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Allow cutting current >31 

Needs reinitialization of the axis (Selector) because the TMC driver needs to set another register to double the current level.
pull/269/head
D.R.racer 2023-03-03 11:59:51 +01:00 committed by DRracer
parent 9b43b61939
commit 8b55b25028
5 changed files with 70 additions and 14 deletions
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66
src/hal/tmc2130.cpp
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@ -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
| (uint32_t)(5U & 0x07U) << 4U // hstrt
| (uint32_t)(1U & 0x0FU) << 7U // hend
| (uint32_t)(2U & 0x03U) << 15U // tbl
| (uint32_t)(currents.vSense & 0x01U) << 17U // vsense
| (uint32_t)(params.mRes & 0x0FU) << 24U // mres
| (uint32_t)(1U & 0x01) << 28U // intpol (always true)
| (uint32_t)(1U & 0x01) << 29U; // dedge (always true)
WriteRegister(params, Registers::CHOPCONF, chopconf);
// const uint32_t chopconf = (uint32_t)(TOFF_DEFAULT & TOFF_MASK) << 0U // toff
// | (uint32_t)(5U & 0x07U) << 4U // hstrt
// | (uint32_t)(1U & 0x0FU) << 7U // hend
// | (uint32_t)(2U & 0x03U) << 15U // tbl
// | (uint32_t)(currents.vSense & 0x01U) << 17U // vsense
// | (uint32_t)(params.mRes & 0x0FU) << 24U // mres
// | (uint32_t)(1U & 0x01) << 28U // intpol (always true)
// | (uint32_t)(1U & 0x01) << 29U; // dedge (always true)
// 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);

5
src/logic/cut_filament.cpp
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@ -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();

7
src/modules/motion.cpp
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@ -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) {

1
src/modules/motion.h
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@ -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; }

5
tests/unit/logic/stubs/stub_motion.cpp
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@ -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;
}