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tmc2130: More init

pull/76/head
Alex Voinea 2021-07-17 23:36:17 +03:00 committed by DRracer
parent 1022603f9d
commit e9046eed42
4 changed files with 89 additions and 18 deletions
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2
src/config/axis.h
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@ -9,11 +9,11 @@ using namespace unit;
/// Axis configuration data
struct AxisConfig {
bool dirOn; ///< direction ON state (for inversion)
uint8_t uSteps; ///< microstepping [0-8, where 0 is x256 and 8 is fullstepping]
bool vSense; ///< vSense scaling
uint8_t iRun; ///< running current
uint8_t iHold; ///< holding current
bool stealth; ///< Default to Stealth mode
uint8_t uSteps; ///< microstepping [1-256]
long double stepsPerUnit; ///< steps per unit
};

3
src/config/config.h
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@ -61,6 +61,7 @@ static constexpr AxisConfig pulley = {
//static constexpr AxisConfig idler = {
//>>>>>>> tmc2130: Define the SPI bus for the tmc drivers
.dirOn = true,
.uSteps = 4, //x16
.vSense = false,
.iRun = 20,
.iHold = 20,
@ -79,6 +80,7 @@ static constexpr PulleyLimits pulleyLimits = {
/// Selector configuration
static constexpr AxisConfig selector = {
.dirOn = true,
.uSteps = 4, //x16
.vSense = false,
.iRun = 20,
.iHold = 20,
@ -97,6 +99,7 @@ static constexpr SelectorLimits selectorLimits = {
/// Idler configuration
static constexpr AxisConfig idler = {
.dirOn = true,
.uSteps = 4, //x16
.vSense = false,
.iRun = 20,
.iHold = 20,

89
src/hal/avr/tmc2130.cpp
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@ -5,28 +5,71 @@ namespace tmc2130 {
TMC2130::TMC2130(const MotorParams &params,
const MotorCurrents &currents,
MotorMode mode) {
MotorMode mode)
: currents(currents) {
// TODO
}
void TMC2130::Init(const MotorParams &params) {
// TODO
gpio::Init(params.csPin, gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::high));
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)
uint32_t IOIN = ReadRegister(params, Registers::IOIN);
if (((IOIN >> 24) != 0x11) | !(IOIN & (1 << 6))) ///if the version is incorrect or an always 1 bit is 0 (the supposed SD_MODE pin that doesn't exist on this driver variant)
return; // @todo return some kind of failure
///clear reset flag as we are (re)initializing
errorFlags.reset = false;
///apply chopper parameters
uint32_t chopconf = 0;
chopconf |= (uint32_t)(3 & 0x0F) << 0; //toff
chopconf |= (uint32_t)(5 & 0x07) << 4; //hstrt
chopconf |= (uint32_t)(1 & 0x0F) << 7; //hend
chopconf |= (uint32_t)(2 & 0x03) << 15; //tbl
chopconf |= (uint32_t)(currents.vSense & 0x01) << 17; //vsense
chopconf |= (uint32_t)(params.uSteps & 0x0F) << 24; //mres
chopconf |= (uint32_t)((bool)params.uSteps) << 28; //intpol
chopconf |= (uint32_t)(1 & 0x01) << 29; //dedge
WriteRegister(params, Registers::CHOPCONF, chopconf);
///apply currents
uint32_t ihold_irun = 0;
ihold_irun |= (uint32_t)(currents.iHold & 0x1F) << 0; //ihold
ihold_irun |= (uint32_t)(currents.iRun & 0x1F) << 8; //irun
ihold_irun |= (uint32_t)(15 & 0x0F) << 16; //IHOLDDELAY
WriteRegister(params, Registers::IHOLD_IRUN, ihold_irun);
///instant powerdown ramp
WriteRegister(params, Registers::TPOWERDOWN, 0);
///Stallguard parameters
int8_t sg_thrs = 3; // @todo 7bit two's complement for the sg_thrs
WriteRegister(params, Registers::COOLCONF, (((uint32_t)sg_thrs) << 16)); // @todo should be configurable
WriteRegister(params, Registers::TCOOLTHRS, 400); // @todo should be configurable
///Write stealth mode config and setup diag0 output
uint32_t gconf = 0;
gconf |= (uint32_t)((uint8_t)mode & 0x01) << 2; //en_pwm_mode
gconf |= (uint32_t)(1 & 0x01) << 7; //diag0_stall
WriteRegister(params, Registers::GCONF, gconf);
}
uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) {
uint8_t pData[5] = {(uint8_t)reg};
_spi_tx_rx(params, pData);
// _handle_spi_status(pData[0]); /// could be outdated. Safer not to use it.
pData[0] = 0;
_spi_tx_rx(params, pData);
_handle_spi_status(pData[0]);
return ((uint32_t)pData[1] << 24 | (uint32_t)pData[2] << 16 | (uint32_t)pData[3] << 8 | (uint32_t)pData[4]);
uint8_t pData[5] = { (uint8_t)reg };
_spi_tx_rx(params, pData);
pData[0] = 0;
_spi_tx_rx(params, pData);
_handle_spi_status(params, pData[0]);
return ((uint32_t)pData[1] << 24 | (uint32_t)pData[2] << 16 | (uint32_t)pData[3] << 8 | (uint32_t)pData[4]);
}
void TMC2130::WriteRegister(const MotorParams &params, Registers reg, uint32_t data) {
uint8_t pData[5] = {(uint8_t)((uint8_t)(reg) | 0x80), (uint8_t)(data >> 24), (uint8_t)(data >> 16), (uint8_t)(data >> 8), (uint8_t)data};
_spi_tx_rx(params, pData);
_handle_spi_status(pData[0]);
uint8_t pData[5] = { (uint8_t)((uint8_t)(reg) | 0x80), (uint8_t)(data >> 24), (uint8_t)(data >> 16), (uint8_t)(data >> 8), (uint8_t)data };
_spi_tx_rx(params, pData);
_handle_spi_status(params, pData[0]);
}
void TMC2130::_spi_tx_rx(const MotorParams &params, uint8_t (&pData)[5]) {
@ -36,8 +79,26 @@ void TMC2130::_spi_tx_rx(const MotorParams &params, uint8_t (&pData)[5]) {
hal::gpio::WritePin(params.csPin, hal::gpio::Level::high);
}
void TMC2130::_handle_spi_status(uint8_t status) {
spi_status |= status & 0x03; /// update reset_flag and driver_error
void TMC2130::_handle_spi_status(const MotorParams &params, uint8_t status) {
status &= 0x03;
if (status) {
uint32_t GSTAT = ReadRegister(params, Registers::GSTAT);
if (GSTAT & (1 << 0))
errorFlags.reset |= true;
if (GSTAT & (1 << 1)) {
uint32_t DRV_STATUS = ReadRegister(params, Registers::DRV_STATUS);
if (DRV_STATUS & (1ul << 25))
errorFlags.ot |= true;
if (DRV_STATUS & (1ul << 26))
errorFlags.otpw |= true;
if (DRV_STATUS & (1ul << 27))
errorFlags.s2ga |= true;
if (DRV_STATUS & (1ul << 28))
errorFlags.s2gb |= true;
}
if (GSTAT & (1 << 2))
errorFlags.uv_cp |= true;
}
}
} // namespace tmc2130

13
src/hal/tmc2130.h
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@ -23,7 +23,7 @@ struct MotorParams {
gpio::GPIO_pin csPin; ///< CS pin
gpio::GPIO_pin stepPin; ///< step pin
gpio::GPIO_pin sgPin; ///< stallguard pin
uint8_t uSteps; ///< microstep resolution
uint8_t uSteps; ///< microstep resolution (mres)
};
struct MotorCurrents {
@ -35,7 +35,14 @@ struct MotorCurrents {
class TMC2130 {
MotorMode mode;
MotorCurrents currents;
uint8_t spi_status = 0;
struct __attribute__((packed)) {
uint8_t reset : 1;
uint8_t uv_cp : 1;
uint8_t s2ga : 1;
uint8_t s2gb : 1;
uint8_t otpw : 1;
uint8_t ot : 1;
} errorFlags;
public:
enum class Registers : uint8_t {
@ -115,7 +122,7 @@ public:
private:
void _spi_tx_rx(const MotorParams &params, uint8_t (&pData)[5]);
void _handle_spi_status(uint8_t status);
void _handle_spi_status(const MotorParams &params, uint8_t status);
};
} // namespace tmc2130