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tmc2130: minor code cleanup 

Using tmc2130_wr() instead makes the code a bit more
aligned and easier to read IMO

No change in memory
This commit is contained in:
Guðni Már Gilbert 2023-07-22 14:55:24 +00:00 committed by DRracer
parent 3819f7a473
commit ed13d008d9
1 changed files with 11 additions and 36 deletions
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47
Firmware/tmc2130.cpp
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@ -263,11 +263,6 @@ uint16_t tmc2130_rd_TSTEP(uint8_t axis);
uint16_t tmc2130_rd_MSCNT(uint8_t axis); uint16_t tmc2130_rd_MSCNT(uint8_t axis);
uint32_t tmc2130_rd_MSCURACT(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_rd(axis, addr, rval) tmc2130_rx(axis, addr, rval)
#define tmc2130_wr(axis, addr, wval) tmc2130_tx(axis, (addr) | 0x80, wval) #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_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_TCOOLTHRS, isStealth ? 0 : __tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_DYNAMIC_SGSENS); tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_DYNAMIC_SGSENS);
tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw); tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw);
tmc2130_wr_TPWMTHRS(axis, isStealth ? 0 : 0xFFFF0); tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, isStealth ? 0 : 0xFFFF0);
#else // TMC2130_STEALTH_Z #else // TMC2130_STEALTH_Z
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#endif // TMC2130_STEALTH_Z #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_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_TCOOLTHRS, isStealth ? 0 : __tcoolthrs(axis));
tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_SGSENS); tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_SGSENS);
tmc2130_wr_PWMCONF(axis, pwmconf[axis].dw); tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw);
tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS); tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS);
} }
tmc2130_setup_chopper(axis, tmc2130_mres[axis]); tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000); 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_COOLCONF, (((uint32_t)tmc2130_sg_thr[E_AXIS]) << 16));
tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0); tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0);
tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
tmc2130_wr_PWMCONF(E_AXIS, pwmconf_Ecool.dw); tmc2130_wr(E_AXIS, TMC2130_REG_PWMCONF, pwmconf_Ecool.dw);
tmc2130_wr_TPWMTHRS(E_AXIS, TMC2130_TPWMTHRS_E); tmc2130_wr(E_AXIS, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS_E);
SERIAL_ECHOLNRPGM(eMotorCurrentScalingEnabled); SERIAL_ECHOLNRPGM(eMotorCurrentScalingEnabled);
} }
#else //TMC2130_STEALTH_E #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_COOLCONF, (((uint32_t)tmc2130_sg_thr[E_AXIS]) << 16));
tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0); tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0);
tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
tmc2130_wr_PWMCONF(E_AXIS, pwmconf[E_AXIS].dw); tmc2130_wr(E_AXIS, TMC2130_REG_PWMCONF, pwmconf[E_AXIS].dw);
tmc2130_wr_TPWMTHRS(E_AXIS, TMC2130_TPWMTHRS); tmc2130_wr(E_AXIS, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS);
#endif //TMC2130_STEALTH_E #endif //TMC2130_STEALTH_E
#ifdef TMC2130_LINEARITY_CORRECTION #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.hend = tmc2130_chopper_config[axis].hend; // original value = 1
chopconf.s.tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2 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); 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; pwmconf[axis].s.pwm_ampl = pwm_ampl;
if (((axis == X_AXIS) || (axis == Y_AXIS)) && (tmc2130_mode == TMC2130_MODE_SILENT)) 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) void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
{ {
pwmconf[axis].s.pwm_grad = pwm_grad; pwmconf[axis].s.pwm_grad = pwm_grad;
if (((axis == X_AXIS) || (axis == Y_AXIS)) && (tmc2130_mode == TMC2130_MODE_SILENT)) 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) 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); //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 tmc2130_usteps2mres(uint16_t usteps)
{ {
uint8_t mres = 8; while (usteps >>= 1) mres--; uint8_t mres = 8; while (usteps >>= 1) mres--;