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tmc2130: chopconf: simplify intpol config 

Pull the preprocessor code outside tmc2130_setup_chopper

No change in memory
This commit is contained in:
Guðni Már Gilbert 2023-07-19 16:16:56 +00:00 committed by DRracer
parent 2d2ab6e889
commit bb8ebbb5e3
1 changed files with 20 additions and 18 deletions
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36
Firmware/tmc2130.cpp
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@ -423,6 +423,21 @@ void tmc2130_check_overtemp()
} }
} }
/// Helper function to determine the value of the CHOPCONF intpol flag
static constexpr bool getIntpolBit([[maybe_unused]]const uint8_t axis, const uint8_t mres) {
#if defined(TMC2130_INTPOL_E) && (TMC2130_INTPOL_E == 0)
if (axis == E_AXIS) return 0;
#endif
#if defined(TMC2130_INTPOL_XY) && (TMC2130_INTPOL_XY == 0)
if (axis == X_AXIS || axis == Y_AXIS) return 0;
#endif
#if defined(TMC2130_INTPOL_Z) && (TMC2130_INTPOL_Z == 0)
if (axis == Z_AXIS) return 0;
#endif
return (mres != 0); // intpol to 256 only if microsteps aren't 256
}
void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r) void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
{ {
union ChopConfU { union ChopConfU {
@ -452,7 +467,7 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
chopconf.dw = 0; // Zero initialise chopconf.dw = 0; // Zero initialise
chopconf.s.intpol = (mres != 0); // intpol to 256 only if microsteps aren't 256 chopconf.s.intpol = getIntpolBit(axis, mres);
chopconf.s.dedge = default_dedge_bit; chopconf.s.dedge = default_dedge_bit;
chopconf.s.toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz) chopconf.s.toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
chopconf.s.hstrt = tmc2130_chopper_config[axis].hstr; // initial 4, modified to 5 chopconf.s.hstrt = tmc2130_chopper_config[axis].hstr; // initial 4, modified to 5
@ -467,28 +482,15 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
chopconf.s.vhighchm = 0; chopconf.s.vhighchm = 0;
chopconf.s.sync = 0; chopconf.s.sync = 0;
chopconf.s.mres = mres; chopconf.s.mres = mres;
if (axis == E_AXIS)
{
#if defined(TMC2130_INTPOL_E) && (TMC2130_INTPOL_E == 0)
chopconf.s.intpol = 0;
#endif
#ifdef TMC2130_CNSTOFF_E #ifdef TMC2130_CNSTOFF_E
if (axis == E_AXIS) {
chopconf.s.hstrt = 0; // fd0..2 chopconf.s.hstrt = 0; // fd0..2
chopconf.s.fd = 0; // fd3 chopconf.s.fd = 0; // fd3
chopconf.s.hend = 0; // sine wave offset chopconf.s.hend = 0; // sine wave offset
chopconf.s.chm = 0; // constant off time mod chopconf.s.chm = 0; // constant off time mod
#endif //TMC2130_CNSTOFF_E
} }
#if defined(TMC2130_INTPOL_XY) && (TMC2130_INTPOL_XY == 0) #endif //TMC2130_CNSTOFF_E
else if (axis == X_AXIS || axis == Y_AXIS) {
chopconf.s.intpol = 0;
}
#endif
#if defined(TMC2130_INTPOL_Z) && (TMC2130_INTPOL_Z == 0)
else if (axis == Z_AXIS) {
chopconf.s.intpol = 0;
}
#endif
if (current_r <= 31) if (current_r <= 31)
{ {
chopconf.s.vsense = 1; chopconf.s.vsense = 1;