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- /**
- * TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
- *
- * based on the stepper library by Tom Igoe, et. al.
- *
- * Copyright (c) 2011, Interactive Matter, Marcus Nowotny
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
- #if defined(STM32GENERIC) && defined(STM32F7)
-
- #include "../../../inc/MarlinConfigPre.h"
-
- #if HAS_DRIVER(TMC2660)
-
- #include <stdbool.h>
- #include <SPI.h>
- #include "TMC2660.h"
-
- #include "../../../inc/MarlinConfig.h"
- #include "../../../MarlinCore.h"
- #include "../../../module/stepper/indirection.h"
- #include "../../../module/printcounter.h"
- #include "../../../libs/duration_t.h"
- #include "../../../libs/hex_print.h"
-
- //some default values used in initialization
- #define DEFAULT_MICROSTEPPING_VALUE 32
-
- //TMC26X register definitions
- #define DRIVER_CONTROL_REGISTER 0x0UL
- #define CHOPPER_CONFIG_REGISTER 0x80000UL
- #define COOL_STEP_REGISTER 0xA0000ul
- #define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul
- #define DRIVER_CONFIG_REGISTER 0xE0000ul
-
- #define REGISTER_BIT_PATTERN 0xFFFFFul
-
- //definitions for the driver control register
- #define MICROSTEPPING_PATTERN 0xFul
- #define STEP_INTERPOLATION 0x200UL
- #define DOUBLE_EDGE_STEP 0x100UL
- #define VSENSE 0x40UL
- #define READ_MICROSTEP_POSTION 0x0UL
- #define READ_STALL_GUARD_READING 0x10UL
- #define READ_STALL_GUARD_AND_COOL_STEP 0x20UL
- #define READ_SELECTION_PATTERN 0x30UL
-
- //definitions for the chopper config register
- #define CHOPPER_MODE_STANDARD 0x0UL
- #define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000UL
- #define T_OFF_PATTERN 0xFul
- #define RANDOM_TOFF_TIME 0x2000UL
- #define BLANK_TIMING_PATTERN 0x18000UL
- #define BLANK_TIMING_SHIFT 15
- #define HYSTERESIS_DECREMENT_PATTERN 0x1800UL
- #define HYSTERESIS_DECREMENT_SHIFT 11
- #define HYSTERESIS_LOW_VALUE_PATTERN 0x780UL
- #define HYSTERESIS_LOW_SHIFT 7
- #define HYSTERESIS_START_VALUE_PATTERN 0x78UL
- #define HYSTERESIS_START_VALUE_SHIFT 4
- #define T_OFF_TIMING_PATERN 0xFul
-
- //definitions for cool step register
- #define MINIMUM_CURRENT_FOURTH 0x8000UL
- #define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000UL
- #define SE_MAX_PATTERN 0xF00ul
- #define SE_CURRENT_STEP_WIDTH_PATTERN 0x60UL
- #define SE_MIN_PATTERN 0xFul
-
- //definitions for StallGuard2 current register
- #define STALL_GUARD_FILTER_ENABLED 0x10000UL
- #define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul
- #define CURRENT_SCALING_PATTERN 0x1Ful
- #define STALL_GUARD_CONFIG_PATTERN 0x17F00ul
- #define STALL_GUARD_VALUE_PATTERN 0x7F00ul
-
- //definitions for the input from the TMC2660
- #define STATUS_STALL_GUARD_STATUS 0x1UL
- #define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2UL
- #define STATUS_OVER_TEMPERATURE_WARNING 0x4UL
- #define STATUS_SHORT_TO_GROUND_A 0x8UL
- #define STATUS_SHORT_TO_GROUND_B 0x10UL
- #define STATUS_OPEN_LOAD_A 0x20UL
- #define STATUS_OPEN_LOAD_B 0x40UL
- #define STATUS_STAND_STILL 0x80UL
- #define READOUT_VALUE_PATTERN 0xFFC00ul
-
- #define CPU_32_BIT
-
- //default values
- #define INITIAL_MICROSTEPPING 0x3UL //32th microstepping
-
- SPIClass SPI_6(SPI6, SPI6_MOSI_PIN, SPI6_MISO_PIN, SPI6_SCK_PIN);
-
- #define STEPPER_SPI SPI_6
-
- //debuging output
-
- //#define TMC_DEBUG1
-
- uint8_t current_scaling = 0;
-
- /**
- * Constructor
- * number_of_steps - the steps per rotation
- * cs_pin - the SPI client select pin
- * dir_pin - the pin where the direction pin is connected
- * step_pin - the pin where the step pin is connected
- */
- TMC26XStepper::TMC26XStepper(const int16_t in_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor) {
- // We are not started yet
- started = false;
-
- // By default cool step is not enabled
- cool_step_enabled = false;
-
- // Save the pins for later use
- this->cs_pin = cs_pin;
- this->dir_pin = dir_pin;
- this->step_pin = step_pin;
-
- // Store the current sense resistor value for later use
- this->resistor = resistor;
-
- // Initizalize our status values
- this->steps_left = 0;
- this->direction = 0;
-
- // Initialize register values
- driver_control_register_value = DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING;
- chopper_config_register = CHOPPER_CONFIG_REGISTER;
-
- // Setting the default register values
- driver_control_register_value = DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING;
- microsteps = _BV(INITIAL_MICROSTEPPING);
- chopper_config_register = CHOPPER_CONFIG_REGISTER;
- cool_step_register_value = COOL_STEP_REGISTER;
- stallguard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER;
- driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
-
- // Set the current
- setCurrent(current);
- // Set to a conservative start value
- setConstantOffTimeChopper(7, 54, 13,12,1);
- // Set a nice microstepping value
- setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
- // Save the number of steps
- number_of_steps = in_steps;
- }
-
-
- /**
- * start & configure the stepper driver
- * just must be called.
- */
- void TMC26XStepper::start() {
-
- #ifdef TMC_DEBUG1
- SERIAL_ECHOLNPGM("\n TMC26X stepper library");
- SERIAL_ECHOPAIR("\n CS pin: ", cs_pin);
- SERIAL_ECHOPAIR("\n DIR pin: ", dir_pin);
- SERIAL_ECHOPAIR("\n STEP pin: ", step_pin);
- SERIAL_PRINTF("\n current scaling: %d", current_scaling);
- SERIAL_PRINTF("\n Resistor: %d", resistor);
- //SERIAL_PRINTF("\n current: %d", current);
- SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
- #endif
-
- //set the pins as output & its initial value
- pinMode(step_pin, OUTPUT);
- pinMode(dir_pin, OUTPUT);
- pinMode(cs_pin, OUTPUT);
- extDigitalWrite(step_pin, LOW);
- extDigitalWrite(dir_pin, LOW);
- extDigitalWrite(cs_pin, HIGH);
-
- STEPPER_SPI.begin();
- STEPPER_SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
-
- //set the initial values
- send262(driver_control_register_value);
- send262(chopper_config_register);
- send262(cool_step_register_value);
- send262(stallguard2_current_register_value);
- send262(driver_configuration_register_value);
-
- //save that we are in running mode
- started = true;
- }
-
- /**
- * Mark the driver as unstarted to be able to start it again
- */
- void TMC26XStepper::un_start() { started = false; }
-
-
- /**
- * Sets the speed in revs per minute
- */
- void TMC26XStepper::setSpeed(uint16_t whatSpeed) {
- this->speed = whatSpeed;
- this->step_delay = 60UL * sq(1000UL) / ((uint32_t)this->number_of_steps * (uint32_t)whatSpeed * (uint32_t)this->microsteps);
- #ifdef TMC_DEBUG0 // crashes
- SERIAL_ECHOPAIR("\nStep delay in micros: ", this->step_delay);
- #endif
- // Update the next step time
- this->next_step_time = this->last_step_time + this->step_delay;
- }
-
- uint16_t TMC26XStepper::getSpeed() { return this->speed; }
-
- /**
- * Moves the motor steps_to_move steps.
- * Negative indicates the reverse direction.
- */
- char TMC26XStepper::step(int16_t steps_to_move) {
- if (this->steps_left == 0) {
- this->steps_left = ABS(steps_to_move); // how many steps to take
-
- // determine direction based on whether steps_to_move is + or -:
- if (steps_to_move > 0)
- this->direction = 1;
- else if (steps_to_move < 0)
- this->direction = 0;
- return 0;
- }
- return -1;
- }
-
- char TMC26XStepper::move() {
- // decrement the number of steps, moving one step each time:
- if (this->steps_left > 0) {
- uint32_t time = micros();
- // move only if the appropriate delay has passed:
-
- // rem if (time >= this->next_step_time) {
-
- if (ABS(time - this->last_step_time) > this->step_delay) {
- // increment or decrement the step number,
- // depending on direction:
- if (this->direction == 1)
- extDigitalWrite(step_pin, HIGH);
- else {
- extDigitalWrite(dir_pin, HIGH);
- extDigitalWrite(step_pin, HIGH);
- }
- // get the timeStamp of when you stepped:
- this->last_step_time = time;
- this->next_step_time = time + this->step_delay;
- // decrement the steps left:
- steps_left--;
- //disable the step & dir pins
- extDigitalWrite(step_pin, LOW);
- extDigitalWrite(dir_pin, LOW);
- }
- return -1;
- }
- return 0;
- }
-
- char TMC26XStepper::isMoving() { return this->steps_left > 0; }
-
- uint16_t TMC26XStepper::getStepsLeft() { return this->steps_left; }
-
- char TMC26XStepper::stop() {
- //note to self if the motor is currently moving
- char state = isMoving();
- //stop the motor
- this->steps_left = 0;
- this->direction = 0;
- //return if it was moving
- return state;
- }
-
- void TMC26XStepper::setCurrent(uint16_t current) {
- uint8_t current_scaling = 0;
- //calculate the current scaling from the max current setting (in mA)
- float mASetting = (float)current,
- resistor_value = (float)this->resistor;
- // remove vsense flag
- this->driver_configuration_register_value &= ~(VSENSE);
- // Derived from I = (cs + 1) / 32 * (Vsense / Rsense)
- // leading to cs = 32 * R * I / V (with V = 0,31V oder 0,165V and I = 1000 * current)
- // with Rsense = 0,15
- // for vsense = 0,310V (VSENSE not set)
- // or vsense = 0,165V (VSENSE set)
- current_scaling = (byte)((resistor_value * mASetting * 32.0 / (0.31 * sq(1000.0))) - 0.5); //theoretically - 1.0 for better rounding it is 0.5
-
- // Check if the current scalingis too low
- if (current_scaling < 16) {
- // Set the csense bit to get a use half the sense voltage (to support lower motor currents)
- this->driver_configuration_register_value |= VSENSE;
- // and recalculate the current setting
- current_scaling = (byte)((resistor_value * mASetting * 32.0 / (0.165 * sq(1000.0))) - 0.5); //theoretically - 1.0 for better rounding it is 0.5
- #ifdef TMC_DEBUG0 // crashes
- SERIAL_ECHOPAIR("\nCS (Vsense=1): ",current_scaling);
- #endif
- }
- #ifdef TMC_DEBUG0 // crashes
- else
- SERIAL_ECHOPAIR("\nCS: ", current_scaling);
- #endif
-
- // do some sanity checks
- NOMORE(current_scaling, 31);
-
- // delete the old value
- stallguard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
- // set the new current scaling
- stallguard2_current_register_value |= current_scaling;
- // if started we directly send it to the motor
- if (started) {
- send262(driver_configuration_register_value);
- send262(stallguard2_current_register_value);
- }
- }
-
- uint16_t TMC26XStepper::getCurrent() {
- // Calculate the current according to the datasheet to be on the safe side.
- // This is not the fastest but the most accurate and illustrative way.
- float result = (float)(stallguard2_current_register_value & CURRENT_SCALING_PATTERN),
- resistor_value = (float)this->resistor,
- voltage = (driver_configuration_register_value & VSENSE) ? 0.165 : 0.31;
- result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
- return (uint16_t)result;
- }
-
- void TMC26XStepper::setStallGuardThreshold(char stallguard_threshold, char stallguard_filter_enabled) {
- // We just have 5 bits
- LIMIT(stallguard_threshold, -64, 63);
-
- // Add trim down to 7 bits
- stallguard_threshold &= 0x7F;
- // Delete old StallGuard settings
- stallguard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
- if (stallguard_filter_enabled)
- stallguard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
-
- // Set the new StallGuard threshold
- stallguard2_current_register_value |= (((uint32_t)stallguard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
- // If started we directly send it to the motor
- if (started) send262(stallguard2_current_register_value);
- }
-
- char TMC26XStepper::getStallGuardThreshold() {
- uint32_t stallguard_threshold = stallguard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
- //shift it down to bit 0
- stallguard_threshold >>= 8;
- //convert the value to an int16_t to correctly handle the negative numbers
- char result = stallguard_threshold;
- //check if it is negative and fill it up with leading 1 for proper negative number representation
- //rem if (result & _BV(6)) {
-
- if (TEST(result, 6)) result |= 0xC0;
- return result;
- }
-
- char TMC26XStepper::getStallGuardFilter() {
- if (stallguard2_current_register_value & STALL_GUARD_FILTER_ENABLED)
- return -1;
- return 0;
- }
-
- /**
- * Set the number of microsteps per step.
- * 0,2,4,8,16,32,64,128,256 is supported
- * any value in between will be mapped to the next smaller value
- * 0 and 1 set the motor in full step mode
- */
- void TMC26XStepper::setMicrosteps(const int16_t in_steps) {
- uint16_t setting_pattern;
-
- if (in_steps >= 256) setting_pattern = 0;
- else if (in_steps >= 128) setting_pattern = 1;
- else if (in_steps >= 64) setting_pattern = 2;
- else if (in_steps >= 32) setting_pattern = 3;
- else if (in_steps >= 16) setting_pattern = 4;
- else if (in_steps >= 8) setting_pattern = 5;
- else if (in_steps >= 4) setting_pattern = 6;
- else if (in_steps >= 2) setting_pattern = 7;
- else if (in_steps <= 1) setting_pattern = 8; // 1 and 0 lead to full step
-
- microsteps = _BV(8 - setting_pattern);
-
- #ifdef TMC_DEBUG0 // crashes
- SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
- #endif
-
- // Delete the old value
- this->driver_control_register_value &= 0x000FFFF0UL;
-
- // Set the new value
- this->driver_control_register_value |= setting_pattern;
-
- // If started we directly send it to the motor
- if (started) send262(driver_control_register_value);
-
- // Recalculate the stepping delay by simply setting the speed again
- this->setSpeed(this->speed);
- }
-
- /**
- * returns the effective number of microsteps at the moment
- */
- int16_t TMC26XStepper::getMicrosteps() { return microsteps; }
-
- /**
- * constant_off_time: The off time setting controls the minimum chopper frequency.
- * For most applications an off time within the range of 5μs to 20μs will fit.
- * 2...15: off time setting
- *
- * blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
- * duration of the ringing on the sense resistor. For
- * 0: min. setting 3: max. setting
- *
- * fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle.
- * 0: slow decay only
- * 1...15: duration of fast decay phase
- *
- * sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset.
- * A positive offset corrects for zero crossing error.
- * -3..-1: negative offset 0: no offset 1...12: positive offset
- *
- * use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle.
- * If current comparator is enabled, it terminates the fast decay cycle in case the current
- * reaches a higher negative value than the actual positive value.
- * 1: enable comparator termination of fast decay cycle
- * 0: end by time only
- */
- void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, uint8_t use_current_comparator) {
- // Perform some sanity checks
- LIMIT(constant_off_time, 2, 15);
-
- // Save the constant off time
- this->constant_off_time = constant_off_time;
-
- // Calculate the value acc to the clock cycles
- const char blank_value = blank_time >= 54 ? 3 :
- blank_time >= 36 ? 2 :
- blank_time >= 24 ? 1 : 0;
-
- LIMIT(fast_decay_time_setting, 0, 15);
- LIMIT(sine_wave_offset, -3, 12);
-
- // Shift the sine_wave_offset
- sine_wave_offset += 3;
-
- // Calculate the register setting
- // First of all delete all the values for this
- chopper_config_register &= ~(_BV(12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
- // Set the constant off pattern
- chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
- // Set the blank timing value
- chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
- // Setting the constant off time
- chopper_config_register |= constant_off_time;
- // Set the fast decay time
- // Set msb
- chopper_config_register |= (((uint32_t)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT);
- // Other bits
- chopper_config_register |= (((uint32_t)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT);
- // Set the sine wave offset
- chopper_config_register |= (uint32_t)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
- // Using the current comparator?
- if (!use_current_comparator)
- chopper_config_register |= _BV(12);
-
- // If started we directly send it to the motor
- if (started) {
- // rem send262(driver_control_register_value);
- send262(chopper_config_register);
- }
- }
-
- /**
- * constant_off_time: The off time setting controls the minimum chopper frequency.
- * For most applications an off time within the range of 5μs to 20μs will fit.
- * 2...15: off time setting
- *
- * blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
- * duration of the ringing on the sense resistor. For
- * 0: min. setting 3: max. setting
- *
- * hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND.
- * 1...8
- *
- * hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC.
- * The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
- * -3..-1: negative HEND 0: zero HEND 1...12: positive HEND
- *
- * hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
- * 0: fast decrement 3: very slow decrement
- */
-
- void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) {
- // Perform some sanity checks
- LIMIT(constant_off_time, 2, 15);
-
- // Save the constant off time
- this->constant_off_time = constant_off_time;
-
- // Calculate the value acc to the clock cycles
- const char blank_value = blank_time >= 54 ? 3 :
- blank_time >= 36 ? 2 :
- blank_time >= 24 ? 1 : 0;
-
- LIMIT(hysteresis_start, 1, 8);
- hysteresis_start--;
-
- LIMIT(hysteresis_start, -3, 12);
-
- // Shift the hysteresis_end
- hysteresis_end += 3;
-
- LIMIT(hysteresis_decrement, 0, 3);
-
- //first of all delete all the values for this
- chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
-
- //set the blank timing value
- chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
- //setting the constant off time
- chopper_config_register |= constant_off_time;
- //set the hysteresis_start
- chopper_config_register |= ((uint32_t)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
- //set the hysteresis end
- chopper_config_register |= ((uint32_t)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
- //set the hystereis decrement
- chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
- //if started we directly send it to the motor
- if (started) {
- //rem send262(driver_control_register_value);
- send262(chopper_config_register);
- }
- }
-
- /**
- * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
- * The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position.
- * With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a
- * few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc.
- * Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
- * Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages
- * (please refer to sense resistor layout hint in chapter 8.1).
- * In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
- * It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum,
- * reducing electromagnetic emission on single frequencies.
- */
- void TMC26XStepper::setRandomOffTime(char value) {
- if (value)
- chopper_config_register |= RANDOM_TOFF_TIME;
- else
- chopper_config_register &= ~(RANDOM_TOFF_TIME);
- //if started we directly send it to the motor
- if (started) {
- //rem send262(driver_control_register_value);
- send262(chopper_config_register);
- }
- }
-
- void TMC26XStepper::setCoolStepConfiguration(
- uint16_t lower_SG_threshold,
- uint16_t SG_hysteresis,
- uint8_t current_decrement_step_size,
- uint8_t current_increment_step_size,
- uint8_t lower_current_limit
- ) {
- // Sanitize the input values
- NOMORE(lower_SG_threshold, 480);
- // Divide by 32
- lower_SG_threshold >>= 5;
- NOMORE(SG_hysteresis, 480);
- // Divide by 32
- SG_hysteresis >>= 5;
- NOMORE(current_decrement_step_size, 3);
- NOMORE(current_increment_step_size, 3);
- NOMORE(lower_current_limit, 1);
-
- // Store the lower level in order to enable/disable the cool step
- this->cool_step_lower_threshold=lower_SG_threshold;
- // If cool step is not enabled we delete the lower value to keep it disabled
- if (!this->cool_step_enabled) lower_SG_threshold = 0;
- // The good news is that we can start with a complete new cool step register value
- // And simply set the values in the register
- cool_step_register_value = ((uint32_t)lower_SG_threshold)
- | (((uint32_t)SG_hysteresis) << 8)
- | (((uint32_t)current_decrement_step_size) << 5)
- | (((uint32_t)current_increment_step_size) << 13)
- | (((uint32_t)lower_current_limit) << 15)
- | COOL_STEP_REGISTER; // Register signature
-
- if (started) send262(cool_step_register_value);
- }
-
- void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
- // Simply delete the lower limit to disable the cool step
- cool_step_register_value &= ~SE_MIN_PATTERN;
- // And set it to the proper value if cool step is to be enabled
- if (enabled)
- cool_step_register_value |= this->cool_step_lower_threshold;
- // And save the enabled status
- this->cool_step_enabled = enabled;
- // Save the register value
- if (started) send262(cool_step_register_value);
- }
-
- boolean TMC26XStepper::isCoolStepEnabled() { return this->cool_step_enabled; }
-
- uint16_t TMC26XStepper::getCoolStepLowerSgThreshold() {
- // We return our internally stored value - in order to provide the correct setting even if cool step is not enabled
- return this->cool_step_lower_threshold<<5;
- }
-
- uint16_t TMC26XStepper::getCoolStepUpperSgThreshold() {
- return uint8_t((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5;
- }
-
- uint8_t TMC26XStepper::getCoolStepCurrentIncrementSize() {
- return uint8_t((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13);
- }
-
- uint8_t TMC26XStepper::getCoolStepNumberOfSGReadings() {
- return uint8_t((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5);
- }
-
- uint8_t TMC26XStepper::getCoolStepLowerCurrentLimit() {
- return uint8_t((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15);
- }
-
- void TMC26XStepper::setEnabled(boolean enabled) {
- //delete the t_off in the chopper config to get sure
- chopper_config_register &= ~(T_OFF_PATTERN);
- if (enabled) {
- //and set the t_off time
- chopper_config_register |= this->constant_off_time;
- }
- //if not enabled we don't have to do anything since we already delete t_off from the register
- if (started) send262(chopper_config_register);
- }
-
- boolean TMC26XStepper::isEnabled() { return !!(chopper_config_register & T_OFF_PATTERN); }
-
- /**
- * reads a value from the TMC26X status register. The value is not obtained directly but can then
- * be read by the various status routines.
- */
- void TMC26XStepper::readStatus(char read_value) {
- uint32_t old_driver_configuration_register_value = driver_configuration_register_value;
- //reset the readout configuration
- driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
- //this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
- if (read_value == TMC26X_READOUT_STALLGUARD)
- driver_configuration_register_value |= READ_STALL_GUARD_READING;
- else if (read_value == TMC26X_READOUT_CURRENT)
- driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP;
-
- //all other cases are ignored to prevent funny values
- //check if the readout is configured for the value we are interested in
- if (driver_configuration_register_value != old_driver_configuration_register_value) {
- //because then we need to write the value twice - one time for configuring, second time to get the value, see below
- send262(driver_configuration_register_value);
- }
- //write the configuration to get the last status
- send262(driver_configuration_register_value);
- }
-
- int16_t TMC26XStepper::getMotorPosition() {
- //we read it out even if we are not started yet - perhaps it is useful information for somebody
- readStatus(TMC26X_READOUT_POSITION);
- return getReadoutValue();
- }
-
- //reads the StallGuard setting from last status
- //returns -1 if StallGuard information is not present
- int16_t TMC26XStepper::getCurrentStallGuardReading() {
- //if we don't yet started there cannot be a StallGuard value
- if (!started) return -1;
- //not time optimal, but solution optiomal:
- //first read out the StallGuard value
- readStatus(TMC26X_READOUT_STALLGUARD);
- return getReadoutValue();
- }
-
- uint8_t TMC26XStepper::getCurrentCSReading() {
- //if we don't yet started there cannot be a StallGuard value
- if (!started) return 0;
- //not time optimal, but solution optiomal:
- //first read out the StallGuard value
- readStatus(TMC26X_READOUT_CURRENT);
- return (getReadoutValue() & 0x1F);
- }
-
- uint16_t TMC26XStepper::getCurrentCurrent() {
- float result = (float)getCurrentCSReading(),
- resistor_value = (float)this->resistor,
- voltage = (driver_configuration_register_value & VSENSE)? 0.165 : 0.31;
- result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
- return (uint16_t)result;
- }
-
- /**
- * Return true if the StallGuard threshold has been reached
- */
- boolean TMC26XStepper::isStallGuardOverThreshold() {
- if (!this->started) return false;
- return (driver_status_result & STATUS_STALL_GUARD_STATUS);
- }
-
- /**
- * returns if there is any over temperature condition:
- * OVER_TEMPERATURE_PREWARING if pre warning level has been reached
- * OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down
- * Any of those levels are not too good.
- */
- char TMC26XStepper::getOverTemperature() {
- if (!this->started) return 0;
-
- if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN)
- return TMC26X_OVERTEMPERATURE_SHUTDOWN;
-
- if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING)
- return TMC26X_OVERTEMPERATURE_PREWARING;
-
- return 0;
- }
-
- // Is motor channel A shorted to ground
- boolean TMC26XStepper::isShortToGroundA() {
- if (!this->started) return false;
- return (driver_status_result & STATUS_SHORT_TO_GROUND_A);
- }
-
- // Is motor channel B shorted to ground
- boolean TMC26XStepper::isShortToGroundB() {
- if (!this->started) return false;
- return (driver_status_result & STATUS_SHORT_TO_GROUND_B);
- }
-
- // Is motor channel A connected
- boolean TMC26XStepper::isOpenLoadA() {
- if (!this->started) return false;
- return (driver_status_result & STATUS_OPEN_LOAD_A);
- }
-
- // Is motor channel B connected
- boolean TMC26XStepper::isOpenLoadB() {
- if (!this->started) return false;
- return (driver_status_result & STATUS_OPEN_LOAD_B);
- }
-
- // Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
- boolean TMC26XStepper::isStandStill() {
- if (!this->started) return false;
- return (driver_status_result & STATUS_STAND_STILL);
- }
-
- //is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
- boolean TMC26XStepper::isStallGuardReached() {
- if (!this->started) return false;
- return (driver_status_result & STATUS_STALL_GUARD_STATUS);
- }
-
- //reads the StallGuard setting from last status
- //returns -1 if StallGuard information is not present
- int16_t TMC26XStepper::getReadoutValue() {
- return (int)(driver_status_result >> 10);
- }
-
- int16_t TMC26XStepper::getResistor() { return this->resistor; }
-
- boolean TMC26XStepper::isCurrentScalingHalfed() {
- return !!(this->driver_configuration_register_value & VSENSE);
- }
- /**
- * version() returns the version of the library:
- */
- int16_t TMC26XStepper::version() { return 1; }
-
- void TMC26XStepper::debugLastStatus() {
- #ifdef TMC_DEBUG1
- if (this->started) {
- if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING)
- SERIAL_ECHOLNPGM("\n WARNING: Overtemperature Prewarning!");
- else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN)
- SERIAL_ECHOLNPGM("\n ERROR: Overtemperature Shutdown!");
-
- if (this->isShortToGroundA())
- SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel A!");
-
- if (this->isShortToGroundB())
- SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel B!");
-
- if (this->isOpenLoadA())
- SERIAL_ECHOLNPGM("\n ERROR: Channel A seems to be unconnected!");
-
- if (this->isOpenLoadB())
- SERIAL_ECHOLNPGM("\n ERROR: Channel B seems to be unconnected!");
-
- if (this->isStallGuardReached())
- SERIAL_ECHOLNPGM("\n INFO: Stall Guard level reached!");
-
- if (this->isStandStill())
- SERIAL_ECHOLNPGM("\n INFO: Motor is standing still.");
-
- uint32_t readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
- const int16_t value = getReadoutValue();
- if (readout_config == READ_MICROSTEP_POSTION) {
- SERIAL_ECHOPAIR("\n Microstep position phase A: ", value);
- }
- else if (readout_config == READ_STALL_GUARD_READING) {
- SERIAL_ECHOPAIR("\n Stall Guard value:", value);
- }
- else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
- SERIAL_ECHOPAIR("\n Approx Stall Guard: ", value & 0xF);
- SERIAL_ECHOPAIR("\n Current level", value & 0x1F0);
- }
- }
- #endif
- }
-
- /**
- * send register settings to the stepper driver via SPI
- * returns the current status
- */
- inline void TMC26XStepper::send262(uint32_t datagram) {
- uint32_t i_datagram;
-
- //preserver the previous spi mode
- //uint8_t oldMode = SPCR & SPI_MODE_MASK;
-
- //if the mode is not correct set it to mode 3
- //if (oldMode != SPI_MODE3) {
- // SPI.setDataMode(SPI_MODE3);
- //}
-
- //select the TMC driver
- extDigitalWrite(cs_pin, LOW);
-
- //ensure that only valid bist are set (0-19)
- //datagram &=REGISTER_BIT_PATTERN;
-
- #ifdef TMC_DEBUG1
- //SERIAL_PRINTF("Sending ");
- //SERIAL_PRINTF("Sending ", datagram,HEX);
- //SERIAL_ECHOPAIR("\n\nSending \n", print_hex_long(datagram));
- SERIAL_PRINTF("\n\nSending %x", datagram);
- #endif
-
- //write/read the values
- i_datagram = STEPPER_SPI.transfer((datagram >> 16) & 0xFF);
- i_datagram <<= 8;
- i_datagram |= STEPPER_SPI.transfer((datagram >> 8) & 0xFF);
- i_datagram <<= 8;
- i_datagram |= STEPPER_SPI.transfer((datagram) & 0xFF);
- i_datagram >>= 4;
-
- #ifdef TMC_DEBUG1
- //SERIAL_PRINTF("Received ");
- //SERIAL_PRINTF("Received ", i_datagram,HEX);
- //SERIAL_ECHOPAIR("\n\nReceived \n", i_datagram);
- SERIAL_PRINTF("\n\nReceived %x", i_datagram);
- debugLastStatus();
- #endif
-
- //deselect the TMC chip
- extDigitalWrite(cs_pin, HIGH);
-
- //restore the previous SPI mode if neccessary
- //if the mode is not correct set it to mode 3
- //if (oldMode != SPI_MODE3) {
- // SPI.setDataMode(oldMode);
- //}
-
- //store the datagram as status result
- driver_status_result = i_datagram;
- }
-
- #endif // HAS_DRIVER(TMC2660)
-
- #endif // STM32GENERIC && STM32F7
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