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Prusa-Firmware-MMU
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pull/212/head
Alex Voinea 2022-10-10 12:23:26 +02:00
parent 9c1a8e12fd
commit b83e2af993
3 changed files with 28 additions and 28 deletions
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2
src/hal/gpio.h
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@ -26,7 +26,7 @@ enum class Mode : uint8_t {
enum class Pull : uint8_t {
none = 0,
up,
down, //not available on the AVR
down, // not available on the AVR
};
enum class Level : uint8_t {

50
src/hal/tmc2130.cpp
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@ -18,7 +18,7 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
gpio::Init(params.sgPin, gpio::GPIO_InitTypeDef(gpio::Mode::input, gpio::Pull::up));
gpio::Init(params.stepPin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
///check for compatible tmc driver (IOIN version field)
/// check for compatible tmc driver (IOIN version field)
uint32_t IOIN = ReadRegister(params, Registers::IOIN);
// if the version is incorrect or a bit always set to 1 is suddenly 0
@ -26,44 +26,44 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
if (((IOIN >> 24U) != 0x11) | !(IOIN & (1U << 6U)))
return false; // @@TODO return some kind of failure
///clear reset_flag as we are (re)initializing
/// clear reset_flag as we are (re)initializing
errorFlags.reset_flag = false;
// clear all error flags if possible ny reading GSTAT
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)
/// 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);
///apply currents
/// apply currents
SetCurrents(params, currents);
///instant powerdown ramp
/// instant powerdown ramp
WriteRegister(params, Registers::TPOWERDOWN, 0);
///Stallguard parameters
/// Stallguard parameters
SetSGTHRS(params);
WriteRegister(params, Registers::TCOOLTHRS, config::tmc2130_coolStepThreshold);
///Write stealth mode config and setup diag0 output
constexpr uint32_t gconf = (uint32_t)(1U & 0x01U) << 2U //en_pwm_mode - always enabled since we can control it's effect with TPWMTHRS (0=only stealthchop, 0xFFFFF=only spreadcycle)
| (uint32_t)(1U & 0x01U) << 7U; //diag0_stall - diag0 is open collector => active low with external pullups
/// Write stealth mode config and setup diag0 output
constexpr uint32_t gconf = (uint32_t)(1U & 0x01U) << 2U // en_pwm_mode - always enabled since we can control it's effect with TPWMTHRS (0=only stealthchop, 0xFFFFF=only spreadcycle)
| (uint32_t)(1U & 0x01U) << 7U; // diag0_stall - diag0 is open collector => active low with external pullups
WriteRegister(params, Registers::GCONF, gconf);
///stealthChop parameters
/// stealthChop parameters
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)
| ((uint32_t)(config::tmc2130_freewheel & 0x03U) << 20U); //special freewheeling mode only active in stealthchop when IHOLD=0 and CS=0 (actual current)
| ((uint32_t)(config::tmc2130_freewheel & 0x03U) << 20U); // special freewheeling mode only active in stealthchop when IHOLD=0 and CS=0 (actual current)
WriteRegister(params, Registers::PWMCONF, pwmconf);
/// TPWMTHRS: switching velocity between stealthChop and spreadCycle.
@ -76,7 +76,7 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
}
void TMC2130::SetMode(const MotorParams &params, MotorMode mode) {
///0xFFFF0 is used as a "Normal" mode threshold since stealthchop will be used at standstill.
/// 0xFFFF0 is used as a "Normal" mode threshold since stealthchop will be used at standstill.
WriteRegister(params, Registers::TPWMTHRS, (mode == Stealth) ? 70 : 0xFFFF0); // @@TODO should be configurable
}
@ -90,9 +90,9 @@ void TMC2130::SetBridgeOutput(const MotorParams &params, bool bOn) {
}
void TMC2130::SetCurrents(const MotorParams &params, const MotorCurrents &currents) {
uint32_t ihold_irun = (uint32_t)(currents.iHold & 0x1F) << 0 //ihold
| (uint32_t)(currents.iRun & 0x1F) << 8 //irun
| (uint32_t)(15 & 0x0F) << 16; //IHOLDDELAY
uint32_t ihold_irun = (uint32_t)(currents.iHold & 0x1F) << 0 // ihold
| (uint32_t)(currents.iRun & 0x1F) << 8 // irun
| (uint32_t)(15 & 0x0F) << 16; // IHOLDDELAY
WriteRegister(params, Registers::IHOLD_IRUN, ihold_irun);
}
@ -111,7 +111,7 @@ void TMC2130::SetEnabled(const MotorParams &params, bool enabled) {
bool TMC2130::CheckForErrors(const MotorParams &params) {
if (!initialized)
return false;
uint32_t GSTAT = ReadRegister(params, Registers::GSTAT);
uint32_t DRV_STATUS = ReadRegister(params, Registers::DRV_STATUS);
errorFlags.reset_flag |= !!(GSTAT & (1U << 0U));
@ -120,7 +120,7 @@ bool TMC2130::CheckForErrors(const MotorParams &params) {
errorFlags.otpw = !!(DRV_STATUS & (1UL << 26U));
errorFlags.ot = !!(DRV_STATUS & (1UL << 25U));
return GSTAT || errorFlags.reset_flag; //any bit in gstat is an error
return GSTAT || errorFlags.reset_flag; // any bit in gstat is an error
}
uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) {

4
src/modules/selector.cpp
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@ -93,11 +93,11 @@ bool Selector::Step() {
if (state != TMCFailed) {
CheckTMC();
}
switch (state) {
case Moving:
PerformMove();
//dbg_logic_P(PSTR("Moving Selector"));
// dbg_logic_P(PSTR("Moving Selector"));
return false;
case PlannedHome:
// A testing workaround for presumed electrical reasons why the Idler and Selector cannot perform reliable homing together.