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.

src/hal/tmc2130.cpp

@@ -3,6 +3,77 @@
 #include "../config/config.h"
 #include "../debug.h"
 
+//! @brief Translate current to tmc2130 vsense and IHOLD or IRUN - copied from MK3 FW repo
+//! @param cur current in mA
+//! @return 0 .. 63
+//! @n most significant bit is CHOPCONF vsense bit (sense resistor voltage based current scaling)
+//! @n rest is to be used in IRUN or IHOLD register
+//!
+//! | mA   | trinamic register | note |
+//! | ---  | ---               | ---  |
+//! |    0 |  0 | doesn't mean current off, lowest current is 1/32 current with vsense low range |
+//! |   30 |  1 | |
+//! |   40 |  2 | |
+//! |   60 |  3 | |
+//! |   90 |  4 | |
+//! |  100 |  5 | |
+//! |  120 |  6 | |
+//! |  130 |  7 | |
+//! |  150 |  8 | |
+//! |  180 |  9 | |
+//! |  190 | 10 | |
+//! |  210 | 11 | |
+//! |  230 | 12 | |
+//! |  240 | 13 | |
+//! |  250 | 13 | |
+//! |  260 | 14 | |
+//! |  280 | 15 | |
+//! |  300 | 16 | |
+//! |  320 | 17 | |
+//! |  340 | 18 | |
+//! |  350 | 19 | |
+//! |  370 | 20 | |
+//! |  390 | 21 | |
+//! |  410 | 22 | |
+//! |  430 | 23 | |
+//! |  450 | 24 | |
+//! |  460 | 25 | |
+//! |  480 | 26 | |
+//! |  500 | 27 | |
+//! |  520 | 28 | |
+//! |  525 | 29 | |
+//! |  530 | 30 | |
+//! |  540 | 33 | |
+//! |  560 | 34 | |
+//! |  580 | 35 | |
+//! |  590 | 36 | |
+//! |  610 | 37 | |
+//! |  630 | 38 | |
+//! |  640 | 39 | |
+//! |  660 | 40 | |
+//! |  670 | 41 | |
+//! |  690 | 42 | |
+//! |  710 | 43 | |
+//! |  720 | 44 | |
+//! |  730 | 45 | |
+//! |  760 | 46 | |
+//! |  770 | 47 | |
+//! |  790 | 48 | |
+//! |  810 | 49 | |
+//! |  820 | 50 | |
+//! |  840 | 51 | |
+//! |  850 | 52 | |
+//! |  870 | 53 | |
+//! |  890 | 54 | |
+//! |  900 | 55 | |
+//! |  920 | 56 | |
+//! |  940 | 57 | |
+//! |  950 | 58 | |
+//! |  970 | 59 | |
+//! |  980 | 60 | |
+//! | 1000 | 61 | |
+//! | 1020 | 62 | |
+//! | 1029 | 63 | |
 namespace hal {
 namespace tmc2130 {
 

src/modules/idler.cpp

@@ -54,9 +54,9 @@ bool Idler::FinishHomingAndPlanMoveToParkPos() {
 void Idler::FinishMove() {
     currentlyEngaged = plannedMove;
     if (Disengaged()) // reduce power into the Idler motor when disengaged (less force necessary)
-        SetCurrents(config::idler.iRun, config::idler.iHold);
+        SetCurrents(mm::motion.CurrentsForAxis(axis).iRun, mm::motion.CurrentsForAxis(axis).iHold);
     else if (Engaged()) { // maximum motor power when the idler is engaged
-        SetCurrents(config::idler.iRun, config::idler.iRun);
+        SetCurrents(mm::motion.CurrentsForAxis(axis).iRun, mm::motion.CurrentsForAxis(axis).iRun);
     }
 }
 

src/modules/motion.cpp

@@ -61,7 +61,7 @@ bool Motion::InitAxis(Axis axis) {
     Disable(axis);
 
     // Init also applies the currently pre-set StallGuard threshold into the TMC driver
-    return axisData[axis].drv.Init(axisParams[axis].params, axisParams[axis].currents, axisParams[axis].mode);
+    return axisData[axis].drv.Init(axisParams[axis].params, axisData[axis].currents, axisParams[axis].mode);
 }
 
 void Motion::SetEnabled(Axis axis, bool enabled) {

src/modules/motion.h

@@ -356,11 +356,19 @@ public:
         return axisData[axis].ctrl;
     }
 
+    inline const MotorCurrents &CurrentsForAxis(Axis axis) const {
+        return axisData[axis].currents;
+    }
+    inline void SetIRunForAxis(Axis axis, uint8_t i) {
+        axisData[axis].currents.iRun = i;
+    }
+
 private:
     struct AxisData {
         TMC2130 drv; ///< Motor driver
         pulse_gen::PulseGen ctrl; ///< Motor controller
         bool enabled; ///< Axis enabled
+        MotorCurrents currents; ///< Axis related currents
         st_timer_t residual; ///< Axis timer residual
     };
 
@@ -372,7 +380,8 @@ private:
                 axisParams[axis].jerk,
                 axisParams[axis].accel,
             },
-            .enabled = false
+            .enabled = false,
+            .currents = axisParams[axis].currents
         };
     }
 

src/modules/movable_base.cpp

@@ -39,6 +39,7 @@ MovableBase::OperationResult MovableBase::InitMovement() {
 
 MovableBase::OperationResult __attribute__((noinline)) MovableBase::InitMovementNoReinitAxis() {
     PrepareMoveToPlannedSlot();
+    // @@TODO update axis currents at this spot?
     state = Moving;
     return OperationResult::Accepted;
 }

src/registers.cpp

@@ -12,6 +12,7 @@
 #include "modules/fsensor.h"
 #include "modules/globals.h"
 #include "modules/idler.h"
+#include "modules/motion.h"
 #include "modules/pulley.h"
 #include "modules/selector.h"
 #include "modules/permanent_storage.h"
@@ -159,6 +160,9 @@
 | 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
 | 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
 | 0x1dh 29 | uint8    | Set/Get Selector cut iRun current | 0 to 63 (aka 0-1024mA)| 31 (530mA) |                | Read / Write | M707 A0x1d | M708 A0x1d Xn
+| 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
+| 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
+| 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
 */
 
 struct RegisterFlags {
@@ -374,6 +378,22 @@ static const RegisterRec registers[] /*PROGMEM*/ = {
         []() -> uint16_t { return mg::globals.CutIRunCurrent(); },
         [](uint16_t d) { mg::globals.SetCutIRunCurrent(d); },
         1),
+
+    // 0x1e Get/Set Pulley iRun current RW
+    RegisterRec(
+        []() -> uint16_t { return mm::motion.CurrentsForAxis(config::Pulley).iRun; },
+        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Pulley, d); },
+        1),
+    // 0x1f Set/Get Selector iRun current RW
+    RegisterRec(
+        []() -> uint16_t { return mm::motion.CurrentsForAxis(config::Selector).iRun; },
+        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Selector, d); },
+        1),
+    // 0x20 Set/Get Idler iRun current RW
+    RegisterRec(
+        []() -> uint16_t { return mm::motion.CurrentsForAxis(config::Idler).iRun; },
+        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Idler, d); },
+        1),
 };
 
 static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);