Configurable SGTHRS

src/config/config.h

@@ -180,7 +180,7 @@ static constexpr AxisConfig idler = {
     .iHold = 23, /// 398mA
     .stealth = false,
     .stepsPerUnit = (200 * 16 / 360.),
-    .sg_thrs = 5,
+    .sg_thrs = 6,
 };
 
 /// Idler motion limits

src/hal/tmc2130.cpp

@@ -1,7 +1,7 @@
 /// @file tmc2130.cpp
 #include "tmc2130.h"
 #include "../config/config.h"
-
+#include "../modules/permanent_storage.h"
 #include "../debug.h"
 
 namespace hal {
@@ -44,8 +44,7 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
     WriteRegister(params, Registers::TPOWERDOWN, 0);
 
     ///Stallguard parameters
-    uint32_t tmc2130_coolConf = (((uint32_t)params.sg_thrs) << 16U);
+    SetSGTHRS(params, mps::AxisSGTHRS::get((mm::Axis)params.axis));
-    WriteRegister(params, Registers::COOLCONF, tmc2130_coolConf);
     WriteRegister(params, Registers::TCOOLTHRS, config::tmc2130_coolStepThreshold);
 
     ///Write stealth mode config and setup diag0 output
@@ -80,6 +79,11 @@ void TMC2130::SetCurrents(const MotorParams &params, const MotorCurrents &curren
     WriteRegister(params, Registers::IHOLD_IRUN, ihold_irun);
 }
 
+void TMC2130::SetSGTHRS(const MotorParams &params, uint8_t sgthrs) {
+    uint32_t tmc2130_coolConf = (((uint32_t)sgthrs) << 16U);
+    WriteRegister(params, Registers::COOLCONF, tmc2130_coolConf);
+}
+
 void TMC2130::SetEnabled(const MotorParams &params, bool enabled) {
     hal::shr16::shr16.SetTMCEnabled(params.idx, enabled);
     if (this->enabled != enabled)

src/hal/tmc2130.h

@@ -26,6 +26,7 @@ struct MotorParams {
     gpio::GPIO_pin sgPin; ///< stallguard pin
     config::MRes mRes; ///< microstep resolution
     int8_t sg_thrs;
+    uint8_t axis;
 };
 
 struct MotorCurrents {
@@ -91,6 +92,9 @@ public:
     /// Set the current motor currents
     void SetCurrents(const MotorParams &params, const MotorCurrents &currents);
 
+    /// Set stallguard threshold
+    void SetSGTHRS(const MotorParams &params, uint8_t sgthrs);
+
     /// Return enabled state
     const bool Enabled() const {
         return enabled;

src/modules/motion.h

@@ -42,7 +42,7 @@ static AxisParams axisParams[NUM_AXIS] = {
     // Pulley
     {
         .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 },
+        .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 },
         .mode = DefaultMotorMode(config::pulley),
         .jerk = unitToSteps<P_speed_t>(config::pulleyLimits.jerk),
@@ -51,7 +51,7 @@ static AxisParams axisParams[NUM_AXIS] = {
     // Selector
     {
         .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 },
+        .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 },
         .mode = DefaultMotorMode(config::selector),
         .jerk = unitToSteps<S_speed_t>(config::selectorLimits.jerk),
@@ -60,7 +60,7 @@ static AxisParams axisParams[NUM_AXIS] = {
     // Idler
     {
         .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 },
+        .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 },
         .mode = DefaultMotorMode(config::idler),
         .jerk = unitToSteps<I_speed_t>(config::idlerLimits.jerk),
@@ -336,7 +336,7 @@ public:
     void AbortPlannedMoves(bool halt = true);
 
     /// @returns the TMC213 driver associated with the particular axis
-    inline const hal::tmc2130::TMC2130 &DriverForAxis(Axis axis) const {
+    inline hal::tmc2130::TMC2130 &DriverForAxis(Axis axis) {
         return axisData[axis].drv;
     }
 

src/modules/permanent_storage.cpp

@@ -25,6 +25,7 @@ struct eeprom_t {
     uint8_t eepromFilament[800]; ///< Top nibble status, bottom nibble last filament loaded
     uint8_t eepromDriveErrorCountH;
     uint8_t eepromDriveErrorCountL[2];
+    uint8_t sg_thrs[3];
 } __attribute__((packed));
 
 static_assert(sizeof(eeprom_t) - 2 <= hal::eeprom::EEPROM::End(), "eeprom_t doesn't fit into EEPROM available.");
@@ -359,5 +360,16 @@ void DriveError::setH(uint8_t highByte) {
     ee::EEPROM::UpdateByte(EEOFFSET(eepromBase->eepromDriveErrorCountH), highByte - 1);
 }
 
+uint8_t AxisSGTHRS::get(mm::Axis axis) {
+    uint8_t sg_thrs = ee::EEPROM::ReadByte(EEOFFSET(eepromBase->sg_thrs[axis]));
+    if (sg_thrs & 0x80)
+        sg_thrs = mm::axisParams[axis].params.sg_thrs;
+    return sg_thrs;
+}
+
+void AxisSGTHRS::set(mm::Axis axis, uint8_t val) {
+    ee::EEPROM::UpdateByte(EEOFFSET(eepromBase->sg_thrs[axis]), val);
+}
+
 } // namespace permanent_storage
 } // namespace modules

src/modules/permanent_storage.h

@@ -1,6 +1,7 @@
 /// @file permanent_storage.h
 #pragma once
 #include "../hal/eeprom.h"
+#include "motion.h"
 
 namespace modules {
 
@@ -98,6 +99,16 @@ private:
     static void setH(uint8_t highByte);
 };
 
+/// @brief Read and increment drive errors
+///
+/// (Motor power rail voltage loss)
+class AxisSGTHRS {
+public:
+    static uint8_t get(mm::Axis axis);
+    static void set(mm::Axis axis, uint8_t val);
+};
+
+
 } // namespace permanent_storage
 } // namespace modules
 

src/registers.cpp

@@ -14,6 +14,7 @@
 #include "modules/idler.h"
 #include "modules/pulley.h"
 #include "modules/selector.h"
+#include "modules/permanent_storage.h"
 
 /** @defgroup register_table Register Table
  *
@@ -145,9 +146,9 @@
 | 0x14h 20 | uint16   | Pulley_slow_feedrate       | 0000h 0      | 0014h 20    | unit mm/s                                | Read / Write | M707 A0x14 | M708 A0x14 Xnnnn
 | 0x15h 21 | uint16   | Selector_homing_feedrate   | 0000h 0      | 001eh 30    | unit mm/s                                | Read (Write) | M707 A0x15 | (M708 A0x15 Xnnnn)
 | 0x16h 22 | uint16   | Idler_homing_feedrate      | 0000h 0      | 0109h 265   | unit deg/s                               | Read (Write) | M707 A0x16 | (M708 A0x16 Xnnnn)
-| 0x17h 23 | uint16   | Pulley_sg_thrs__R          | 0000h 0      | 0008h 8     |                                          | Read (Write) | M707 A0x17 | (M708 A0x17 Xnnnn)
+| 0x17h 23 | uint8    | Pulley_sg_thrs__R          | 00h 0        | 08h 8       |                                          | Read (Write) | M707 A0x17 | M708 A0x17 Xnn
-| 0x18h 24 | uint16   | Selector_sg_thrs_R         | 0000h 0      | 0003h 3     |                                          | Read (Write) | M707 A0x18 | (M708 A0x18 Xnnnn)
+| 0x18h 24 | uint8    | Selector_sg_thrs_R         | 00h 0        | 03h 3       |                                          | Read (Write) | M707 A0x18 | M708 A0x18 Xnn
-| 0x19h 25 | uint16   | Idler_sg_thrs_R            | 0000h 0      | 0005h 5     |                                          | Read (Write) | M707 A0x19 | (M708 A0x19 Xnnnn)
+| 0x19h 25 | uint8    | Idler_sg_thrs_R            | 00h 0        | 05h 6       |                                          | Read (Write) | M707 A0x19 | M708 A0x19 Xnn
 | 0x1ah 26 | uint16   | Get Pulley position        | 0000h 0      | ffffh 65535 | unit mm                                  | Read only    | M707 A0x1a | N/A
 | 0x1bh 27 | uint16   | Set/Get_Selector_slot      | 0000h 0      | ffffh 65535 | unit slot [0-4/5] 5=park pos             | Read / Write | M707 A0x1b | M708 A0x1b Xn
 | 0x1ch 28 | uint16   | Set/Get_Idler_slot         | 0000h 0      | ffffh 65535 | unit slot [0-4/5] 5=disengaged           | Read / Write | M707 A0x1c | M708 A0x1c Xn
@@ -333,19 +334,19 @@ static const RegisterRec registers[] /*PROGMEM*/ = {
 
     // 0x17 Pulley sg_thrs threshold RW
     RegisterRec(
-        []() -> uint16_t { return config::pulley.sg_thrs; },
+        []() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Pulley); },
-        //@@TODO please update documentation as well
+        [](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Pulley).SetSGTHRS(mm::axisParams[mm::Axis::Pulley].params, d); mps::AxisSGTHRS::set(mm::Axis::Pulley, d); },
-        2),
+        1),
     // 0x18 Selector sg_thrs RW
     RegisterRec(
-        []() -> uint16_t { return config::selector.sg_thrs; },
+        []() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Selector); },
-        //@@TODO please update documentation as well
+        [](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Selector).SetSGTHRS(mm::axisParams[mm::Axis::Selector].params, d); mps::AxisSGTHRS::set(mm::Axis::Selector, d); },
-        2),
+        1),
     // 0x19 Idler sg_thrs RW
     RegisterRec(
-        []() -> uint16_t { return config::idler.sg_thrs; },
+        []() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Idler); },
-        //@@TODO please update documentation as well
+        [](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Idler).SetSGTHRS(mm::axisParams[mm::Axis::Idler].params, d); mps::AxisSGTHRS::set(mm::Axis::Idler, d); },
-        2),
+        1),
 
     // 0x1a Get Pulley position [mm] R
     RegisterRec(