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Tweaks to TMC26XStepper

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This commit is contained in:
Scott Lahteine 2019-01-11 18:08:05 -06:00
parent 1fd8e2c649
commit 0d30ccf767
2 changed files with 22 additions and 45 deletions
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63
Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp
View File

@ -127,7 +127,7 @@ uint8_t current_scaling = 0;
* dir_pin - the pin where the direction pin is connected
* step_pin - the pin where the step pin is connected
*/
TMC26XStepper::TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor) {
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;
@ -165,7 +165,7 @@ TMC26XStepper::TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t di
// Set a nice microstepping value
setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
// Save the number of steps
this->number_of_steps = number_of_steps;
number_of_steps = in_steps;
}
@ -389,52 +389,29 @@ char TMC26XStepper::getStallGuardFilter(void) {
* 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(int16_t number_of_steps) {
long setting_pattern;
//poor mans log
if (number_of_steps >= 256) {
setting_pattern = 0;
microsteps = 256;
}
else if (number_of_steps >= 128) {
setting_pattern = 1;
microsteps = 128;
}
else if (number_of_steps >= 64) {
setting_pattern = 2;
microsteps = 64;
}
else if (number_of_steps >= 32) {
setting_pattern = 3;
microsteps = 32;
}
else if (number_of_steps >= 16) {
setting_pattern = 4;
microsteps = 16;
}
else if (number_of_steps >= 8) {
setting_pattern = 5;
microsteps = 8;
}
else if (number_of_steps >= 4) {
setting_pattern = 6;
microsteps = 4;
}
else if (number_of_steps >= 2) {
setting_pattern = 7;
microsteps = 2;
//1 and 0 lead to full step
}
else if (number_of_steps <= 1) {
setting_pattern = 8;
microsteps = 1;
}
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_PRINTF("Microstepping: ");
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
// Delete the old value
this->driver_control_register_value &= 0xFFFF0UL;
this->driver_control_register_value &= 0x000FFFF0UL;
// Set the new value
this->driver_control_register_value |= setting_pattern;

4
Marlin/src/HAL/HAL_STM32F7/TMC2660.h
View File

@ -119,7 +119,7 @@ class TMC26XStepper {
* You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps()
*/
TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor=100); //resistor=150
TMC26XStepper(const int16_t in_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor=100); //resistor=150
/*!
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
@ -163,7 +163,7 @@ class TMC26XStepper {
* If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2).
* You can always check the current microstepping with getMicrosteps().
*/
void setMicrosteps(int16_t number_of_steps);
void setMicrosteps(const int16_t in_steps);
/*!
* \brief returns the effective current number of microsteps selected.