tmc2130 happy enough, bigger fish exist

embedded/README.md

@@ -8,4 +8,5 @@ Two hardware timers run step timing, one fires every time a step is to be taken,
 
 ## Current Problems
 
-- not really setting ihold or irun, what's up
\ No newline at end of file
+- step-delay on first step causing issues?
+- trinamic fiddling... need different sense resistors?
\ No newline at end of file

embedded/atkstepper17/atkstepper17/tmc2130.c

@@ -35,23 +35,21 @@ void tmc2130_start(tmc2130_t *tmc){
 	
 	// Write to GCONF
 	uint8_t writeGConf = 0x00 | 0b10000000;
-	// set: diag0 to overtemp warn, diag1 to stall,
-	// use internal reference voltage (for now, so no PWM needed), use external sense resistors
-	uint32_t gConf = 0b00000000000000000000000101000000;
+	// actually nothing we want, for now
+	// 0b 
+	uint32_t gConf = 0b000000000000000000;
 	tmc2130_write(tmc, writeGConf, gConf);
 	
-	// Write IHOLD_IRUN settings
-	uint8_t writeIHold_IRun = 0x10 | 0b10000000;
-	// 1st is 0->31/32 IHold, 2nd is 0->31/32 IRun, 3rd is 0->15 Delay after standstill
-	uint32_t IHold_IRun = 6 | ((uint32_t)8 << 8) | ((uint32_t)1 << 16);
-	tmc2130_write(tmc, writeIHold_IRun, IHold_IRun);
-	
+	// this writes to IHOLD_IRUN register
+	tmc2130_setCurrents(tmc, 16, 20);
+		
 	// Write CHOPCONF
 	uint8_t writeChopConf = 0x6C | 0b10000000;
 	// with internal AIN, we have 2.5V at AIN, effective max.
 	//     bs,    mstep, pwmsync, bs, vsense, blank time, chopper mode, random toff, bs, hysteresis, hysteresis, toff,
 	//  0b 0010   0100   0000     00  1       10          0             0            00  0100        000         0010
-	uint32_t chopConf = 0b00100100000000010000001000000010;
+	// 0b 0010 0100 0000 00 1 01 0 0 00 0100 010 0010
+	uint32_t chopConf = 0b00100100000000101000000010010010;
 	tmc2130_write(tmc, writeChopConf, chopConf);
 }
 
@@ -62,10 +60,11 @@ void tmc2130_setCurrents(tmc2130_t *tmc, uint8_t ihold, uint8_t irun){
 	if(irun > 31){
 		irun = 31;
 	}
+	
 	// Write IHOLD_IRUN settings
-	uint8_t writeIHold_IRun = 0x10 | 0b10000000; // address
+	uint8_t writeIHold_IRun = 0x10 | 0b10000000;
 	// 1st is 0->31/32 IHold, 2nd is 0->31/32 IRun, 3rd is 0->15 Delay after standstill
-	uint32_t IHold_IRun = ihold | ((uint32_t)irun << 8) | ((uint32_t)5 << 16);
+	uint32_t IHold_IRun = ihold | ((uint32_t)irun << 8) | ((uint32_t)1 << 16);
 	tmc2130_write(tmc, writeIHold_IRun, IHold_IRun);
 }