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Configurable SGTHRS

pull/206/head
Alex Voinea 2022-09-10 20:23:52 +02:00 committed by DRracer
parent 860b91e42b
commit d5249f99fd
7 changed files with 52 additions and 20 deletions
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2
src/config/config.h
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@ -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

10
src/hal/tmc2130.cpp
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@ -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);
WriteRegister(params, Registers::COOLCONF, tmc2130_coolConf);
SetSGTHRS(params, mps::AxisSGTHRS::get((mm::Axis)params.axis));
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)

4
src/hal/tmc2130.h
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@ -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;

8
src/modules/motion.h
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@ -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;
}

12
src/modules/permanent_storage.cpp
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@ -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

11
src/modules/permanent_storage.h
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@ -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

25
src/registers.cpp
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@ -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)
| 0x18h 24 | uint16 | Selector_sg_thrs_R | 0000h 0 | 0003h 3 | | Read (Write) | M707 A0x18 | (M708 A0x18 Xnnnn)
| 0x19h 25 | uint16 | Idler_sg_thrs_R | 0000h 0 | 0005h 5 | | Read (Write) | M707 A0x19 | (M708 A0x19 Xnnnn)
| 0x17h 23 | uint8 | Pulley_sg_thrs__R | 00h 0 | 08h 8 | | Read (Write) | M707 A0x17 | M708 A0x17 Xnn
| 0x18h 24 | uint8 | Selector_sg_thrs_R | 00h 0 | 03h 3 | | Read (Write) | M707 A0x18 | M708 A0x18 Xnn
| 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; },
//@@TODO please update documentation as well
2),
[]() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Pulley); },
[](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Pulley).SetSGTHRS(mm::axisParams[mm::Axis::Pulley].params, d); mps::AxisSGTHRS::set(mm::Axis::Pulley, d); },
1),
// 0x18 Selector sg_thrs RW
RegisterRec(
[]() -> uint16_t { return config::selector.sg_thrs; },
//@@TODO please update documentation as well
2),
[]() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Selector); },
[](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Selector).SetSGTHRS(mm::axisParams[mm::Axis::Selector].params, d); mps::AxisSGTHRS::set(mm::Axis::Selector, d); },
1),
// 0x19 Idler sg_thrs RW
RegisterRec(
[]() -> uint16_t { return config::idler.sg_thrs; },
//@@TODO please update documentation as well
2),
[]() -> uint16_t { return mps::AxisSGTHRS::get(mm::Axis::Idler); },
[](uint16_t d) { mm::motion.DriverForAxis(mm::Axis::Idler).SetSGTHRS(mm::axisParams[mm::Axis::Idler].params, d); mps::AxisSGTHRS::set(mm::Axis::Idler, d); },
1),
// 0x1a Get Pulley position [mm] R
RegisterRec(