Allow cutting current >31

Needs reinitialization of the axis (Selector) because the TMC driver needs to set another register to double the current level.

src/hal/tmc2130.cpp

@@ -83,7 +83,7 @@ namespace tmc2130 {
 
 static constexpr uint8_t TOFF_DEFAULT = 3U, TOFF_MASK = 0xFU;
 
-bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, MotorMode mode) {
+bool __attribute__((noinline)) TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, MotorMode mode) {
     initialized = false;
 
     // sg_filter_threshold = (1 << (8 - params.mRes));
@@ -108,15 +108,61 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
     ReadRegister(params, Registers::GSTAT);
 
     /// apply chopper parameters
-    const uint32_t chopconf = (uint32_t)(TOFF_DEFAULT & TOFF_MASK) << 0U // toff
+    //    const uint32_t chopconf = (uint32_t)(TOFF_DEFAULT & TOFF_MASK) << 0U // toff
-        | (uint32_t)(5U & 0x07U) << 4U // hstrt
+    //        | (uint32_t)(5U & 0x07U) << 4U // hstrt
-        | (uint32_t)(1U & 0x0FU) << 7U // hend
+    //        | (uint32_t)(1U & 0x0FU) << 7U // hend
-        | (uint32_t)(2U & 0x03U) << 15U // tbl
+    //        | (uint32_t)(2U & 0x03U) << 15U // tbl
-        | (uint32_t)(currents.vSense & 0x01U) << 17U // vsense
+    //        | (uint32_t)(currents.vSense & 0x01U) << 17U // vsense
-        | (uint32_t)(params.mRes & 0x0FU) << 24U // mres
+    //        | (uint32_t)(params.mRes & 0x0FU) << 24U // mres
-        | (uint32_t)(1U & 0x01) << 28U // intpol (always true)
+    //        | (uint32_t)(1U & 0x01) << 28U // intpol (always true)
-        | (uint32_t)(1U & 0x01) << 29U; // dedge (always true)
+    //        | (uint32_t)(1U & 0x01) << 29U; // dedge (always true)
-    WriteRegister(params, Registers::CHOPCONF, chopconf);
+    // this ugly union/bit structure saves 34B over the previous implementation
+    union ChopConfU {
+        struct __attribute__((packed)) S {
+            uint8_t toff : 4;
+            uint8_t hstrt : 3;
+            uint8_t hend : 4;
+            uint8_t fd : 1;
+            uint8_t disfdcc : 1;
+            uint8_t rndtf : 1;
+            uint8_t chm : 1;
+            uint8_t tbl : 2;
+            uint8_t vsense : 1;
+            uint8_t vhighfs : 1;
+            uint8_t vhighchm : 1;
+            uint8_t sync : 4;
+            uint8_t mres : 4;
+            uint8_t intpol : 1;
+            uint8_t dedge : 1;
+            uint8_t diss2g : 1;
+            uint8_t reserved : 1;
+            constexpr S(bool vsense, uint8_t mres)
+                : toff(TOFF_DEFAULT)
+                , hstrt(5)
+                , hend(1)
+                , fd(0)
+                , disfdcc(0)
+                , rndtf(0)
+                , chm(0)
+                , tbl(2)
+                , vsense(vsense)
+                , vhighfs(0)
+                , vhighchm(0)
+                , sync(0)
+                , mres(mres)
+                , intpol(1)
+                , dedge(1)
+                , diss2g(0)
+                , reserved(0) {}
+        } s;
+        uint32_t dw;
+        constexpr ChopConfU(bool vsense, uint8_t mres)
+            : s(vsense, mres) {}
+    };
+    static_assert(sizeof(ChopConfU::S) == 4);
+    static_assert(sizeof(ChopConfU) == 4);
+
+    WriteRegister(params, Registers::CHOPCONF, ChopConfU(currents.vSense, params.mRes).dw);
 
     /// apply currents
     SetCurrents(params, currents);

src/logic/cut_filament.cpp

@@ -107,7 +107,8 @@ bool CutFilament::StepInner() {
         if (mi::idler.Disengaged()) {
             state = ProgressCode::PerformingCut;
             // set highest available current for the Selector
-            ms::selector.SetCurrents(mg::globals.CutIRunCurrent(), config::selector.iHold);
+            // Since we probably need to change the vSense bit (to double the current), we must reinit the axis
+            mm::motion.InitAxis(mm::Selector, mm::MotorCurrents(mg::globals.CutIRunCurrent(), config::selector.iHold));
             // lower move speed
             savedSelectorFeedRate_mm_s = mg::globals.SelectorFeedrate_mm_s().v;
             mg::globals.SetSelectorFeedrate_mm_s(mg::globals.SelectorHomingFeedrate_mm_s().v);
@@ -118,7 +119,7 @@ bool CutFilament::StepInner() {
         if (ms::selector.Slot() == cutSlot) { // this may not be necessary if we want the selector and pulley move at once
             state = ProgressCode::ReturningSelector;
             // revert current to Selector's normal value
-            ms::selector.SetCurrents(config::selector.iRun, config::selector.iHold);
+            mm::motion.InitAxis(mm::Selector, mm::MotorCurrents(config::selector.iRun, config::selector.iHold));
             // revert move speed
             mg::globals.SetSelectorFeedrate_mm_s(savedSelectorFeedRate_mm_s);
             ms::selector.InvalidateHoming();

src/modules/motion.cpp

@@ -56,12 +56,15 @@ public:
 };
 
 bool Motion::InitAxis(Axis axis) {
+    return InitAxis(axis, axisData[axis].currents);
+}
+
+bool Motion::InitAxis(config::Axis axis, MotorCurrents mc) {
     // disable the axis and re-init the driver: this will clear the internal
     // StallGuard data as a result without special handling
     Disable(axis);
-
     // Init also applies the currently pre-set StallGuard threshold into the TMC driver
-    return axisData[axis].drv.Init(axisParams[axis].params, axisData[axis].currents, axisParams[axis].mode);
+    return axisData[axis].drv.Init(axisParams[axis].params, mc, axisParams[axis].mode);
 }
 
 void Motion::SetEnabled(Axis axis, bool enabled) {

src/modules/motion.h

@@ -77,6 +77,7 @@ public:
     /// state especially when the TMC may get randomly reset (deinited)
     /// @returns true if the init was successful (TMC2130 responded ok)
     bool InitAxis(Axis axis);
+    bool InitAxis(Axis axis, MotorCurrents mc);
 
     /// Return the axis power status.
     bool Enabled(Axis axis) const { return axisData[axis].enabled; }

tests/unit/logic/stubs/stub_motion.cpp

@@ -20,6 +20,11 @@ bool Motion::InitAxis(Axis axis) {
     return true;
 }
 
+bool Motion::InitAxis(Axis axis, MotorCurrents /*mc*/) {
+    SetEnabled(axis, true);
+    return true;
+}
+
 void Motion::SetEnabled(Axis axis, bool enabled) {
     axisData[axis].enabled = axes[axis].enabled = enabled;
 }