From e0babfa4bab5fd27c50d70a2d99aacc6453b7c69 Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Thu, 2 Sep 2021 13:19:21 +0300
Subject: [PATCH] Updated motor currents and added freewheeling

---
 src/config/config.h | 24 ++++++++++++++++--------
 src/hal/tmc2130.cpp |  3 ++-
 2 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/src/config/config.h b/src/config/config.h
index 4b827ca..9f8d096 100644
--- a/src/config/config.h
+++ b/src/config/config.h
@@ -80,8 +80,8 @@ static constexpr AxisConfig pulley = {
     .dirOn = false,
     .mRes = MRes_2,
     .vSense = true,
-    .iRun = 30,
-    .iHold = 1,
+    .iRun = 20, /// 348mA
+    .iHold = 0, /// 17mA in SpreadCycle, freewheel in StealthChop
     .stealth = false,
     .stepsPerUnit = (200 * 2 / 19.147274),
 };
@@ -97,9 +97,9 @@ static constexpr PulleyLimits pulleyLimits = {
 static constexpr AxisConfig selector = {
     .dirOn = true,
     .mRes = MRes_2,
-    .vSense = false,
-    .iRun = 17,
-    .iHold = 5,
+    .vSense = true,
+    .iRun = 18, /// 315mA
+    .iHold = 5, /// 99mA
     .stealth = false,
     .stepsPerUnit = (200 * 2 / 8.),
 };
@@ -115,9 +115,9 @@ static constexpr SelectorLimits selectorLimits = {
 static constexpr AxisConfig idler = {
     .dirOn = true,
     .mRes = MRes_16,
-    .vSense = false,
-    .iRun = 23,
-    .iHold = 11,
+    .vSense = true,
+    .iRun = 31, /// 530mA
+    .iHold = 23, /// 398mA
     .stealth = false,
     .stepsPerUnit = (200 * 16 / 360.),
 };
@@ -152,4 +152,12 @@ 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");
 
+/// Freewheel options for standstill:
+/// 0: Normal operation (IHOLD is supplied to the motor at standstill)
+/// 1: Freewheeling (as if the driver was disabled, no breaking except for detent torque)
+/// 2: Coil shorted using LS drivers (stronger passive breaking)
+/// 3: Coil shorted using HS drivers (weaker passive breaking)
+static constexpr uint32_t tmc2130_freewheel = 1;
+static_assert(tmc2130_PWM_AUTOSCALE <= 3, "tmc2130_freewheel out of range");
+
 } // namespace config
diff --git a/src/hal/tmc2130.cpp b/src/hal/tmc2130.cpp
index 42bcd77..d13b221 100644
--- a/src/hal/tmc2130.cpp
+++ b/src/hal/tmc2130.cpp
@@ -51,7 +51,8 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
     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_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)
     WriteRegister(params, Registers::PWMCONF, pwmconf);
 
     /// TPWMTHRS: switching velocity between stealthChop and spreadCycle.