Allow runtime config/register motor/axis iRun current
This commit introduces a new set of registers 0x1e, 0x1f and 0x20 which allow reading and writing iRun current values for each axis/motor. Please note the register contains raw TMC2130 iRun value which needs to be translated into mA to be understandable by people. Translation table of iRun -> mA is present in tmc2130.cpp for now.pull/256/head
D.R.racer
DRracer
parent
9c9322d02f
commit
0bca66aeb5
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@ -3,6 +3,77 @@
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#include "../config/config.h"
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#include "../debug.h"
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//! @brief Translate current to tmc2130 vsense and IHOLD or IRUN - copied from MK3 FW repo
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//! @param cur current in mA
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//! @return 0 .. 63
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//! @n most significant bit is CHOPCONF vsense bit (sense resistor voltage based current scaling)
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//! @n rest is to be used in IRUN or IHOLD register
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//!
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//! | mA | trinamic register | note |
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//! | --- | --- | --- |
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//! | 0 | 0 | doesn't mean current off, lowest current is 1/32 current with vsense low range |
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//! | 30 | 1 | |
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//! | 40 | 2 | |
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//! | 60 | 3 | |
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//! | 90 | 4 | |
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//! | 100 | 5 | |
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//! | 120 | 6 | |
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//! | 130 | 7 | |
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//! | 180 | 9 | |
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//! | 1000 | 61 | |
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//! | 1020 | 62 | |
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//! | 1029 | 63 | |
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namespace hal {
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namespace tmc2130 {
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@ -54,9 +54,9 @@ bool Idler::FinishHomingAndPlanMoveToParkPos() {
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void Idler::FinishMove() {
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currentlyEngaged = plannedMove;
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if (Disengaged()) // reduce power into the Idler motor when disengaged (less force necessary)
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SetCurrents(config::idler.iRun, config::idler.iHold);
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SetCurrents(mm::motion.CurrentsForAxis(axis).iRun, mm::motion.CurrentsForAxis(axis).iHold);
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else if (Engaged()) { // maximum motor power when the idler is engaged
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SetCurrents(config::idler.iRun, config::idler.iRun);
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SetCurrents(mm::motion.CurrentsForAxis(axis).iRun, mm::motion.CurrentsForAxis(axis).iRun);
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}
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}
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@ -61,7 +61,7 @@ bool Motion::InitAxis(Axis axis) {
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Disable(axis);
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// Init also applies the currently pre-set StallGuard threshold into the TMC driver
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return axisData[axis].drv.Init(axisParams[axis].params, axisParams[axis].currents, axisParams[axis].mode);
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return axisData[axis].drv.Init(axisParams[axis].params, axisData[axis].currents, axisParams[axis].mode);
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}
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void Motion::SetEnabled(Axis axis, bool enabled) {
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@ -356,11 +356,19 @@ public:
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return axisData[axis].ctrl;
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}
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inline const MotorCurrents &CurrentsForAxis(Axis axis) const {
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return axisData[axis].currents;
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}
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inline void SetIRunForAxis(Axis axis, uint8_t i) {
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axisData[axis].currents.iRun = i;
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}
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private:
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struct AxisData {
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TMC2130 drv; ///< Motor driver
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pulse_gen::PulseGen ctrl; ///< Motor controller
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bool enabled; ///< Axis enabled
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MotorCurrents currents; ///< Axis related currents
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st_timer_t residual; ///< Axis timer residual
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};
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@ -372,7 +380,8 @@ private:
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axisParams[axis].jerk,
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axisParams[axis].accel,
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},
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.enabled = false
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.enabled = false,
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.currents = axisParams[axis].currents
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};
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}
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@ -39,6 +39,7 @@ MovableBase::OperationResult MovableBase::InitMovement() {
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MovableBase::OperationResult __attribute__((noinline)) MovableBase::InitMovementNoReinitAxis() {
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PrepareMoveToPlannedSlot();
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// @@TODO update axis currents at this spot?
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state = Moving;
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return OperationResult::Accepted;
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}
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@ -12,6 +12,7 @@
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#include "modules/fsensor.h"
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#include "modules/globals.h"
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#include "modules/idler.h"
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#include "modules/motion.h"
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#include "modules/pulley.h"
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#include "modules/selector.h"
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#include "modules/permanent_storage.h"
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@ -159,6 +160,9 @@
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| 0x1bh 27 | uint16 | Set/Get_Selector_slot | 0000h 0 | ffffh 65535 | unit slot [0-4/5] 5=park pos | Read / Write | M707 A0x1b | M708 A0x1b Xn
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| 0x1ch 28 | uint16 | Set/Get_Idler_slot | 0000h 0 | ffffh 65535 | unit slot [0-4/5] 5=disengaged | Read / Write | M707 A0x1c | M708 A0x1c Xn
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| 0x1dh 29 | uint8 | Set/Get Selector cut iRun current | 0 to 63 (aka 0-1024mA)| 31 (530mA) | | Read / Write | M707 A0x1d | M708 A0x1d Xn
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| 0x1eh 30 | uint16 | Set/Get Pulley iRun current| 0-63 | 14h 20 | 20->350mA: see TMC2130 current conversion| Read / Write | M707 A0x1e | M708 A0x1e Xn
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| 0x1fh 31 | uint16 |Set/Get Selector iRun current| 0-63 | 1fh 31 | 31->530mA: see TMC2130 current conversion| Read / Write | M707 A0x1f | M708 A0x1f Xn
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| 0x20h 32 | uint16 | Set/Get Idler iRun current | 0-63 | 1fh 31 | 31->530mA: see TMC2130 current conversion| Read / Write | M707 A0x20 | M708 A0x20 Xn
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*/
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struct RegisterFlags {
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@ -374,6 +378,22 @@ static const RegisterRec registers[] /*PROGMEM*/ = {
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[]() -> uint16_t { return mg::globals.CutIRunCurrent(); },
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[](uint16_t d) { mg::globals.SetCutIRunCurrent(d); },
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1),
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// 0x1e Get/Set Pulley iRun current RW
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RegisterRec(
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[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Pulley).iRun; },
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[](uint16_t d) { mm::motion.SetIRunForAxis(config::Pulley, d); },
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1),
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// 0x1f Set/Get Selector iRun current RW
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RegisterRec(
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[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Selector).iRun; },
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[](uint16_t d) { mm::motion.SetIRunForAxis(config::Selector, d); },
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1),
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// 0x20 Set/Get Idler iRun current RW
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RegisterRec(
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[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Idler).iRun; },
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[](uint16_t d) { mm::motion.SetIRunForAxis(config::Idler, d); },
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1),
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};
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static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);
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