implementing simplified library
Tim Evers
parent
d4b91fba67
commit
e4bfb770f9
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@ -84,7 +84,9 @@ void MovementAxis::test()
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unsigned int MovementAxis::getLostSteps()
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{
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return TMC2130A->get_MSCNT();
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/**/
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//return TMC2130A->get_MSCNT();
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return false;
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}
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void MovementAxis::initTMC2130()
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@ -129,7 +131,12 @@ void MovementAxis::loadSettingsTMC2130(int motorCurrent, int stallSensitivity,
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}
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bool MovementAxis::stallDetected() {
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return (TMC2130A->isStandstill() || TMC2130A->isStallguard());
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/**/
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bool stallGuard = TMC2130A->getStatus() & TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
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bool standStill = TMC2130A->getStatus() & TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
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//return (TMC2130A->isStandstill() || TMC2130A->isStallguard());
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return stallGuard || standStill;
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}
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uint16_t MovementAxis::getLoad() {
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@ -29,8 +29,10 @@ public:
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MovementAxis();
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#if defined(FARMDUINO_EXP_V20)
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Trinamic_TMC2130 *TMC2130A;
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Trinamic_TMC2130 *TMC2130B;
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//Trinamic_TMC2130 *TMC2130A;
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//Trinamic_TMC2130 *TMC2130B;
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TMC2130_Basics *TMC2130A;
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TMC2130_Basics *TMC2130B;
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#endif
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void loadPinNumbers(int step, int dir, int enable, int min, int max, int step2, int dir2, int enable2);
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115
src/TMC2130.cpp
115
src/TMC2130.cpp
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@ -7,8 +7,10 @@
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#include "TMC2130.h"
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void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int current, int sensitivity)
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//void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int current, int sensitivity)
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void loadTMC2130ParametersMotor(TMC2130_Basics *tb, int microsteps, int current, int sensitivity)
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{
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Serial.print("==>");
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Serial.print(" ");
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Serial.print(microsteps);
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@ -19,11 +21,42 @@ void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int
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Serial.println(" ");
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/**/
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myStepper->init();
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//myStepper->init();
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tb->init();
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myStepper->set_mres(microsteps); // ({1,2,4,8,16,32,64,128,256}) number of microsteps
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//myStepper->set_IHOLD_IRUN(31, 31, 5); // ([0-31],[0-31],[0-5]) sets all currents to maximum
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myStepper->set_I_scale_analog(1); // ({0,1}) 0: I_REF internal, 1: sets I_REF to AIN
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//myStepper->set_mres(microsteps); // ({1,2,4,8,16,32,64,128,256}) number of microsteps
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uint8_t data = 0;
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switch (microsteps) {
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case 1:
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data = 8;
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break;
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case 2:
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data = 7;
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break;
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case 4:
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data = 6;
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break;
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case 8:
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data = 5;
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break;
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case 16:
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data = 4;
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break;
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case 32:
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data = 3;
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break;
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case 64:
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data = 2;
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break;
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case 128:
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data = 1;
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break;
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}
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(data) << FB_TMC_CHOPCONF_MRES, FB_TMC_CHOPCONF_MASKS[FB_TMC_CHOPCONF_MRES] << FB_TMC_CHOPCONF_MRES);
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//myStepper->set_I_scale_analog(1); // ({0,1}) 0: I_REF internal, 1: sets I_REF to AIN
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tb->set_GCONF(FB_TMC_GCONF_I_SCALE_ANALOG, 1);
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// load drive current for motors
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{
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@ -35,20 +68,68 @@ void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int
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if (CS < 16) {
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CS = 32.0*1.41421*mA / 1000.0*(RS + 0.02) / 0.180 - 1;
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}
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myStepper->set_IHOLD_IRUN(CS, CS, 16);
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{
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uint32_t data;
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// adding ihold
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data = ((uint32_t(CS)&FB_TMC_IHOLD_MASK) << FB_TMC_IHOLD);
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// adding irun
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data |= ((uint32_t(CS)&FB_TMC_IRUN_MASK) << FB_TMC_IRUN);
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// adding iholddelay
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data |= ((uint32_t(16)&FB_TMC_IHOLDDELAY_MASK) << FB_TMC_IHOLDDELAY);
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// writing data
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tb->write_REG(FB_TMC_REG_IHOLD_IRUN, data);
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}
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//myStepper->set_IHOLD_IRUN(CS, CS, 16);
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}
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myStepper->set_toff(3); // ([0-15]) 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
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myStepper->set_tbl(1); // ([0-3]) set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
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//myStepper->set_toff(3); // ([0-15]) 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
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tb->set_CHOPCONF(FB_TMC_CHOPCONF_TOFF, 3);
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//myStepper->set_tbl(1); // ([0-3]) set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
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tb->set_CHOPCONF(FB_TMC_CHOPCONF_TBL, 1);
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// load settings needed for enabling stall guard
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myStepper->set_diag1_stall(1);
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myStepper->set_diag1_onstate(1);
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myStepper->set_TCOOLTHRS(0xFFFFF);
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myStepper->set_THIGH(0);
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myStepper->set_semin(5);
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myStepper->set_semax(2);
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myStepper->set_sedn(0b01);
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myStepper->set_sgt(sensitivity);
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//myStepper->set_diag1_stall(1);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_STALL, 1);
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//myStepper->set_diag1_onstate(1);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_ONSTATE, 1);
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//myStepper->set_TCOOLTHRS(0xFFFFF);
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{
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uint32_t data;
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data = 0xFFFFF & FB_TMC_TCOOLTHRS_MASK;
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tb->write_REG(FB_TMC_REG_TCOOLTHRS, data);
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}
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//myStepper->set_THIGH(0);
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{
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uint32_t data;
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data = 0 & FB_TMC_THIGH_MASK;
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tb->write_REG(FB_TMC_REG_THIGH, data);
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}
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//myStepper->set_semin(5);
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{
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tb->set_CHOPCONF(FB_TMC_COOLCONF_SEMIN, 5);
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}
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//myStepper->set_semax(2);
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tb->set_CHOPCONF(FB_TMC_COOLCONF_SEMAX, 2);
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//myStepper->set_sedn(0b01);
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tb->set_CHOPCONF(FB_TMC_COOLCONF_SEMAX, 0b01);
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//myStepper->set_sgt(sensitivity);
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tb->set_CHOPCONF(FB_TMC_COOLCONF_SGT, sensitivity);
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}
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}
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@ -13,22 +13,20 @@
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#include "Trinamic\Trinamic_TMC2130.h"
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#include "pins.h"
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//static Trinamic_TMC2130 *TMC2130X;
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//static Trinamic_TMC2130 *TMC2130Y;
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//static Trinamic_TMC2130 *TMC2130Z;
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//static Trinamic_TMC2130 *TMC2130E;
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#include "TMC2130_Basics.h"
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//static Trinamic_TMC2130 TMC2130X(X_CHIP_SELECT);
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//static Trinamic_TMC2130 TMC2130Y(Y_CHIP_SELECT);
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//static Trinamic_TMC2130 TMC2130Z(Z_CHIP_SELECT);
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//static Trinamic_TMC2130 TMC2130E(E_CHIP_SELECT);
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static Trinamic_TMC2130 TMC2130X(X_CHIP_SELECT);
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static Trinamic_TMC2130 TMC2130Y(Y_CHIP_SELECT);
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static Trinamic_TMC2130 TMC2130Z(Z_CHIP_SELECT);
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static Trinamic_TMC2130 TMC2130E(E_CHIP_SELECT);
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static TMC2130_Basics TMC2130X(X_CHIP_SELECT);
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static TMC2130_Basics TMC2130Y(Y_CHIP_SELECT);
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static TMC2130_Basics TMC2130Z(Z_CHIP_SELECT);
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static TMC2130_Basics TMC2130E(E_CHIP_SELECT);
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void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int current, int sensitivity);
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//void loadTMC2130ParametersMotor(Trinamic_TMC2130 *myStepper, int microsteps, int current, int sensitivity);
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void loadTMC2130ParametersMotor(TMC2130_Basics *tb, int microsteps, int current, int sensitivity);
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//static TMC2130Stepper *TMC2130X;
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//static TMC2130Stepper *TMC2130Y;
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//static TMC2130Stepper *TMC2130Z;
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//static TMC2130Stepper *TMC2130E;
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#endif /* TMC2130_H_ */
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@ -0,0 +1,139 @@
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//
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//
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//
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#include "TMC2130_Basics.h"
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TMC2130_Basics::TMC2130_Basics(uint8_t csPin)
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{
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_csPin = csPin;
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_status = 0;
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_debug = "";
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}
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// initialize the driver with its CS/SS pin
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void TMC2130_Basics::init() {
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pinMode(_csPin, OUTPUT);
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digitalWrite(_csPin, HIGH);
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init_SPI();
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read_STAT();
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}
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// initialize SPI
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void TMC2130_Basics::init_SPI() {
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SPI.setDataMode(FB_TMC_SPI_DATA_MODE);
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SPI.setBitOrder(FB_TMC_SPI_BIT_ORDER);
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SPI.setClockDivider(FB_TMC_SPI_CLOCK_DIVIDER);
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SPI.begin();
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}
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// read status
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uint8_t TMC2130_Basics::read_STAT()
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{
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init_SPI();
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digitalWrite(_csPin, LOW);
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// read address
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_status = SPI.transfer(0x00);
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// flush 4 bytes
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for (int i = 0; i < 4; i++) {
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SPI.transfer(0x00);
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}
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digitalWrite(_csPin, HIGH);
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return _status;
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}
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// read a register
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uint8_t TMC2130_Basics::read_REG(uint8_t address, uint32_t *data)
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{
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init_SPI();
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digitalWrite(_csPin, LOW);
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// read address
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_status = SPI.transfer(address&~FB_TMC_WRITE);
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// flush 4 bytes
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for (int i = 0; i < 4; i++) {
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SPI.transfer(0x00);
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}
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digitalWrite(_csPin, HIGH);
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// restart transmission
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digitalWrite(_csPin, LOW);
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// read address
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_status = SPI.transfer(address&~FB_TMC_WRITE);
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// retrieve data
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*data = SPI.transfer(0x00) & 0xFF;
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*data <<= 8;
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*data |= SPI.transfer(0x00) & 0xFF;
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*data <<= 8;
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*data |= SPI.transfer(0x00) & 0xFF;
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*data <<= 8;
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*data |= SPI.transfer(0x00) & 0xFF;
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digitalWrite(_csPin, HIGH);
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return _status;
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}
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// write to a register
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uint8_t TMC2130_Basics::write_REG(uint8_t address, uint32_t data)
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{
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digitalWrite(_csPin, LOW);
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// write address
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_status = SPI.transfer(address | FB_TMC_WRITE);
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// write data
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SPI.transfer((data >> 24UL) & 0xFF);
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SPI.transfer((data >> 16UL) & 0xFF);
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SPI.transfer((data >> 8UL) & 0xFF);
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SPI.transfer((data >> 0UL) & 0xFF);
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digitalWrite(_csPin, HIGH);
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return _status;
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}
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// alter a register using a bitmask
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uint8_t TMC2130_Basics::alter_REG(uint8_t address, uint32_t data, uint32_t mask)
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{
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uint32_t oldData, newData;
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read_REG(address, &oldData);
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newData = (oldData&~mask) | (data&mask);
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write_REG(address, newData);
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return _status;
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}
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// set single bits in the GCONF register
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uint8_t TMC2130_Basics::set_GCONF(uint8_t position, uint8_t value)
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{
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alter_REG(FB_TMC_REG_GCONF, uint32_t(value) << position, 0x1UL << position);
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return _status;
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}
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// set single bits or values in the chopconf register (constraining masks are applied if necessary)
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uint8_t TMC2130_Basics::set_CHOPCONF(uint8_t position, uint8_t value)
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{
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alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(value) << position, FB_TMC_CHOPCONF_MASKS[position] << position);
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return _status;
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}
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uint8_t TMC2130_Basics::getStatus()
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{
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return _status;
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}
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@ -0,0 +1,47 @@
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// TMC2130_Basics.h
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#ifndef _TMC2130_BASICS_h
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#define _TMC2130_BASICS_h
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include "TMC2130_Basics_Reg.h"
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class TMC2130_Basics {
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public:
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TMC2130_Basics(uint8_t csPin);
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void init();
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void init_SPI();
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uint8_t read_STAT();
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uint8_t read_REG(uint8_t address, uint32_t *data);
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uint8_t write_REG(uint8_t address, uint32_t data);
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uint8_t alter_REG(uint8_t address, uint32_t data, uint32_t mask);
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uint8_t set_GCONF(uint8_t bit, uint8_t value);
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uint8_t set_CHOPCONF(uint8_t position, uint8_t value);
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uint8_t getStatus();
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//boolean isReset();
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//boolean isError();
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//boolean isStallguard();
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//boolean isStandstill();
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//String debug();
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private:
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uint32_t _coolconf;
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uint32_t _pwmconf;
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uint8_t _csPin;
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uint8_t _status;
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String _debug;
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};
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#endif
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@ -0,0 +1,305 @@
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#ifndef TMC2130_BASICS_REG_H
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#define TMC2130_BASICS_REG_H
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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <SPI.h>
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// SPI
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#define FB_TMC_SPI_CLOCK_DIVIDER SPI_CLOCK_DIV8
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#define FB_TMC_SPI_DATA_MODE SPI_MODE3
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#define FB_TMC_SPI_BIT_ORDER MSBFIRST
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// RW
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#define FB_TMC_READ (0x00)
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#define FB_TMC_WRITE (0x80)
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// SPISTATUS MASKS
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#define FB_TMC_SPISTATUS_RESET_MASK (0x01)
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#define FB_TMC_SPISTATUS_ERROR_MASK (0x02)
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#define FB_TMC_SPISTATUS_STALLGUARD_MASK (0x04)
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#define FB_TMC_SPISTATUS_STANDSTILL_MASK (0x08)
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// REGISTERS
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#define FB_TMC_REG_GCONF (0x00) // RW // 17 // Global configuration flags
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#define FB_TMC_REG_GSTAT (0x01) // RC // 3 // Global status flags
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#define FB_TMC_REG_IOIN (0x04) // R // 8+8 // Reads the state of all input pins available
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#define FB_TMC_REG_IHOLD_IRUN (0x10) // W // 5+5+4 // Driver current control
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#define FB_TMC_REG_TPOWERDOWN (0x11) // W // 8 // sets delay time after stand still (stst) to motor current power down (0-4 seconds) 0_((2^8)-1) * 2^18 tclk
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#define FB_TMC_REG_TSTEP (0x12) // R // 20 // Actual measured time between two 1/256 microsteps derived from the step input frequency in units of 1/fCLK. Measured value is (2^20)-1 in case of overflow or stand still
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#define FB_TMC_REG_TPWMTHRS (0x13) // W // 20 // Upper velocity threshold for stealthChop voltage PWM mode
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#define FB_TMC_REG_TCOOLTHRS (0x14) // W // 20 // Lower threshold velocity for switching on smart energy coolStep and stallGuard feature (unsigned)
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#define FB_TMC_REG_THIGH (0x15) // W // 20 // Velocity dependend switching into different chopper mode and fullstepping to maximize torque (unsigned)
|
||||
#define FB_TMC_REG_XDIRECT (0x2D) // RW // 32 // specifies motor coil currents and polarity directly programmed via SPI. Use signed, two's complement numbers. In this mode, the current is scaled by IHOLD. Velocity based current regulation of voltage PWM is not available in this mode. +- 255 for both coils
|
||||
#define FB_TMC_REG_VDCMIN (0x33) // W // 23 // automatic commutation dcStep becomes enabled by the external signal DCEN. VDCMIN is used as the minimum step velocity when the motor is heavily loaded. Hint: Also set DCCTRL parameters in order to operate dcStep
|
||||
#define FB_TMC_REG_MSLUT0 (0x60) // W // 32 // Each bit gives the difference between entry x and entry x+1 when combined with the corresponding MSLUTSEL W bits. Differential coding for the first quarter of a wave. Start values for CUR_A and CUR_B are stored for MSCNT position 0 in START_SIN and START_SIN90.
|
||||
#define FB_TMC_REG_MSLUT1 (0x61) // W // 32 //
|
||||
#define FB_TMC_REG_MSLUT2 (0x62) // W // 32 //
|
||||
#define FB_TMC_REG_MSLUT3 (0x63) // W // 32 //
|
||||
#define FB_TMC_REG_MSLUT4 (0x64) // W // 32 //
|
||||
#define FB_TMC_REG_MSLUT5 (0x65) // W // 32 //
|
||||
#define FB_TMC_REG_MSLUT6 (0x66) // W // 32 //
|
||||
#define FB_TMC_REG_MSLUT7 (0x67) // W // 32 //
|
||||
#define FB_TMC_REG_MSLUTSEL (0x68) // W // 32 // defines four segments within each quarter MSLUT wave. Four 2 bit entries determine the meaning of a 0 and a 1 bit in the corresponding segment of MSLUT
|
||||
#define FB_TMC_REG_MSLUTSTART (0x69) // W // 8+8 //
|
||||
#define FB_TMC_REG_MSCNT (0x6A) // R // 10 //
|
||||
#define FB_TMC_REG_MSCURACT (0x6B) // R // 9+9 //
|
||||
#define FB_TMC_REG_CHOPCONF (0x6C) // RW // 32 //
|
||||
#define FB_TMC_REG_COOLCONF (0x6D) // W // 25 //
|
||||
#define FB_TMC_REG_DCCTRL (0x6E) // W // 24 //
|
||||
#define FB_TMC_REG_DRV_STATUS (0x6F) // R // 22 //
|
||||
#define FB_TMC_REG_PWMCONF (0x70) // W // 8 //
|
||||
#define FB_TMC_REG_PWM_SCALE (0x71) // R // 8 //
|
||||
#define FB_TMC_REG_ENCM_CTRL (0x72) // W // 2 //
|
||||
#define FB_TMC_REG_LOST_STEPS (0x73) // R // 20 //
|
||||
|
||||
// GCONF OFFSETS
|
||||
// for shifting incoming values to the right register position
|
||||
#define FB_TMC_GCONF_I_SCALE_ANALOG (0) // 0: Internal, 1: AIN
|
||||
#define FB_TMC_GCONF_INTERNAL_RSENSE (1) // 0: Normal, 1: Internal
|
||||
#define FB_TMC_GCONF_EN_PWM_MODE (2) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_ENC_COMMUTATION (3) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_SHAFT (4) // 0: Normal, 1: Invert
|
||||
#define FB_TMC_GCONF_DIAG0_ERROR (5) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_DIAG0_OTPW (6) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_DIAG0_STALL (7) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_DIAG1_STALL (8) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_DIAG1_INDEX (9) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_DIAG1_ONSTATE (10) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_DIAG1_STEPS_SKIPPED (11) // 0: Disable, 1: Enable
|
||||
#define FB_TMC_GCONF_DIAG0_INT_PUSHPULL (12) // 0: Open Collector, 1: Push Pull
|
||||
#define FB_TMC_GCONF_DIAG1_INT_PUSHPULL (13) // 0: Open Collector, 1: Push Pull
|
||||
#define FB_TMC_GCONF_SMALL_HYSTERESIS (14) // 0: 1/16, 1: 1/32
|
||||
#define FB_TMC_GCONF_STOP_ENABLE (15) // 0: Normal, 1: Emergency Stop
|
||||
#define FB_TMC_GCONF_DIRECT_MODE (16) // 0: Normal, 1: XDIRECT
|
||||
#define FB_TMC_GCONF_TEST_MODE (17) // 0: Normal, 1: Enable, Don't use!
|
||||
|
||||
// GCONF MASKS
|
||||
// not required, all 1 bit
|
||||
|
||||
// IHOLD_IRUN OFFSETS
|
||||
// for shifting incoming values to the right register position
|
||||
#define FB_TMC_IHOLD (0)
|
||||
#define FB_TMC_IRUN (8)
|
||||
#define FB_TMC_IHOLDDELAY (16)
|
||||
|
||||
// IHOLD IRUN MASKS
|
||||
#define FB_TMC_IHOLD_MASK (0b11111UL)
|
||||
#define FB_TMC_IRUN_MASK (0b11111UL)
|
||||
#define FB_TMC_IHOLDDELAY_MASK (0b1111UL)
|
||||
|
||||
// TPOWERDOWN
|
||||
// no offsets required
|
||||
#define FB_TMC_TPOWERDOWN_MASK (0b11111111UL)
|
||||
|
||||
// TSTEP
|
||||
// no offsets required
|
||||
#define FB_TMC_TSTEP_MASK (0b11111111111111111111UL)
|
||||
|
||||
// TPWMTHRS
|
||||
// no offsets required
|
||||
#define FB_TMC_TPWMTHRS_MASK (0b11111111111111111111UL)
|
||||
|
||||
// TCOOLTHRS
|
||||
#define FB_TMC_TCOOLTHRS_MASK (0b11111111111111111111UL)
|
||||
|
||||
// THIGH
|
||||
// no offsets required
|
||||
#define FB_TMC_THIGH_MASK (0b11111111111111111111UL)
|
||||
|
||||
// XDIRECT OFFSETS
|
||||
// for shifting incoming values to the right register position
|
||||
#define FB_TMC_XDIRECT_COIL_A (0)
|
||||
#define FB_TMC_XDIRECT_COIL_B (16)
|
||||
|
||||
// XDIRECT MASKS
|
||||
// mask the bits from the values we want to set
|
||||
#define FB_TMC_XDIRECT_MASK (0xFFFFFFFFUL)
|
||||
#define FB_TMC_XDIRECT_COIL_A_MASK (0xFFFFUL)
|
||||
#define FB_TMC_XDIRECT_COIL_B_MASK (0xFFFFUL)
|
||||
// no offsets required
|
||||
// needs no mask
|
||||
|
||||
// VDCMIN
|
||||
// no offsets required
|
||||
#define FB_TMC_VDCMIN_MASK (0b11111111111111111111111UL)
|
||||
|
||||
// MSLUT
|
||||
// no offsets required
|
||||
// needs no mask
|
||||
|
||||
// MSLUTSEL
|
||||
// no offsets required
|
||||
// needs no mask
|
||||
|
||||
// MSLUTSTART OFFSETS
|
||||
#define FB_TMC_MSLUTSTART_START_SIN (0)
|
||||
#define FB_TMC_MSLUTSTART_START_SIN90 (8)
|
||||
|
||||
// MSLUTSTART MASKS
|
||||
#define FB_TMC_MSLUTSTART_MASK (0xFFFFUL)
|
||||
#define FB_TMC_MSLUTSTART_START_SIN_MASK (0xFF)
|
||||
#define FB_TMC_MSLUTSTART_START_SIN90_MASK (0xFF)
|
||||
|
||||
|
||||
// MSCNT
|
||||
// no offsets required
|
||||
#define FB_TMC_MSCNT_MASK (0b1111111111)
|
||||
|
||||
// MSCURACT
|
||||
// no offsets required
|
||||
#define FB_TMC_MSCURACT_MASK (0b111111111111111111UL)
|
||||
|
||||
// CHOPCONF MASKS
|
||||
// mask the bits from the values we want to set
|
||||
|
||||
const uint32_t FB_TMC_CHOPCONF_MASKS[] = {
|
||||
0b1111UL, // 0 TOFF
|
||||
0b111UL, // 1
|
||||
0b11UL, // 2
|
||||
0b1UL, // 3
|
||||
0b111UL, // 4 HYSTERESIS_START
|
||||
0b11UL, // 5
|
||||
0b1UL, // 6
|
||||
0b0001UL, // 7 HYSTERESIS_LOW
|
||||
0b001UL, // 8
|
||||
0b01UL, // 9
|
||||
0b1UL, // 10
|
||||
0b1UL, // 11 FAST_DECAY_TIMING
|
||||
0b1UL, // 12 FAST_DECAY_MODE
|
||||
0b1UL, // 13 RANDOM_TOFF
|
||||
0b1UL, // 14 CHOPPER_MODE
|
||||
0b11UL, // 15 TBL
|
||||
0b1UL, // 16
|
||||
0b1UL, // 17 SENSE_CURRENT_SCALING
|
||||
0b1UL, // 18 HIGH_VELOCITY_STEPS
|
||||
0b1UL, // 19 HIGH_VELOCITY_CHOPPER
|
||||
0b1111UL, // 20 SYNC_PWM
|
||||
0b111UL, // 21
|
||||
0b11UL, // 22
|
||||
0b1UL, // 23
|
||||
0b1111UL, // 24 MRES
|
||||
0b111UL, // 25
|
||||
0b11UL, // 26
|
||||
0b1UL, // 27
|
||||
0b1UL, // 28 INTERPOLATE
|
||||
0b1UL, // 29 DOUBLE_EDGE_PULSES
|
||||
0b1UL, // 30 SHORT_PROTECTION
|
||||
0b1UL // 31
|
||||
};
|
||||
|
||||
// CHOPCONF OFFSETS
|
||||
// for shifting incoming values to the right register position
|
||||
#define FB_TMC_CHOPCONF_DISS2G (30)
|
||||
#define FB_TMC_CHOPCONF_DEDGE (29)
|
||||
#define FB_TMC_CHOPCONF_INTPOL (28)
|
||||
#define FB_TMC_CHOPCONF_MRES (24)
|
||||
#define FB_TMC_CHOPCONF_SYNC (20)
|
||||
#define FB_TMC_CHOPCONF_VHIGHCHM (19)
|
||||
#define FB_TMC_CHOPCONF_VHIGHFS (18)
|
||||
#define FB_TMC_CHOPCONF_VSENSE (17)
|
||||
#define FB_TMC_CHOPCONF_TBL (15)
|
||||
#define FB_TMC_CHOPCONF_CHM (14)
|
||||
#define FB_TMC_CHOPCONF_RNDTF (13)
|
||||
#define FB_TMC_CHOPCONF_DISFDCC (12)
|
||||
#define FB_TMC_CHOPCONF_FD (11)
|
||||
#define FB_TMC_CHOPCONF_HEND (7)
|
||||
#define FB_TMC_CHOPCONF_HSTRT (4)
|
||||
#define FB_TMC_CHOPCONF_TOFF (0)
|
||||
|
||||
// COOLCONF BIT OFFSETS
|
||||
// for shifting incoming values to the right register position
|
||||
#define FB_TMC_COOLCONF_SFILT (24)
|
||||
#define FB_TMC_COOLCONF_SGT (16)
|
||||
#define FB_TMC_COOLCONF_SEIMIN (15)
|
||||
#define FB_TMC_COOLCONF_SEDN (13)
|
||||
#define FB_TMC_COOLCONF_SEMAX (8)
|
||||
#define FB_TMC_COOLCONF_SEUP (5)
|
||||
#define FB_TMC_COOLCONF_SEMIN (0)
|
||||
|
||||
// COOLCONF MASKS
|
||||
// mask the bits from the values we want to set
|
||||
const int FB_TMC_COOLCONF_MASKS[] = {
|
||||
0b1111UL, // 0 FB_TMC_COOLCONF_SEMIN
|
||||
0b111UL, // 1
|
||||
0b11UL, // 2
|
||||
0b1UL, // 3
|
||||
0b0UL, // 4
|
||||
0b11UL, // 5 FB_TMC_COOLCONF_SEUP
|
||||
0b1UL, // 6
|
||||
0b0UL, // 7
|
||||
0b1111UL, // 8 FB_TMC_COOLCONF_SEMAX
|
||||
0b111UL, // 9
|
||||
0b11UL, // 10
|
||||
0b1UL, // 11
|
||||
0b0UL, // 12
|
||||
0b11UL, // 13 FB_TMC_COOLCONF_SEDN
|
||||
0b1UL, // 14
|
||||
0b1UL, // 15 FB_TMC_COOLCONF_SEIMIN
|
||||
0b1111111UL, // 16 FB_TMC_COOLCONF_SGT
|
||||
0b111111UL, // 17
|
||||
0b11111UL, // 18
|
||||
0b1111UL, // 19
|
||||
0b111UL, // 20
|
||||
0b11UL, // 21
|
||||
0b1UL, // 22
|
||||
0b0UL, // 23
|
||||
0b1UL, // 24 FB_TMC_COOLCONF_SFILT
|
||||
};
|
||||
|
||||
// DCCTRL OFFSETS
|
||||
// for shifting incoming values to the right register position
|
||||
#define FB_TMC_DCCTRL_DC_TIME (0)
|
||||
#define FB_TMC_DCCTRL_DC_SG (16)
|
||||
|
||||
// DCCTRL MASKS
|
||||
// mask the bits from the values we want to set
|
||||
#define FB_TMC_DCCTRL_MASK (0b1111111111UL)
|
||||
#define FB_TMC_DCCTRL_DC_TIME_MASK (0b11111111UL)
|
||||
#define FB_TMC_DCCTRL_DC_SG_MASK (0b111111110000001111111111UL)
|
||||
|
||||
|
||||
// PWMCONF OFFSETS
|
||||
// for shifting incoming values to the right register position
|
||||
#define FB_TMC_PWMCONF_FREEWHEEL (20)
|
||||
#define FB_TMC_PWMCONF_PWM_SYMMETRIC (19)
|
||||
#define FB_TMC_PWMCONF_PWM_AUTOSCALE (18)
|
||||
#define FB_TMC_PWMCONF_PWM_FREQ (16)
|
||||
#define FB_TMC_PWMCONF_PWM_GRAD (8)
|
||||
#define FB_TMC_PWMCONF_PWM_AMPL (0)
|
||||
|
||||
// PWMCONF MASKS
|
||||
// mask the bits from the values we want to set
|
||||
const int FB_TMC_PWMCONF_MASKS[] = {
|
||||
0b11111111UL, // 0 FB_TMC_PWMCONF_PWM_AMPL
|
||||
0b1111111UL, // 1
|
||||
0b111111UL, // 2
|
||||
0b11111UL, // 3
|
||||
0b1111UL, // 4
|
||||
0b111UL, // 5
|
||||
0b11UL, // 6
|
||||
0b1UL, // 7
|
||||
0b11111111UL, // 8 FB_TMC_PWMCONF_PWM_GRAD
|
||||
0b1111111UL, // 9
|
||||
0b111111UL, // 10
|
||||
0b11111UL, // 11
|
||||
0b1111UL, // 12
|
||||
0b111UL, // 13
|
||||
0b11UL, // 14
|
||||
0b1UL, // 15
|
||||
0b11UL, // 16 FB_TMC_PWMCONF_PWM_FREQ
|
||||
0b1UL, // 17
|
||||
0b1UL, // 18 FB_TMC_PWMCONF_PWM_AUTOSCALE
|
||||
0b1UL, // 19 FB_TMC_PWMCONF_PWM_SYMMETRIC
|
||||
0b11UL, // 20 FB_TMC_PWMCONF_FREEWHEEL
|
||||
0b1UL, // 21
|
||||
};
|
||||
|
||||
// ENCM_CTRL MASK
|
||||
// mask the bits from the values we want to set
|
||||
#define FB_TMC_ENCM_CTRL_MASK (0b11);
|
||||
|
||||
#endif // TMC2130_BASICS_REG_H
|
||||
|
|
@ -4,6 +4,7 @@
|
|||
Author: Tim Evers
|
||||
*/
|
||||
|
||||
#include "TMC2130_Basics.h"
|
||||
#include "farmbot_arduino_controller.h"
|
||||
//#include <SPI.h>
|
||||
//#include "Trinamic\Trinamic_TMC2130.h"
|
||||
|
|
|
|||
|
|
@ -126,6 +126,7 @@
|
|||
<ClCompile Include="StatusList.cpp" />
|
||||
<ClCompile Include="TimerOne.cpp" />
|
||||
<ClCompile Include="TMC2130.cpp" />
|
||||
<ClCompile Include="TMC2130_Basics.cpp" />
|
||||
<ClCompile Include="Trinamic\Trinamic_TMC2130.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
|
|
@ -174,6 +175,8 @@
|
|||
<ClInclude Include="StatusList.h" />
|
||||
<ClInclude Include="TimerOne.h" />
|
||||
<ClInclude Include="TMC2130.h" />
|
||||
<ClInclude Include="TMC2130_Basics.h" />
|
||||
<ClInclude Include="TMC2130_Basics_Reg.h" />
|
||||
<ClInclude Include="Trinamic\Trinamic_TMC2130.h" />
|
||||
<ClInclude Include="Trinamic\Trinamic_TMC2130_registers.h" />
|
||||
<ClInclude Include="__vm\.farmbot-arduino-controller.vsarduino.h" />
|
||||
|
|
|
|||
|
|
@ -141,6 +141,9 @@
|
|||
<ClCompile Include="Trinamic\Trinamic_TMC2130.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="TMC2130_Basics.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClInclude Include="GCodeProcessor.h">
|
||||
|
|
@ -290,5 +293,11 @@
|
|||
<ClInclude Include="Trinamic\Trinamic_TMC2130_registers.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="TMC2130_Basics.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="TMC2130_Basics_Reg.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
Loading…
Reference in New Issue