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Finish init sequence

pull/76/head
Alex Voinea 2021-07-18 09:11:51 +03:00 committed by DRracer
parent e9046eed42
commit 5f83667b22
1 changed files with 14 additions and 2 deletions
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16
src/hal/avr/tmc2130.cpp
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@ -52,9 +52,21 @@ void TMC2130::Init(const MotorParams &params) {
///Write stealth mode config and setup diag0 output
uint32_t gconf = 0;
gconf |= (uint32_t)((uint8_t)mode & 0x01) << 2; //en_pwm_mode
gconf |= (uint32_t)(1 & 0x01) << 7; //diag0_stall
gconf |= (uint32_t)(1 & 0x01) << 2; //en_pwm_mode - always enabled since we can control it's effect with TPWMTHRS (0=only stealthchop, 0xFFFFF=only spreadcycle)
gconf |= (uint32_t)(1 & 0x01) << 7; //diag0_stall - diag0 is open collector => active low with external pullups
WriteRegister(params, Registers::GCONF, gconf);
///stealthChop parameters
uint32_t pwmconf = 0; /// @todo All of these parameters should be configurable
pwmconf |= (uint32_t)(240 & 0xFF) << 0; //PWM_AMPL
pwmconf |= (uint32_t)(4 & 0xFF) << 8; //PWM_GRAD
pwmconf |= (uint32_t)(2 & 0x03) << 16; //pwm_freq
pwmconf |= (uint32_t)(1 & 0x01) << 18; //pwm_autoscale
WriteRegister(params, Registers::PWMCONF, pwmconf);
///TPWMTHRS: switching velocity between stealthChop and spreadCycle. Stallguard is also disabled if the velocity falls below this. Should be set to 0 when homing.
///0xFFF00 is used as a "Normal" mode threshold since stealthchop will be used at standstill.
WriteRegister(params, Registers::TPWMTHRS, (mode == Stealth) ? 70 : 0xFFF00); // @todo should be configurable
}
uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) {