From 337e7f092936e957677732836ecc21b4f76a0c21 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Thu, 12 Jul 2018 00:41:19 -0400
Subject: [PATCH] tmc2130 happy enough, bigger fish exist
---
embedded/README.md | 3 ++-
embedded/atkstepper17/atkstepper17/tmc2130.c | 23 ++++++++++----------
2 files changed, 13 insertions(+), 13 deletions(-)
diff --git a/embedded/README.md b/embedded/README.md
index 5e7f196..c5cc60e 100644
--- a/embedded/README.md
+++ b/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
diff --git a/embedded/atkstepper17/atkstepper17/tmc2130.c b/embedded/atkstepper17/atkstepper17/tmc2130.c
index c51cf64..41533f1 100644
--- a/embedded/atkstepper17/atkstepper17/tmc2130.c
+++ b/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);
}
--
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