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Prusa-Firmware-MMU
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Remove shifting in config for TMC + add compile-time checks

pull/76/head
D.R.racer 2021-07-29 08:52:56 +02:00 committed by DRracer
parent a8147be803
commit b61836dd57
2 changed files with 24 additions and 10 deletions
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24
src/config/config.h
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@ -108,12 +108,22 @@ static constexpr IdlerLimits idlerLimits = {
// TMC2130 setup // TMC2130 setup
static constexpr uint8_t tmc2130_sg_thrs = 3; // @todo 7bit two's complement for the sg_thrs static constexpr int8_t tmc2130_sg_thrs = 3; // @todo 7bit two's complement for the sg_thrs
static constexpr uint32_t tmc2130_coolConf = (((uint32_t)tmc2130_sg_thrs) << 16U); static_assert(tmc2130_sg_thrs >= -64 && tmc2130_sg_thrs <= 63, "tmc2130_sg_thrs out of range");
static constexpr uint16_t tmc2130_coolStepThreshold = 400;
static constexpr uint32_t tmc2130_PWM_AMPL = (uint32_t)(240U & 0xFFU) << 0U; static constexpr uint32_t tmc2130_coolStepThreshold = 400; ///< step-based 20bit uint
static constexpr uint32_t tmc2130_PWM_GRAD = (uint32_t)(4U & 0xFFU) << 8U; static_assert(tmc2130_coolStepThreshold <= 0x3ffff, "tmc2130_coolStepThreshold out of range");
static constexpr uint32_t tmc2130_PWM_FREQ = (uint32_t)(2U & 0x03U) << 16U;
static constexpr uint32_t tmc2130_PWM_AUTOSCALE = (uint32_t)(1U & 0x01U) << 18U; static constexpr uint32_t tmc2130_PWM_AMPL = 240;
static_assert(tmc2130_PWM_AMPL <= 255, "tmc2130_PWM_AMPL out of range");
static constexpr uint32_t tmc2130_PWM_GRAD = 4;
static_assert(tmc2130_PWM_GRAD <= 255, "tmc2130_PWM_GRAD out of range");
static constexpr uint32_t tmc2130_PWM_FREQ = 2;
static_assert(tmc2130_PWM_FREQ <= 3, "tmc2130_PWM_GRAD out of range");
static constexpr uint32_t tmc2130_PWM_AUTOSCALE = 1;
static_assert(tmc2130_PWM_AUTOSCALE <= 1, "tmc2130_PWM_AUTOSCALE out of range");
} // namespace config } // namespace config

10
src/hal/avr/tmc2130.cpp
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@ -19,7 +19,7 @@ bool TMC2130::Init(const MotorParams &params) {
///check for compatible tmc driver (IOIN version field) ///check for compatible tmc driver (IOIN version field)
uint32_t IOIN = ReadRegister(params, Registers::IOIN); uint32_t IOIN = ReadRegister(params, Registers::IOIN);
// if the version is incorrect or an always 1st bit is 0 // if the version is incorrect or a bit always set to 1 is suddenly 0
// (the supposed SD_MODE pin that doesn't exist on this driver variant) // (the supposed SD_MODE pin that doesn't exist on this driver variant)
if (((IOIN >> 24U) != 0x11) | !(IOIN & (1U << 6U))) if (((IOIN >> 24U) != 0x11) | !(IOIN & (1U << 6U)))
return true; // @todo return some kind of failure return true; // @todo return some kind of failure
@ -45,7 +45,8 @@ bool TMC2130::Init(const MotorParams &params) {
WriteRegister(params, Registers::TPOWERDOWN, 0); WriteRegister(params, Registers::TPOWERDOWN, 0);
///Stallguard parameters ///Stallguard parameters
WriteRegister(params, Registers::COOLCONF, config::tmc2130_coolConf); static constexpr uint32_t tmc2130_coolConf = (((uint32_t)config::tmc2130_sg_thrs) << 16U);
WriteRegister(params, Registers::COOLCONF, tmc2130_coolConf);
WriteRegister(params, Registers::TCOOLTHRS, config::tmc2130_coolStepThreshold); WriteRegister(params, Registers::TCOOLTHRS, config::tmc2130_coolStepThreshold);
///Write stealth mode config and setup diag0 output ///Write stealth mode config and setup diag0 output
@ -54,7 +55,10 @@ bool TMC2130::Init(const MotorParams &params) {
WriteRegister(params, Registers::GCONF, gconf); WriteRegister(params, Registers::GCONF, gconf);
///stealthChop parameters ///stealthChop parameters
constexpr uint32_t pwmconf = config::tmc2130_PWM_AMPL | config::tmc2130_PWM_GRAD | config::tmc2130_PWM_FREQ | config::tmc2130_PWM_AUTOSCALE; constexpr uint32_t pwmconf = ((uint32_t)(config::tmc2130_PWM_AMPL) << 0U)
| ((uint32_t)(config::tmc2130_PWM_GRAD) << 8U)
| ((uint32_t)(config::tmc2130_PWM_FREQ) << 16U)
| ((uint32_t)(config::tmc2130_PWM_AUTOSCALE & 0x01U) << 18U);
WriteRegister(params, Registers::PWMCONF, pwmconf); WriteRegister(params, Registers::PWMCONF, pwmconf);
/// TPWMTHRS: switching velocity between stealthChop and spreadCycle. /// TPWMTHRS: switching velocity between stealthChop and spreadCycle.