tmc2130_wr_PWMCONF(uint8_t axis, uint32_t conf)
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{
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uint32_t val = 0;
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val |= (uint32_t)(pwm_ampl & 255);
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val |= (uint32_t)(pwm_grad & 255) << 8;
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val |= (uint32_t)(pwm_freq & 3) << 16;
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val |= (uint32_t)(pwm_auto & 1) << 18;
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val |= (uint32_t)(pwm_symm & 1) << 19;
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val |= (uint32_t)(freewheel & 3) << 20;
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tmc2130_wr(axis, TMC2130_REG_PWMCONF, val);
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// tmc2130_wr(axis, 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
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tmc2130_wr(axis, TMC2130_REG_PWMCONF, conf);
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}
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void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32)
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