227 lines
7.0 KiB
C++
227 lines
7.0 KiB
C++
/*
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* TMC2130.cpp
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*
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* Created on: 03 nov 2019
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* Author: Tim Evers
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*/
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#include "TMC2130.h"
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#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
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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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//Serial.print(" ");
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//Serial.print(current);
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//Serial.print(" ");
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//Serial.print(sensitivity);
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//Serial.println(" ");
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/*
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tb->init();
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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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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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uint16_t mA = current;
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float multiplier = 0.5;
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float RS = 0.11;
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uint8_t CS = 32.0*1.41421*mA / 1000.0*(RS + 0.02) / 0.325 - 1;
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// If Current Scale is too low, turn on high sensitivity R_sense and calculate again
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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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{
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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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}
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tb->set_CHOPCONF(FB_TMC_CHOPCONF_TOFF, 3);
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tb->set_CHOPCONF(FB_TMC_CHOPCONF_TBL, 1);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_STALL, 1);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_ONSTATE, 1);
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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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{
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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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{
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tb->set_CHOPCONF(FB_TMC_COOLCONF_SEMIN, 5);
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}
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tb->set_CHOPCONF(FB_TMC_COOLCONF_SEMAX, 2);
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tb->set_CHOPCONF(FB_TMC_COOLCONF_SEMAX, 0b01);
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tb->set_CHOPCONF(FB_TMC_COOLCONF_SGT, sensitivity);
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*/
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uint32_t data = 0;
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uint32_t value = 0;
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tb->init();
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// Set the micro steps
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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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// Set the current
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uint16_t mA = current;
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float multiplier = 0.5;
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float RS = 0.11;
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uint8_t CS = 32.0*1.41421*mA / 1000.0*(RS + 0.02) / 0.325 - 1;
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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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data = ((uint32_t(CS)&FB_TMC_IHOLD_MASK) << FB_TMC_IHOLD);
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data |= ((uint32_t(CS)&FB_TMC_IRUN_MASK) << FB_TMC_IRUN);
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data |= ((uint32_t(16)&FB_TMC_IHOLDDELAY_MASK) << FB_TMC_IHOLDDELAY);
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tb->write_REG(FB_TMC_REG_IHOLD_IRUN, data);
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/*
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(sensitivity) << FB_TMC_COOLCONF_SGT, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SGT] << FB_TMC_COOLCONF_SGT);
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tb->set_GCONF(FB_TMC_GCONF_I_SCALE_ANALOG, 1);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(3) << FB_TMC_CHOPCONF_TOFF, FB_TMC_CHOPCONF_MASKS[FB_TMC_CHOPCONF_TOFF] << FB_TMC_CHOPCONF_TOFF);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(1) << FB_TMC_CHOPCONF_TBL, FB_TMC_CHOPCONF_MASKS[FB_TMC_CHOPCONF_TBL] << FB_TMC_CHOPCONF_TBL);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_STALL, 1); // even afgezet voor test
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_ONSTATE, 1); // even afgezet voor test
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tb->write_REG(FB_TMC_REG_TCOOLTHRS, 0xFFFFF & FB_TMC_TCOOLTHRS_MASK);
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tb->write_REG(FB_TMC_REG_THIGH, 0xFFFFF & FB_TMC_THIGH_MASK);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(5) << FB_TMC_COOLCONF_SEMIN, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEMIN] << FB_TMC_COOLCONF_SEMIN);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(15) << FB_TMC_COOLCONF_SEMAX, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEMAX] << FB_TMC_COOLCONF_SEMAX);
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*/
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// om later te testen in dcStep modus
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// DirectX for test
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//tb->alter_REG(FB_TMC_REG_XDIRECT, uint32_t(248) << FB_TMC_XDIRECT_COIL_A, FB_TMC_XDIRECT_COIL_A_MASK << FB_TMC_XDIRECT_COIL_A);
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//tb->alter_REG(FB_TMC_REG_XDIRECT, uint32_t(248) << FB_TMC_XDIRECT_COIL_B, FB_TMC_XDIRECT_COIL_B_MASK << FB_TMC_XDIRECT_COIL_B);
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// set to dcStep mode
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(1) << FB_TMC_CHOPCONF_VHIGHFS, FB_TMC_CHOPCONF_MASKS[FB_TMC_CHOPCONF_VHIGHFS] << FB_TMC_CHOPCONF_VHIGHFS);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(1) << FB_TMC_CHOPCONF_VHIGHCHM, FB_TMC_CHOPCONF_MASKS[FB_TMC_CHOPCONF_VHIGHCHM] << FB_TMC_CHOPCONF_VHIGHCHM);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(8) << FB_TMC_CHOPCONF_TOFF, FB_TMC_CHOPCONF_MASKS[FB_TMC_CHOPCONF_TOFF] << FB_TMC_CHOPCONF_TOFF);
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// Set minimum speed
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tb->write_REG(FB_TMC_REG_VDCMIN, uint32_t(0) & FB_TMC_VDCMIN_MASK);
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tb->write_REG(FB_TMC_REG_TCOOLTHRS, uint32_t(0) & FB_TMC_TCOOLTHRS_MASK);
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// Set maximum speed
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tb->write_REG(FB_TMC_REG_TCOOLTHRS, 0xFFFFF & FB_TMC_TCOOLTHRS_MASK);
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// Set sensitivity
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tb->alter_REG(FB_TMC_REG_DCCTRL, uint32_t(1024) << FB_TMC_DCCTRL_DC_TIME, FB_TMC_DCCTRL_DC_TIME_MASK);
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tb->alter_REG(FB_TMC_REG_DCCTRL, uint32_t(256) << FB_TMC_DCCTRL_DC_SG, FB_TMC_DCCTRL_DC_SG_MASK);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(sensitivity) << FB_TMC_COOLCONF_SGT, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SGT] << FB_TMC_COOLCONF_SGT);
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// Set chopper
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(8) << FB_TMC_CHOPCONF_TOFF, FB_TMC_CHOPCONF_MASKS[FB_TMC_CHOPCONF_TOFF] << FB_TMC_CHOPCONF_TOFF);
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// enable diagnostics
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tb->set_GCONF(FB_TMC_GCONF_DIAG0_STALL, 1);
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tb->set_GCONF(FB_TMC_GCONF_DIAG0_ERROR, 1);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_STALL, 0);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_INDEX, 0);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_ONSTATE, 0);
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tb->set_GCONF(FB_TMC_GCONF_DIAG1_STEPS_SKIPPED, 0);
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/* // 2020-05-15 copy of settings before experiments
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tb->write_REG(FB_TMC_REG_TCOOLTHRS, 0xFFFFF & FB_TMC_TCOOLTHRS_MASK);
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tb->write_REG(FB_TMC_REG_THIGH, 0 & FB_TMC_THIGH_MASK);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(5) << FB_TMC_COOLCONF_SEMIN, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEMIN] << FB_TMC_COOLCONF_SEMIN);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(2) << FB_TMC_COOLCONF_SEMAX, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEMAX] << FB_TMC_COOLCONF_SEMAX);
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tb->alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(0b01) << FB_TMC_COOLCONF_SEDN, FB_TMC_CHOPCONF_MASKS[FB_TMC_COOLCONF_SEDN] << FB_TMC_COOLCONF_SEDN);
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*/
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delay(100);
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}
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#endif |