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Merge pull request #4601 from leptun/MK3_TMC_restore_currents_post_home 

Mk3 TMC restore currents post home
This commit is contained in:
3d-gussner 2024-02-19 17:08:24 +01:00 committed by GitHub
parent f80fb4c17c ccb956eae4
commit c5a036d817
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GPG Key ID: B5690EEEBB952194
2 changed files with 32 additions and 41 deletions
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61
Firmware/tmc2130.cpp
View File

@ -30,18 +30,25 @@ static constexpr uint8_t default_dedge_bit = 0;
//mode
uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
//running currents
uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
static constexpr uint8_t tmc2130_default_current_h[4] = TMC2130_CURRENTS_H;
//running currents
static constexpr uint8_t tmc2130_default_current_r[4] = TMC2130_CURRENTS_R;
//running currents for homing
static uint8_t tmc2130_current_r_home[4] = TMC2130_CURRENTS_R_HOME;
static constexpr uint8_t tmc2130_current_r_home[4] = TMC2130_CURRENTS_R_HOME;
static constexpr MotorCurrents homing_currents_P[NUM_AXIS] PROGMEM = {
MotorCurrents(tmc2130_current_r_home[0], tmc2130_current_r_home[0]),
MotorCurrents(tmc2130_current_r_home[1], tmc2130_current_r_home[1]),
MotorCurrents(tmc2130_current_r_home[2], tmc2130_current_r_home[2]),
MotorCurrents(tmc2130_current_r_home[3], tmc2130_current_r_home[3])
};
MotorCurrents currents[NUM_AXIS] = {
MotorCurrents(tmc2130_current_r[0], tmc2130_current_h[0]),
MotorCurrents(tmc2130_current_r[1], tmc2130_current_h[1]),
MotorCurrents(tmc2130_current_r[2], tmc2130_current_h[2]),
MotorCurrents(tmc2130_current_r[3], tmc2130_current_h[3])
MotorCurrents(tmc2130_default_current_r[0], tmc2130_default_current_h[0]),
MotorCurrents(tmc2130_default_current_r[1], tmc2130_default_current_h[1]),
MotorCurrents(tmc2130_default_current_r[2], tmc2130_default_current_h[2]),
MotorCurrents(tmc2130_default_current_r[3], tmc2130_default_current_h[3])
};
union ChopConfU {
@ -422,8 +429,8 @@ void tmc2130_home_enter(uint8_t axes_mask)
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
currents[axis].setiRun(tmc2130_current_r_home[axis]);
tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
MotorCurrents curr(homing_currents_P[axis]);
tmc2130_setup_chopper(axis, tmc2130_mres[axis], &curr);
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
}
}
@ -519,17 +526,12 @@ static constexpr bool getIntpolBit([[maybe_unused]]const uint8_t axis, const uin
return (mres != 0); // intpol to 256 only if microsteps aren't 256
}
static void SetCurrents(const uint8_t axis) {
uint8_t iHold = currents[axis].getiHold();
const uint8_t iRun = currents[axis].getiRun();
static void SetCurrents(const uint8_t axis, const MotorCurrents &curr) {
uint8_t iHold = curr.getiHold();
const uint8_t iRun = curr.getiRun();
// Make sure iHold never exceeds iRun at runtime
if (iHold > iRun) {
iHold = iRun;
// Update global array such that M913 reports correct values
currents[axis].setiHold(iRun);
if (curr.iHoldIsClamped()) {
// Let user know firmware modified the value
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(_n("Hold current truncated to Run current"));
@ -555,7 +557,7 @@ static void SetCurrents(const uint8_t axis) {
tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, ihold_irun.dw);
}
void tmc2130_setup_chopper(uint8_t axis, uint8_t mres)
void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, const MotorCurrents *curr /* = nullptr */)
{
// Initialise the chopper configuration
ChopConfU chopconf = ChopConfU(currents[axis].getvSense(), mres);
@ -567,21 +569,10 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres)
chopconf.s.tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
tmc2130_wr(axis, TMC2130_REG_CHOPCONF, chopconf.dw);
SetCurrents(axis);
}
void tmc2130_set_current_h(uint8_t axis, uint8_t current)
{
// DBG(_n("tmc2130_set_current_h(axis=%d, current=%d\n"), axis, current);
currents[axis].setiHold(current);
tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
}
void tmc2130_set_current_r(uint8_t axis, uint8_t current)
{
// DBG(_n("tmc2130_set_current_r(axis=%d, current=%d\n"), axis, current);
currents[axis].setiRun(current);
tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
if (curr == nullptr) {
curr = &currents[axis];
}
SetCurrents(axis, *curr);
}
void tmc2130_print_currents()

12
Firmware/tmc2130.h
View File

@ -95,13 +95,17 @@ struct MotorCurrents {
}
}
// PROGMEM initializer
inline __attribute__((always_inline)) MotorCurrents(const MotorCurrents &curr_P) { memcpy_P(this, &curr_P, sizeof(*this)); }
constexpr inline __attribute__((always_inline)) MotorCurrents(uint8_t ir, uint8_t ih)
: vSense((ir < 32) ? 1 : 0)
, iRun((ir < 32) ? ir : (ir >> 1))
, iHold((ir < 32) ? ih : (ih >> 1)) {}
inline uint8_t getiRun() const { return iRun; }
inline uint8_t getiHold() const { return iHold; }
inline uint8_t getiHold() const { return min(iHold, iRun); }
inline bool iHoldIsClamped() const { return iHold > iRun; }
inline uint8_t getvSense() const { return vSense; }
void __attribute__((noinline)) setiRun(uint8_t ir) {
@ -165,12 +169,8 @@ extern uint16_t tmc2130_sg_measure_stop();
// Enable or Disable crash detection according to EEPROM
void crashdet_use_eeprom_setting();
extern void tmc2130_setup_chopper(uint8_t axis, uint8_t mres);
extern void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, const MotorCurrents *curr = nullptr);
//set holding current for any axis (M911)
extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
//set running current for any axis (M912)
extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
//print currents (M913)
extern void tmc2130_print_currents();