From ed13d008d98bc8be54043332af76a22ab0c92a22 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Gu=C3=B0ni=20M=C3=A1r=20Gilbert?= Date: Sat, 22 Jul 2023 14:55:24 +0000 Subject: [PATCH] tmc2130: minor code cleanup Using tmc2130_wr() instead makes the code a bit more aligned and easier to read IMO No change in memory --- Firmware/tmc2130.cpp | 47 +++++++++++--------------------------------- 1 file changed, 11 insertions(+), 36 deletions(-) diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index 5caed6650..1a95605ff 100755 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -263,11 +263,6 @@ uint16_t tmc2130_rd_TSTEP(uint8_t axis); uint16_t tmc2130_rd_MSCNT(uint8_t axis); uint32_t tmc2130_rd_MSCURACT(uint8_t axis); -void tmc2130_wr_CHOPCONF(uint8_t axis, uint32_t conf); -void tmc2130_wr_PWMCONF(uint8_t axis, uint32_t conf); -void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32); -void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32); - #define tmc2130_rd(axis, addr, rval) tmc2130_rx(axis, addr, rval) #define tmc2130_wr(axis, addr, wval) tmc2130_tx(axis, (addr) | 0x80, wval) @@ -293,8 +288,8 @@ static void tmc2130_XYZ_reg_init(uint8_t axis) tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24)); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, isStealth ? 0 : __tcoolthrs(axis)); tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_DYNAMIC_SGSENS); - tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw); - tmc2130_wr_TPWMTHRS(axis, isStealth ? 0 : 0xFFFF0); + tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw); + tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, isStealth ? 0 : 0xFFFF0); #else // TMC2130_STEALTH_Z tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); #endif // TMC2130_STEALTH_Z @@ -302,8 +297,8 @@ static void tmc2130_XYZ_reg_init(uint8_t axis) tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24)); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, isStealth ? 0 : __tcoolthrs(axis)); tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_SGSENS); - tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw); - tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS); + tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw); + tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS); } tmc2130_setup_chopper(axis, tmc2130_mres[axis]); tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000); @@ -345,16 +340,16 @@ void tmc2130_init(TMCInitParams params) tmc2130_wr(E_AXIS, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[E_AXIS]) << 16)); tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0); tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); - tmc2130_wr_PWMCONF(E_AXIS, pwmconf_Ecool.dw); - tmc2130_wr_TPWMTHRS(E_AXIS, TMC2130_TPWMTHRS_E); + tmc2130_wr(E_AXIS, TMC2130_REG_PWMCONF, pwmconf_Ecool.dw); + tmc2130_wr(E_AXIS, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS_E); SERIAL_ECHOLNRPGM(eMotorCurrentScalingEnabled); } #else //TMC2130_STEALTH_E tmc2130_wr(E_AXIS, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[E_AXIS]) << 16)); tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0); tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); - tmc2130_wr_PWMCONF(E_AXIS, pwmconf[E_AXIS].dw); - tmc2130_wr_TPWMTHRS(E_AXIS, TMC2130_TPWMTHRS); + tmc2130_wr(E_AXIS, TMC2130_REG_PWMCONF, pwmconf[E_AXIS].dw); + tmc2130_wr(E_AXIS, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS); #endif //TMC2130_STEALTH_E #ifdef TMC2130_LINEARITY_CORRECTION @@ -560,7 +555,7 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres) chopconf.s.hend = tmc2130_chopper_config[axis].hend; // original value = 1 chopconf.s.tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2 - tmc2130_wr_CHOPCONF(axis, chopconf.dw); + tmc2130_wr(axis, TMC2130_REG_CHOPCONF, chopconf.dw); SetCurrents(axis); } @@ -592,14 +587,14 @@ void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl) { pwmconf[axis].s.pwm_ampl = pwm_ampl; if (((axis == X_AXIS) || (axis == Y_AXIS)) && (tmc2130_mode == TMC2130_MODE_SILENT)) - tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw); + tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw); } void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad) { pwmconf[axis].s.pwm_grad = pwm_grad; if (((axis == X_AXIS) || (axis == Y_AXIS)) && (tmc2130_mode == TMC2130_MODE_SILENT)) - tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw); + tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw); } uint16_t tmc2130_rd_TSTEP(uint8_t axis) @@ -653,26 +648,6 @@ void tmc2130_wr_MSLUT(uint8_t axis, uint8_t i, uint32_t val) //printf_P(PSTR("MSLUT[%d]=%08lx\n"), i, val); } -void tmc2130_wr_CHOPCONF(uint8_t axis, uint32_t conf) -{ - tmc2130_wr(axis, TMC2130_REG_CHOPCONF, conf); -} - -void tmc2130_wr_PWMCONF(uint8_t axis, uint32_t conf) -{ - tmc2130_wr(axis, TMC2130_REG_PWMCONF, conf); -} - -void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32) -{ - tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, val32); -} - -void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32) -{ - tmc2130_wr(axis, TMC2130_REG_THIGH, val32); -} - uint8_t tmc2130_usteps2mres(uint16_t usteps) { uint8_t mres = 8; while (usteps >>= 1) mres--;