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Compute vSense dynamically from iRun/iHold

pull/254/head
D.R.racer 2022-12-28 10:25:00 +01:00 committed by DRracer
parent 7e8ad83e25
commit b16ac63c5d
5 changed files with 9 additions and 17 deletions
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1
src/config/axis.h
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@ -24,7 +24,6 @@ enum MRes : uint8_t {
struct AxisConfig {
bool dirOn; ///< direction ON state (for inversion)
MRes mRes; ///< microstepping [0-8, where 0 is x256 and 8 is fullstepping]
bool vSense; ///< vSense scaling
uint8_t iRun; ///< running current
uint8_t iHold; ///< holding current
bool stealth; ///< Default to Stealth mode

3
src/config/config.h
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@ -100,7 +100,6 @@ static constexpr U_mm fsensorUnloadCheckDistance = 40.0_mm;
static constexpr AxisConfig pulley = {
.dirOn = false,
.mRes = MRes_8,
.vSense = true,
.iRun = 20, /// 348mA
.iHold = 0, /// 17mA in SpreadCycle, freewheel in StealthChop
.stealth = false,
@ -126,7 +125,6 @@ static constexpr U_mm_s pulleySlowFeedrate = 20._mm_s;
static constexpr AxisConfig selector = {
.dirOn = true,
.mRes = MRes_8,
.vSense = true,
.iRun = 31, /// 530mA
.iHold = 0, /// 17mA in SpreadCycle, freewheel in StealthChop
.stealth = false,
@ -177,7 +175,6 @@ static constexpr U_mm_s selectorHomingFeedrate = 30._mm_s;
static constexpr AxisConfig idler = {
.dirOn = true,
.mRes = MRes_16,
.vSense = true,
.iRun = 31, /// 530mA
.iHold = 5, /// 99mA - parked current
.stealth = false,

5
src/hal/tmc2130.h
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@ -33,6 +33,11 @@ struct MotorCurrents {
bool vSense; ///< VSense current scaling
uint8_t iRun; ///< Running current
uint8_t iHold; ///< Holding current
constexpr MotorCurrents(uint8_t ir, uint8_t ih)
: vSense((ir < 32) ? 1 : 0)
, iRun((ir < 32) ? ir : (ir >> 1))
, iHold((ir < 32) ? ih : (ih >> 1)) {}
};
struct __attribute__((packed)) ErrorFlags {

6
src/modules/motion.h
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@ -43,7 +43,7 @@ static AxisParams axisParams[NUM_AXIS] = {
{
.name = 'P',
.params = { .spi = hal::spi::TmcSpiBus, .idx = Pulley, .dirOn = config::pulley.dirOn, .csPin = PULLEY_CS_PIN, .stepPin = PULLEY_STEP_PIN, .sgPin = PULLEY_SG_PIN, .mRes = config::pulley.mRes, .sg_thrs = config::pulley.sg_thrs, Axis::Pulley },
.currents = { .vSense = config::pulley.vSense, .iRun = config::pulley.iRun, .iHold = config::pulley.iHold },
.currents = MotorCurrents(config::pulley.iRun, config::pulley.iHold), //{ .vSense = config::pulley.vSense, .iRun = config::pulley.iRun, .iHold = config::pulley.iHold },
.mode = DefaultMotorMode(config::pulley),
.jerk = unitToSteps<P_speed_t>(config::pulleyLimits.jerk),
.accel = unitToSteps<P_accel_t>(config::pulleyLimits.accel),
@ -52,7 +52,7 @@ static AxisParams axisParams[NUM_AXIS] = {
{
.name = 'S',
.params = { .spi = hal::spi::TmcSpiBus, .idx = Selector, .dirOn = config::selector.dirOn, .csPin = SELECTOR_CS_PIN, .stepPin = SELECTOR_STEP_PIN, .sgPin = SELECTOR_SG_PIN, .mRes = config::selector.mRes, .sg_thrs = config::selector.sg_thrs, Axis::Selector },
.currents = { .vSense = config::selector.vSense, .iRun = config::selector.iRun, .iHold = config::selector.iHold },
.currents = MotorCurrents(config::selector.iRun, config::selector.iHold), //{ .vSense = config::selector.vSense, .iRun = config::selector.iRun, .iHold = config::selector.iHold },
.mode = DefaultMotorMode(config::selector),
.jerk = unitToSteps<S_speed_t>(config::selectorLimits.jerk),
.accel = unitToSteps<S_accel_t>(config::selectorLimits.accel),
@ -61,7 +61,7 @@ static AxisParams axisParams[NUM_AXIS] = {
{
.name = 'I',
.params = { .spi = hal::spi::TmcSpiBus, .idx = Idler, .dirOn = config::idler.dirOn, .csPin = IDLER_CS_PIN, .stepPin = IDLER_STEP_PIN, .sgPin = IDLER_SG_PIN, .mRes = config::idler.mRes, .sg_thrs = config::idler.sg_thrs, Axis::Idler },
.currents = { .vSense = config::idler.vSense, .iRun = config::idler.iRun, .iHold = config::idler.iHold },
.currents = MotorCurrents(config::idler.iRun, config::idler.iHold), //{ .vSense = config::idler.vSense, .iRun = config::idler.iRun, .iHold = config::idler.iHold },
.mode = DefaultMotorMode(config::idler),
.jerk = unitToSteps<I_speed_t>(config::idlerLimits.jerk),
.accel = unitToSteps<I_accel_t>(config::idlerLimits.accel),

11
src/modules/movable_base.cpp
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@ -24,16 +24,7 @@ void MovableBase::PlanHome() {
}
void MovableBase::SetCurrents(uint8_t iRun, uint8_t iHold) {
hal::tmc2130::MotorCurrents tempCurrent = mm::axisParams[axis].currents;
if (iRun < 32) {
tempCurrent.vSense = 1;
tempCurrent.iRun = iRun;
tempCurrent.iHold = iHold;
} else {
tempCurrent.vSense = 0;
tempCurrent.iRun = iRun >> 1;
tempCurrent.iHold = iHold >> 1;
}
hal::tmc2130::MotorCurrents tempCurrent(iRun, iHold);
mm::motion.DriverForAxis(axis).SetCurrents(mm::axisParams[axis].params, tempCurrent);
}