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Cleanups for STM32F7

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This commit is contained in:
Scott Lahteine 2018-01-15 02:28:39 -06:00
parent a0246c5c96
commit 42933c804a
18 changed files with 988 additions and 1293 deletions
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2
Marlin/src/HAL/HAL_STM32F1/HAL_Stm32f1.h
View file

@ -109,7 +109,7 @@
#define analogInputToDigitalPin(p) (p)
#endif
#define CRITICAL_SECTION_START noInterrupts();
#define CRITICAL_SECTION_START noInterrupts();
#define CRITICAL_SECTION_END interrupts();
// On AVR this is in math.h?

8
Marlin/src/HAL/HAL_STM32F1/fastio_Stm32f1.h
View file

@ -26,8 +26,8 @@
* These use GPIO functions instead of Direct Port Manipulation, as on AVR.
*/
#ifndef _FASTIO_STM32F1_H
#define _FASTIO_STM32F1_H
#ifndef _FASTIO_STM32F1_H
#define _FASTIO_STM32F1_H
#include <libmaple/gpio.h>
@ -49,9 +49,9 @@
#define GET_TIMER(IO) (PIN_MAP[IO].timer_device != NULL)
#define OUT_WRITE(IO, v) { _SET_OUTPUT(IO); WRITE(IO, v); }
/*
/**
* TODO: Write a macro to test if PIN is PWM or not.
*/
#define PWM_PIN(p) true
#endif /* _FASTIO_STM32F1_H */
#endif // _FASTIO_STM32F1_H

465
Marlin/src/HAL/HAL_STM32F7/EEPROM_Emul/eeprom_emul.cpp
View file

@ -78,8 +78,7 @@ static uint16_t EE_VerifyPageFullyErased(uint32_t Address);
* @retval - Flash error code: on write Flash error
* - FLASH_COMPLETE: on success
*/
uint16_t EE_Initialise(void)
{
uint16_t EE_Initialise(void) {
uint16_t PageStatus0 = 6, PageStatus1 = 6;
uint16_t VarIdx = 0;
uint16_t EepromStatus = 0, ReadStatus = 0;
@ -100,209 +99,141 @@ uint16_t EE_Initialise(void)
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Check for invalid header states and repair if necessary */
switch (PageStatus0)
{
switch (PageStatus0) {
case ERASED:
if (PageStatus1 == VALID_PAGE) /* Page0 erased, Page1 valid */
{
if (PageStatus1 == VALID_PAGE) { /* Page0 erased, Page1 valid */
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
if (FlashStatus != HAL_OK) {
return FlashStatus;
}
}
}
else if (PageStatus1 == RECEIVE_DATA) /* Page0 erased, Page1 receive */
{
else if (PageStatus1 == RECEIVE_DATA) { /* Page0 erased, Page1 receive */
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
if (!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
/* Mark Page1 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
else /* First EEPROM access (Page0&1 are erased) or invalid state -> format EEPROM */
{
else { /* First EEPROM access (Page0&1 are erased) or invalid state -> format EEPROM */
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
break;
case RECEIVE_DATA:
if (PageStatus1 == VALID_PAGE) /* Page0 receive, Page1 valid */
{
if (PageStatus1 == VALID_PAGE) { /* Page0 receive, Page1 valid */
/* Transfer data from Page1 to Page0 */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++)
{
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++) {
if (( *(__IO uint16_t*)(PAGE0_BASE_ADDRESS + 6)) == VirtAddVarTab[VarIdx])
{
x = VarIdx;
}
if (VarIdx != x)
{
if (VarIdx != x) {
/* Read the last variables' updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1)
{
if (ReadStatus != 0x1) {
/* Transfer the variable to the Page0 */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK)
{
return EepromStatus;
}
if (EepromStatus != HAL_OK) return EepromStatus;
}
}
}
/* Mark Page0 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
if (!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
}
else if (PageStatus1 == ERASED) /* Page0 receive, Page1 erased */
{
else if (PageStatus1 == ERASED) { /* Page0 receive, Page1 erased */
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
if (!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
/* Mark Page0 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
else /* Invalid state -> format eeprom */
{
else { /* Invalid state -> format eeprom */
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
break;
case VALID_PAGE:
if (PageStatus1 == VALID_PAGE) /* Invalid state -> format eeprom */
{
if (PageStatus1 == VALID_PAGE) { /* Invalid state -> format eeprom */
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
else if (PageStatus1 == ERASED) /* Page0 valid, Page1 erased */
{
else if (PageStatus1 == ERASED) { /* Page0 valid, Page1 erased */
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
if (!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
}
else /* Page0 valid, Page1 receive */
{
else { /* Page0 valid, Page1 receive */
/* Transfer data from Page0 to Page1 */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++)
{
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++) {
if ((*(__IO uint16_t*)(PAGE1_BASE_ADDRESS + 6)) == VirtAddVarTab[VarIdx])
{
x = VarIdx;
}
if (VarIdx != x)
{
if (VarIdx != x) {
/* Read the last variables' updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1)
{
if (ReadStatus != 0x1) {
/* Transfer the variable to the Page1 */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK)
{
return EepromStatus;
}
if (EepromStatus != HAL_OK) return EepromStatus;
}
}
}
/* Mark Page1 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
pEraseInit.Sector = PAGE0_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
if (!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
}
break;
@ -311,10 +242,7 @@ uint16_t EE_Initialise(void)
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
break;
}
@ -322,55 +250,46 @@ uint16_t EE_Initialise(void)
}
/**
* @brief Verify if specified page is fully erased.
* @param Address: page address
* This parameter can be one of the following values:
* @arg PAGE0_BASE_ADDRESS: Page0 base address
* @arg PAGE1_BASE_ADDRESS: Page1 base address
* @retval page fully erased status:
* - 0: if Page not erased
* - 1: if Page erased
*/
uint16_t EE_VerifyPageFullyErased(uint32_t Address)
{
* @brief Verify if specified page is fully erased.
* @param Address: page address
* This parameter can be one of the following values:
* @arg PAGE0_BASE_ADDRESS: Page0 base address
* @arg PAGE1_BASE_ADDRESS: Page1 base address
* @retval page fully erased status:
* - 0: if Page not erased
* - 1: if Page erased
*/
uint16_t EE_VerifyPageFullyErased(uint32_t Address) {
uint32_t ReadStatus = 1;
uint16_t AddressValue = 0x5555;
/* Check each active page address starting from end */
while (Address <= PAGE0_END_ADDRESS)
{
while (Address <= PAGE0_END_ADDRESS) {
/* Get the current location content to be compared with virtual address */
AddressValue = (*(__IO uint16_t*)Address);
/* Compare the read address with the virtual address */
if (AddressValue != ERASED)
{
if (AddressValue != ERASED) {
/* In case variable value is read, reset ReadStatus flag */
ReadStatus = 0;
break;
}
/* Next address location */
Address = Address + 4;
Address += 4;
}
/* Return ReadStatus value: (0: Page not erased, 1: Sector erased) */
return ReadStatus;
}
/**
* @brief Returns the last stored variable data, if found, which correspond to
* the passed virtual address
* @param VirtAddress: Variable virtual address
* @param Data: Global variable contains the read variable value
* @retval Success or error status:
* - 0: if variable was found
* - 1: if the variable was not found
* - NO_VALID_PAGE: if no valid page was found.
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data)
{
* @brief Returns the last stored variable data, if found, which correspond to
* the passed virtual address
* @param VirtAddress: Variable virtual address
* @param Data: Global variable contains the read variable value
* @retval Success or error status:
* - 0: if variable was found
* - 1: if the variable was not found
* - NO_VALID_PAGE: if no valid page was found.
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data) {
uint16_t ValidPage = PAGE0;
uint16_t AddressValue = 0x5555, ReadStatus = 1;
uint32_t Address = EEPROM_START_ADDRESS, PageStartAddress = EEPROM_START_ADDRESS;
@ -379,10 +298,7 @@ uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data)
ValidPage = EE_FindValidPage(READ_FROM_VALID_PAGE);
/* Check if there is no valid page */
if (ValidPage == NO_VALID_PAGE)
{
return NO_VALID_PAGE;
}
if (ValidPage == NO_VALID_PAGE) return NO_VALID_PAGE;
/* Get the valid Page start Address */
PageStartAddress = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(ValidPage * PAGE_SIZE));
@ -391,69 +307,54 @@ uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data)
Address = (uint32_t)((EEPROM_START_ADDRESS - 2) + (uint32_t)((1 + ValidPage) * PAGE_SIZE));
/* Check each active page address starting from end */
while (Address > (PageStartAddress + 2))
{
while (Address > (PageStartAddress + 2)) {
/* Get the current location content to be compared with virtual address */
AddressValue = (*(__IO uint16_t*)Address);
/* Compare the read address with the virtual address */
if (AddressValue == VirtAddress)
{
if (AddressValue == VirtAddress) {
/* Get content of Address-2 which is variable value */
*Data = (*(__IO uint16_t*)(Address - 2));
/* In case variable value is read, reset ReadStatus flag */
ReadStatus = 0;
break;
}
else
{
/* Next address location */
Address = Address - 4;
}
else /* Next address location */
Address -= 4;
}
/* Return ReadStatus value: (0: variable exist, 1: variable doesn't exist) */
return ReadStatus;
}
/**
* @brief Writes/upadtes variable data in EEPROM.
* @param VirtAddress: Variable virtual address
* @param Data: 16 bit data to be written
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint16_t Status = 0;
* @brief Writes/upadtes variable data in EEPROM.
* @param VirtAddress: Variable virtual address
* @param Data: 16 bit data to be written
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data) {
/* Write the variable virtual address and value in the EEPROM */
Status = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
uint16_t Status = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
/* In case the EEPROM active page is full */
if (Status == PAGE_FULL)
{
/* Perform Page transfer */
if (Status == PAGE_FULL) /* Perform Page transfer */
Status = EE_PageTransfer(VirtAddress, Data);
}
/* Return last operation status */
return Status;
}
/**
* @brief Erases PAGE and PAGE1 and writes VALID_PAGE header to PAGE
* @param None
* @retval Status of the last operation (Flash write or erase) done during
* EEPROM formating
*/
static HAL_StatusTypeDef EE_Format(void)
{
* @brief Erases PAGE and PAGE1 and writes VALID_PAGE header to PAGE
* @param None
* @retval Status of the last operation (Flash write or erase) done during
* EEPROM formating
*/
static HAL_StatusTypeDef EE_Format(void) {
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint32_t SectorError = 0;
FLASH_EraseInitTypeDef pEraseInit;
@ -463,49 +364,37 @@ static HAL_StatusTypeDef EE_Format(void)
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
if (!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
/* Set Page0 as valid page: Write VALID_PAGE at Page0 base address */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
pEraseInit.Sector = PAGE1_ID;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
if (!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS)) {
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
}
return HAL_OK;
}
/**
* @brief Find valid Page for write or read operation
* @param Operation: operation to achieve on the valid page.
* This parameter can be one of the following values:
* @arg READ_FROM_VALID_PAGE: read operation from valid page
* @arg WRITE_IN_VALID_PAGE: write operation from valid page
* @retval Valid page number (PAGE or PAGE1) or NO_VALID_PAGE in case
* of no valid page was found
*/
static uint16_t EE_FindValidPage(uint8_t Operation)
{
* @brief Find valid Page for write or read operation
* @param Operation: operation to achieve on the valid page.
* This parameter can be one of the following values:
* @arg READ_FROM_VALID_PAGE: read operation from valid page
* @arg WRITE_IN_VALID_PAGE: write operation from valid page
* @retval Valid page number (PAGE or PAGE1) or NO_VALID_PAGE in case
* of no valid page was found
*/
static uint16_t EE_FindValidPage(uint8_t Operation) {
uint16_t PageStatus0 = 6, PageStatus1 = 6;
/* Get Page0 actual status */
@ -515,51 +404,28 @@ static uint16_t EE_FindValidPage(uint8_t Operation)
PageStatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
/* Write or read operation */
switch (Operation)
{
switch (Operation) {
case WRITE_IN_VALID_PAGE: /* ---- Write operation ---- */
if (PageStatus1 == VALID_PAGE)
{
if (PageStatus1 == VALID_PAGE) {
/* Page0 receiving data */
if (PageStatus0 == RECEIVE_DATA)
{
return PAGE0; /* Page0 valid */
}
else
{
return PAGE1; /* Page1 valid */
}
if (PageStatus0 == RECEIVE_DATA) return PAGE0; /* Page0 valid */
else return PAGE1; /* Page1 valid */
}
else if (PageStatus0 == VALID_PAGE)
{
else if (PageStatus0 == VALID_PAGE) {
/* Page1 receiving data */
if (PageStatus1 == RECEIVE_DATA)
{
return PAGE1; /* Page1 valid */
}
else
{
return PAGE0; /* Page0 valid */
}
if (PageStatus1 == RECEIVE_DATA) return PAGE1; /* Page1 valid */
else return PAGE0; /* Page0 valid */
}
else
{
return NO_VALID_PAGE; /* No valid Page */
}
case READ_FROM_VALID_PAGE: /* ---- Read operation ---- */
if (PageStatus0 == VALID_PAGE)
{
return PAGE0; /* Page0 valid */
}
else if (PageStatus1 == VALID_PAGE)
{
return PAGE1; /* Page1 valid */
}
else
{
return NO_VALID_PAGE ; /* No valid Page */
}
return NO_VALID_PAGE; /* No valid Page */
default:
return PAGE0; /* Page0 valid */
@ -567,17 +433,16 @@ static uint16_t EE_FindValidPage(uint8_t Operation)
}
/**
* @brief Verify if active page is full and Writes variable in EEPROM.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data)
{
* @brief Verify if active page is full and Writes variable in EEPROM.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data) {
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint16_t ValidPage = PAGE0;
uint32_t Address = EEPROM_START_ADDRESS, PageEndAddress = EEPROM_START_ADDRESS+PAGE_SIZE;
@ -586,10 +451,7 @@ static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Da
ValidPage = EE_FindValidPage(WRITE_IN_VALID_PAGE);
/* Check if there is no valid page */
if (ValidPage == NO_VALID_PAGE)
{
return NO_VALID_PAGE;
}
if (ValidPage == NO_VALID_PAGE) return NO_VALID_PAGE;
/* Get the valid Page start Address */
Address = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(ValidPage * PAGE_SIZE));
@ -598,28 +460,20 @@ static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Da
PageEndAddress = (uint32_t)((EEPROM_START_ADDRESS - 1) + (uint32_t)((ValidPage + 1) * PAGE_SIZE));
/* Check each active page address starting from begining */
while (Address < PageEndAddress)
{
while (Address < PageEndAddress) {
/* Verify if Address and Address+2 contents are 0xFFFFFFFF */
if ((*(__IO uint32_t*)Address) == 0xFFFFFFFF)
{
if ((*(__IO uint32_t*)Address) == 0xFFFFFFFF) {
/* Set variable data */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, Address, Data);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
/* Set variable virtual address */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, Address + 2, VirtAddress);
/* Return program operation status */
return FlashStatus;
}
else
{
/* Next address location */
Address = Address + 4;
}
else /* Next address location */
Address += 4;
}
/* Return PAGE_FULL in case the valid page is full */
@ -627,18 +481,17 @@ static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Da
}
/**
* @brief Transfers last updated variables data from the full Page to
* an empty one.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
* @brief Transfers last updated variables data from the full Page to
* an empty one.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data) {
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint32_t NewPageAddress = EEPROM_START_ADDRESS;
uint16_t OldPageId=0;
@ -650,60 +503,42 @@ static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
/* Get active Page for read operation */
ValidPage = EE_FindValidPage(READ_FROM_VALID_PAGE);
if (ValidPage == PAGE1) /* Page1 valid */
{
if (ValidPage == PAGE1) { /* Page1 valid */
/* New page address where variable will be moved to */
NewPageAddress = PAGE0_BASE_ADDRESS;
/* Old page ID where variable will be taken from */
OldPageId = PAGE1_ID;
}
else if (ValidPage == PAGE0) /* Page0 valid */
{
else if (ValidPage == PAGE0) { /* Page0 valid */
/* New page address where variable will be moved to */
NewPageAddress = PAGE1_BASE_ADDRESS;
/* Old page ID where variable will be taken from */
OldPageId = PAGE0_ID;
}
else
{
return NO_VALID_PAGE; /* No valid Page */
}
/* Set the new Page status to RECEIVE_DATA status */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, NewPageAddress, RECEIVE_DATA);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
/* Write the variable passed as parameter in the new active page */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK)
{
return EepromStatus;
}
if (EepromStatus != HAL_OK) return EepromStatus;
/* Transfer process: transfer variables from old to the new active page */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++)
{
if (VirtAddVarTab[VarIdx] != VirtAddress) /* Check each variable except the one passed as parameter */
{
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++) {
if (VirtAddVarTab[VarIdx] != VirtAddress) { /* Check each variable except the one passed as parameter */
/* Read the other last variable updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1)
{
if (ReadStatus != 0x1) {
/* Transfer the variable to the new active page */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK)
{
return EepromStatus;
}
if (EepromStatus != HAL_OK) return EepromStatus;
}
}
}
@ -716,18 +551,12 @@ static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
/* Erase the old Page: Set old Page status to ERASED status */
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
/* Set new Page status to VALID_PAGE status */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, NewPageAddress, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
if (FlashStatus != HAL_OK) return FlashStatus;
/* Return last operation flash status */
return FlashStatus;
@ -736,7 +565,7 @@ static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
#endif // STM32F7
/**
* @}
*/
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

2
Marlin/src/HAL/HAL_STM32F7/EmulatedEeprom.cpp
View file

@ -18,7 +18,7 @@
*/
#ifdef STM32F7
/**
* Description: functions for I2C connected external EEPROM.
* Not platform dependent.

19
Marlin/src/HAL/HAL_STM32F7/HAL_STM32F7.cpp
View file

@ -81,18 +81,17 @@ void sei(void) { interrupts(); }
void HAL_clear_reset_source(void) { __HAL_RCC_CLEAR_RESET_FLAGS(); }
uint8_t HAL_get_reset_source (void) {
if(__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST) != RESET)
return RST_WATCHDOG;
if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST) != RESET)
return RST_WATCHDOG;
if(__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST) != RESET)
return RST_SOFTWARE;
if (__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST) != RESET)
return RST_SOFTWARE;
if(__HAL_RCC_GET_FLAG(RCC_FLAG_PINRST) != RESET)
return RST_EXTERNAL;
if (__HAL_RCC_GET_FLAG(RCC_FLAG_PINRST) != RESET)
return RST_EXTERNAL;
if(__HAL_RCC_GET_FLAG(RCC_FLAG_PORRST) != RESET)
return RST_POWER_ON;
if (__HAL_RCC_GET_FLAG(RCC_FLAG_PORRST) != RESET)
return RST_POWER_ON;
return 0;
}
@ -102,8 +101,6 @@ extern "C" {
extern unsigned int _ebss; // end of bss section
}
// return free memory between end of heap (or end bss) and whatever is current
/*

8
Marlin/src/HAL/HAL_STM32F7/HAL_STM32F7.h
View file

@ -57,7 +57,7 @@
#error "SERIAL_PORT must be from -1 to 6"
#endif
#if SERIAL_PORT == -1
#define MYSERIAL0 SerialUSB
#define MYSERIAL0 SerialUSB
#elif SERIAL_PORT == 1
#define MYSERIAL0 SerialUART1
#elif SERIAL_PORT == 2
@ -79,7 +79,7 @@
#error "SERIAL_PORT_2 must be different than SERIAL_PORT"
#endif
#define NUM_SERIAL 2
#if SERIAL_PORT_2 == -1
#if SERIAL_PORT_2 == -1
#define MYSERIAL1 SerialUSB
#elif SERIAL_PORT_2 == 1
#define MYSERIAL1 SerialUART1
@ -98,7 +98,7 @@
#define NUM_SERIAL 1
#endif
#define _BV(bit) (1 << (bit))
#define _BV(bit) (1 << (bit))
/**
* TODO: review this to return 1 for pins that are not analog input
@ -107,7 +107,7 @@
#define analogInputToDigitalPin(p) (p)
#endif
#define CRITICAL_SECTION_START noInterrupts();
#define CRITICAL_SECTION_START noInterrupts();
#define CRITICAL_SECTION_END interrupts();
// On AVR this is in math.h?

15
Marlin/src/HAL/HAL_STM32F7/HAL_spi_STM32F7.cpp
View file

@ -82,20 +82,17 @@ void spiBegin(void) {
#if !PIN_EXISTS(SS)
#error SS_PIN not defined!
#endif
SET_OUTPUT(SS_PIN);
WRITE(SS_PIN, HIGH);
}
/** Configure SPI for specified SPI speed */
void spiInit(uint8_t spiRate) {
// Use datarates Marlin uses
uint32_t clock;
switch (spiRate) {
case SPI_FULL_SPEED: clock = 20000000; break; //13.9mhz=20000000 6.75mhz=10000000 3.38mhz=5000000 .833mhz=1000000
case SPI_FULL_SPEED: clock = 20000000; break; // 13.9mhz=20000000 6.75mhz=10000000 3.38mhz=5000000 .833mhz=1000000
case SPI_HALF_SPEED: clock = 5000000; break;
case SPI_QUARTER_SPEED: clock = 2500000; break;
case SPI_EIGHTH_SPEED: clock = 1250000; break;
@ -108,8 +105,6 @@ void spiInit(uint8_t spiRate) {
SPI.begin();
}
/**
* @brief Receives a single byte from the SPI port.
*
@ -133,8 +128,6 @@ uint8_t spiRec(void) {
*
* @details Uses DMA
*/
void spiRead(uint8_t* buf, uint16_t nbyte) {
SPI.beginTransaction(spiConfig);
SPI.dmaTransfer(0, const_cast<uint8_t*>(buf), nbyte);
@ -162,8 +155,6 @@ void spiSend(uint8_t b) {
*
* @details Use DMA
*/
void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPI.beginTransaction(spiConfig);
SPI.transfer(token);
@ -171,8 +162,6 @@ void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPI.endTransaction();
}
#endif // SOFTWARE_SPI
#endif // STM32F7

44
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
View file

@ -20,8 +20,8 @@
*
*/
#ifdef STM32F7
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
@ -71,12 +71,12 @@ tTimerConfig timerConfig[NUM_HARDWARE_TIMERS];
bool timers_initialised[NUM_HARDWARE_TIMERS] = {false};
void HAL_timer_start(uint8_t timer_num, uint32_t frequency) {
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
if(!timers_initialised[timer_num]) {
if (!timers_initialised[timer_num]) {
switch (timer_num) {
case STEP_TIMER_NUM:
//STEPPER TIMER TIM5 //use a 32bit timer
//STEPPER TIMER TIM5 //use a 32bit timer
__HAL_RCC_TIM5_CLK_ENABLE();
timerConfig[0].timerdef.Instance = TIM5;
timerConfig[0].timerdef.Init.Prescaler = (STEPPER_TIMER_PRESCALE);
@ -92,8 +92,8 @@ void HAL_timer_start(uint8_t timer_num, uint32_t frequency) {
//TEMP TIMER TIM7 // any available 16bit Timer (1 already used for PWM)
__HAL_RCC_TIM7_CLK_ENABLE();
timerConfig[1].timerdef.Instance = TIM7;
timerConfig[1].timerdef.Init.Prescaler = (TEMP_TIMER_PRESCALE);
timerConfig[1].timerdef.Init.CounterMode = TIM_COUNTERMODE_UP;
timerConfig[1].timerdef.Init.Prescaler = (TEMP_TIMER_PRESCALE);
timerConfig[1].timerdef.Init.CounterMode = TIM_COUNTERMODE_UP;
timerConfig[1].timerdef.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timerConfig[1].IRQ_Id = TIM7_IRQn;
timerConfig[1].callback = (uint32_t)TC7_Handler;
@ -103,52 +103,48 @@ void HAL_timer_start(uint8_t timer_num, uint32_t frequency) {
timers_initialised[timer_num] = true;
}
timerConfig[timer_num].timerdef.Init.Period = ((HAL_TIMER_RATE / timerConfig[timer_num].timerdef.Init.Prescaler) / (frequency)) - 1;
timerConfig[timer_num].timerdef.Init.Period = (((HAL_TIMER_RATE) / timerConfig[timer_num].timerdef.Init.Prescaler) / frequency) - 1;
if(HAL_TIM_Base_Init(&timerConfig[timer_num].timerdef) == HAL_OK ){
if (HAL_TIM_Base_Init(&timerConfig[timer_num].timerdef) == HAL_OK)
HAL_TIM_Base_Start_IT(&timerConfig[timer_num].timerdef);
}
}
//forward the interrupt
extern "C" void TIM5_IRQHandler()
{
((void(*)(void))timerConfig[0].callback)();
extern "C" void TIM5_IRQHandler() {
((void(*)(void))timerConfig[0].callback)();
}
extern "C" void TIM7_IRQHandler()
{
((void(*)(void))timerConfig[1].callback)();
extern "C" void TIM7_IRQHandler() {
((void(*)(void))timerConfig[1].callback)();
}
void HAL_timer_set_count (uint8_t timer_num, uint32_t count) {
void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count) {
__HAL_TIM_SetAutoreload(&timerConfig[timer_num].timerdef, count);
}
void HAL_timer_set_current_count (uint8_t timer_num, uint32_t count) {
void HAL_timer_set_current_count(const uint8_t timer_num, const uint32_t count) {
__HAL_TIM_SetAutoreload(&timerConfig[timer_num].timerdef, count);
}
void HAL_timer_enable_interrupt (uint8_t timer_num) {
void HAL_timer_enable_interrupt(const uint8_t timer_num) {
HAL_NVIC_EnableIRQ(timerConfig[timer_num].IRQ_Id);
}
void HAL_timer_disable_interrupt (uint8_t timer_num) {
void HAL_timer_disable_interrupt(const uint8_t timer_num) {
HAL_NVIC_DisableIRQ(timerConfig[timer_num].IRQ_Id);
}
hal_timer_t HAL_timer_get_count (uint8_t timer_num) {
hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
return __HAL_TIM_GetAutoreload(&timerConfig[timer_num].timerdef);
}
uint32_t HAL_timer_get_current_count(uint8_t timer_num) {
uint32_t HAL_timer_get_current_count(const uint8_t timer_num) {
return __HAL_TIM_GetCounter(&timerConfig[timer_num].timerdef);
}
void HAL_timer_isr_prologue (uint8_t timer_num) {
void HAL_timer_isr_prologue(const uint8_t timer_num) {
if (__HAL_TIM_GET_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE) == SET) {
__HAL_TIM_CLEAR_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE);
}
}
#endif
#endif // STM32F7

37
Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
View file

@ -20,8 +20,6 @@
*
*/
#ifndef _HAL_TIMERS_STM32F7_H
#define _HAL_TIMERS_STM32F7_H
@ -35,16 +33,15 @@
// Defines
// --------------------------------------------------------------------------
#define FORCE_INLINE __attribute__((always_inline)) inline
#define hal_timer_t uint32_t //hal_timer_t uint32_t //TODO: One is 16-bit, one 32-bit - does this need to be checked?
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define hal_timer_t uint32_t // TODO: One is 16-bit, one 32-bit - does this need to be checked?
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define STEP_TIMER_NUM 0 // index of timer to use for stepper
#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq()/2) // frequency of timer peripherals
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq() / 2) // frequency of timer peripherals
#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
@ -55,11 +52,11 @@
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt (STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt (STEP_TIMER_NUM)
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt (TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt (TEMP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
@ -86,27 +83,23 @@ typedef struct {
//extern const tTimerConfig timerConfig[];
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void HAL_timer_start (uint8_t timer_num, uint32_t frequency);
void HAL_timer_enable_interrupt(uint8_t timer_num);
void HAL_timer_disable_interrupt(uint8_t timer_num);
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
void HAL_timer_enable_interrupt(const uint8_t timer_num);
void HAL_timer_disable_interrupt(const uint8_t timer_num);
void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count);
hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
uint32_t HAL_timer_get_current_count(const uint8_t timer_num);
void HAL_timer_set_count (uint8_t timer_num, uint32_t count);
hal_timer_t HAL_timer_get_count (uint8_t timer_num);
uint32_t HAL_timer_get_current_count(uint8_t timer_num);
void HAL_timer_set_current_count (uint8_t timer_num, uint32_t count); //New
void HAL_timer_set_current_count(const uint8_t timer_num, const uint32_t count); // New
/*FORCE_INLINE static void HAL_timer_set_current_count(const uint8_t timer_num, const hal_timer_t count) {
// To do ??
}*/
void HAL_timer_isr_prologue (uint8_t timer_num);
void HAL_timer_isr_prologue(const uint8_t timer_num);
#endif // _HAL_TIMERS_STM32F7_H

1378
Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp
View file

@ -1,28 +1,28 @@
/*
TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
based on the stepper library by Tom Igoe, et. al.
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
/**
* TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
*
* based on the stepper library by Tom Igoe, et. al.
*
* Copyright (c) 2011, Interactive Matter, Marcus Nowotny
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
*/
//#include "Arduino.h"
@ -120,916 +120,812 @@ SPIClass SPI_6(SPI6, SPI6_MOSI_PIN, SPI6_MISO_PIN, SPI6_SCK_PIN);
unsigned char current_scaling = 0;
/*
/**
* Constructor
* number_of_steps - the steps per rotation
* cs_pin - the SPI client select pin
* dir_pin - the pin where the direction pin is connected
* step_pin - the pin where the step pin is connected
*/
TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor)
{
//we are not started yet
started=false;
//by default cool step is not enabled
cool_step_enabled=false;
//save the pins for later use
this->cs_pin=cs_pin;
this->dir_pin=dir_pin;
this->step_pin = step_pin;
//store the current sense resistor value for later use
this->resistor = resistor;
//initizalize our status values
this->steps_left = 0;
this->direction = 0;
//initialize register values
driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING;
chopper_config_register=CHOPPER_CONFIG_REGISTER;
//setting the default register values
driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING;
microsteps = (1 << INITIAL_MICROSTEPPING);
chopper_config_register=CHOPPER_CONFIG_REGISTER;
cool_step_register_value=COOL_STEP_REGISTER;
stall_guard2_current_register_value=STALL_GUARD2_LOAD_MEASURE_REGISTER;
driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor) {
// We are not started yet
started = false;
//set the current
setCurrent(current);
//set to a conservative start value
setConstantOffTimeChopper(7, 54, 13,12,1);
//set a nice microstepping value
setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
//save the number of steps
this->number_of_steps = number_of_steps;
// By default cool step is not enabled
cool_step_enabled = false;
// Save the pins for later use
this->cs_pin = cs_pin;
this->dir_pin = dir_pin;
this->step_pin = step_pin;
// Store the current sense resistor value for later use
this->resistor = resistor;
// Initizalize our status values
this->steps_left = 0;
this->direction = 0;
// Initialize register values
driver_control_register_value = DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING;
chopper_config_register = CHOPPER_CONFIG_REGISTER;
// Setting the default register values
driver_control_register_value = DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING;
microsteps = _BV(INITIAL_MICROSTEPPING);
chopper_config_register = CHOPPER_CONFIG_REGISTER;
cool_step_register_value = COOL_STEP_REGISTER;
stall_guard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER;
driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
// Set the current
setCurrent(current);
// Set to a conservative start value
setConstantOffTimeChopper(7, 54, 13,12,1);
// Set a nice microstepping value
setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
// Save the number of steps
this->number_of_steps = number_of_steps;
}
/*
/**
* start & configure the stepper driver
* just must be called.
*/
void TMC26XStepper::start() {
#ifdef TMC_DEBUG1
SERIAL_ECHOPGM("\n TMC26X stepper library \n");
SERIAL_ECHOPAIR("\n CS pin: ",cs_pin);
SERIAL_ECHOPAIR("\n DIR pin: ",dir_pin);
SERIAL_ECHOPAIR("\n STEP pin: ", step_pin);
SERIAL_PRINTF("\n current scaling: %d", current_scaling);
SERIAL_PRINTF("\n Resistor: %d", resistor);
//SERIAL_PRINTF("\n current: %d", current);
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
#ifdef TMC_DEBUG1
SERIAL_ECHOPGM("\n TMC26X stepper library \n");
SERIAL_ECHOPAIR("\n CS pin: ", cs_pin);
SERIAL_ECHOPAIR("\n DIR pin: ", dir_pin);
SERIAL_ECHOPAIR("\n STEP pin: ", step_pin);
SERIAL_PRINTF("\n current scaling: %d", current_scaling);
SERIAL_PRINTF("\n Resistor: %d", resistor);
//SERIAL_PRINTF("\n current: %d", current);
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
//set the pins as output & its initial value
pinMode(step_pin, OUTPUT);
pinMode(dir_pin, OUTPUT);
pinMode(cs_pin, OUTPUT);
//pinMode(STEPPER_ENABLE_PIN, OUTPUT);
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
digitalWrite(cs_pin, HIGH);
//set the pins as output & its initial value
pinMode(step_pin, OUTPUT);
pinMode(dir_pin, OUTPUT);
pinMode(cs_pin, OUTPUT);
//pinMode(STEPPER_ENABLE_PIN, OUTPUT);
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
digitalWrite(cs_pin, HIGH);
STEPPER_SPI.begin();
STEPPER_SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
//set the initial values
send262(driver_control_register_value);
send262(chopper_config_register);
send262(cool_step_register_value);
send262(stall_guard2_current_register_value);
send262(driver_configuration_register_value);
//save that we are in running mode
started=true;
STEPPER_SPI.begin();
STEPPER_SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
//set the initial values
send262(driver_control_register_value);
send262(chopper_config_register);
send262(cool_step_register_value);
send262(stall_guard2_current_register_value);
send262(driver_configuration_register_value);
//save that we are in running mode
started = true;
}
/*
Mark the driver as unstarted to be able to start it again
/**
* Mark the driver as unstarted to be able to start it again
*/
void TMC26XStepper::un_start() {
started=false;
}
void TMC26XStepper::un_start() { started = false; }
/*
Sets the speed in revs per minute
*/
void TMC26XStepper::setSpeed(unsigned int whatSpeed)
{
/**
* Sets the speed in revs per minute
*/
void TMC26XStepper::setSpeed(unsigned int whatSpeed) {
this->speed = whatSpeed;
this->step_delay = (60UL * 1000UL * 1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps);
#ifdef TMC_DEBUG0 //crashes
this->step_delay = 60UL * sq(1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps);
#ifdef TMC_DEBUG0 // crashes
//SERIAL_PRINTF("Step delay in micros: ");
SERIAL_ECHOPAIR("\nStep delay in micros: ",this->step_delay);
#endif
//update the next step time
this->next_step_time = this->last_step_time+this->step_delay;
SERIAL_ECHOPAIR("\nStep delay in micros: ", this->step_delay);
#endif
// Update the next step time
this->next_step_time = this->last_step_time + this->step_delay;
}
unsigned int TMC26XStepper::getSpeed(void) {
return this->speed;
}
unsigned int TMC26XStepper::getSpeed(void) { return this->speed; }
/*
Moves the motor steps_to_move steps. If the number is negative,
the motor moves in the reverse direction.
/**
* Moves the motor steps_to_move steps.
* Negative indicates the reverse direction.
*/
char TMC26XStepper::step(int steps_to_move)
{
if (this->steps_left==0) {
this->steps_left = abs(steps_to_move); // how many steps to take
// determine direction based on whether steps_to_mode is + or -:
if (steps_to_move > 0) {
this->direction = 1;
} else if (steps_to_move < 0) {
this->direction = 0;
}
return 0;
} else {
return -1;
}
char TMC26XStepper::step(int steps_to_move) {
if (this->steps_left == 0) {
this->steps_left = abs(steps_to_move); // how many steps to take
// determine direction based on whether steps_to_move is + or -:
if (steps_to_move > 0)
this->direction = 1;
else if (steps_to_move < 0)
this->direction = 0;
return 0;
}
return -1;
}
char TMC26XStepper::move(void) {
// decrement the number of steps, moving one step each time:
if(this->steps_left>0) {
unsigned long time = micros();
// move only if the appropriate delay has passed:
// rem if (time >= this->next_step_time) {
if(abs(time - this->last_step_time) > this->step_delay) {
// increment or decrement the step number,
// depending on direction:
if (this->direction == 1) {
digitalWrite(step_pin, HIGH);
} else {
digitalWrite(dir_pin, HIGH);
digitalWrite(step_pin, HIGH);
}
// get the timeStamp of when you stepped:
this->last_step_time = time;
this->next_step_time = time+this->step_delay;
// decrement the steps left:
steps_left--;
//disable the step & dir pins
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
}
return -1;
}
return 0;
if (this->steps_left > 0) {
unsigned long time = micros();
// move only if the appropriate delay has passed:
// rem if (time >= this->next_step_time) {
if (abs(time - this->last_step_time) > this->step_delay) {
// increment or decrement the step number,
// depending on direction:
if (this->direction == 1)
digitalWrite(step_pin, HIGH);
else {
digitalWrite(dir_pin, HIGH);
digitalWrite(step_pin, HIGH);
}
// get the timeStamp of when you stepped:
this->last_step_time = time;
this->next_step_time = time + this->step_delay;
// decrement the steps left:
steps_left--;
//disable the step & dir pins
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
}
return -1;
}
return 0;
}
char TMC26XStepper::isMoving(void) {
return (this->steps_left>0);
}
char TMC26XStepper::isMoving(void) { return this->steps_left > 0; }
unsigned int TMC26XStepper::getStepsLeft(void) {
return this->steps_left;
}
unsigned int TMC26XStepper::getStepsLeft(void) { return this->steps_left; }
char TMC26XStepper::stop(void) {
//note to self if the motor is currently moving
char state = isMoving();
//stop the motor
this->steps_left = 0;
this->direction = 0;
//return if it was moving
return state;
//note to self if the motor is currently moving
char state = isMoving();
//stop the motor
this->steps_left = 0;
this->direction = 0;
//return if it was moving
return state;
}
void TMC26XStepper::setCurrent(unsigned int current) {
unsigned char current_scaling = 0;
//calculate the current scaling from the max current setting (in mA)
double mASetting = (double)current;
double resistor_value = (double) this->resistor;
// remove vesense flag
this->driver_configuration_register_value &= ~(VSENSE);
//this is derrived from I=(cs+1)/32*(Vsense/Rsense)
//leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V and I = 1000*current)
//with Rsense=0,15
//for vsense = 0,310V (VSENSE not set)
//or vsense = 0,165V (VSENSE set)
current_scaling = (byte)((resistor_value*mASetting*32.0/(0.31*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
//check if the current scalingis too low
if (current_scaling<16) {
//set the csense bit to get a use half the sense voltage (to support lower motor currents)
this->driver_configuration_register_value |= VSENSE;
//and recalculate the current setting
current_scaling = (byte)((resistor_value*mASetting*32.0/(0.165*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
#ifdef TMC_DEBUG0 //crashes
//SERIAL_PRINTF("CS (Vsense=1): ");
SERIAL_ECHOPAIR("\nCS (Vsense=1): ",current_scaling);
} else {
unsigned char current_scaling = 0;
//calculate the current scaling from the max current setting (in mA)
double mASetting = (double)current,
resistor_value = (double)this->resistor;
// remove vsense flag
this->driver_configuration_register_value &= ~(VSENSE);
// Derived from I = (cs + 1) / 32 * (Vsense / Rsense)
// leading to cs = 32 * R * I / V (with V = 0,31V oder 0,165V and I = 1000 * current)
// with Rsense = 0,15
// for vsense = 0,310V (VSENSE not set)
// or vsense = 0,165V (VSENSE set)
current_scaling = (byte)((resistor_value * mASetting * 32.0 / (0.31 * sq(1000.0))) - 0.5); //theoretically - 1.0 for better rounding it is 0.5
// Check if the current scalingis too low
if (current_scaling < 16) {
// Set the csense bit to get a use half the sense voltage (to support lower motor currents)
this->driver_configuration_register_value |= VSENSE;
// and recalculate the current setting
current_scaling = (byte)((resistor_value * mASetting * 32.0 / (0.165 * sq(1000.0))) - 0.5); //theoretically - 1.0 for better rounding it is 0.5
#ifdef TMC_DEBUG0 // crashes
//SERIAL_PRINTF("CS (Vsense=1): ");
SERIAL_ECHOPAIR("\nCS (Vsense=1): ",current_scaling);
} else {
//SERIAL_PRINTF("CS: ");
SERIAL_ECHOPAIR("\nCS: ", current_scaling);
#endif
}
#endif
}
//do some sanity checks
if (current_scaling>31) {
current_scaling=31;
}
//delete the old value
stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
//set the new current scaling
stall_guard2_current_register_value |= current_scaling;
//if started we directly send it to the motor
if (started) {
send262(driver_configuration_register_value);
send262(stall_guard2_current_register_value);
}
// do some sanity checks
NOMORE(current_scaling, 31);
// delete the old value
stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
// set the new current scaling
stall_guard2_current_register_value |= current_scaling;
// if started we directly send it to the motor
if (started) {
send262(driver_configuration_register_value);
send262(stall_guard2_current_register_value);
}
}
unsigned int TMC26XStepper::getCurrent(void) {
//we calculate the current according to the datasheet to be on the safe side
//this is not the fastest but the most accurate and illustrative way
double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN);
double resistor_value = (double)this->resistor;
double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31;
result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
return (unsigned int)result;
// Calculate the current according to the datasheet to be on the safe side.
// This is not the fastest but the most accurate and illustrative way.
double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN),
resistor_value = (double)this->resistor,
voltage = (driver_configuration_register_value & VSENSE) ? 0.165 : 0.31;
result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
return (unsigned int)result;
}
void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) {
if (stall_guard_threshold<-64) {
stall_guard_threshold = -64;
//We just have 5 bits
} else if (stall_guard_threshold > 63) {
stall_guard_threshold = 63;
}
//add trim down to 7 bits
stall_guard_threshold &=0x7f;
//delete old stall guard settings
stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
if (stall_guard_filter_enabled) {
stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
}
//Set the new stall guard threshold
stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
//if started we directly send it to the motor
if (started) {
send262(stall_guard2_current_register_value);
}
// We just have 5 bits
LIMIT(stall_guard_threshold, -64, 63);
// Add trim down to 7 bits
stall_guard_threshold &= 0x7F;
// Delete old stall guard settings
stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
if (stall_guard_filter_enabled)
stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
// Set the new stall guard threshold
stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
// If started we directly send it to the motor
if (started) send262(stall_guard2_current_register_value);
}
char TMC26XStepper::getStallGuardThreshold(void) {
unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
//shift it down to bit 0
stall_guard_threshold >>=8;
//convert the value to an int to correctly handle the negative numbers
char result = stall_guard_threshold;
//check if it is negative and fill it up with leading 1 for proper negative number representation
//rem if (result & _BV(6)) {
if (result & (1 << (6))) {
result |= 0xC0;
}
return result;
unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
//shift it down to bit 0
stall_guard_threshold >>= 8;
//convert the value to an int to correctly handle the negative numbers
char result = stall_guard_threshold;
//check if it is negative and fill it up with leading 1 for proper negative number representation
//rem if (result & _BV(6)) {
if (TEST(result, 6)) result |= 0xC0;
return result;
}
char TMC26XStepper::getStallGuardFilter(void) {
if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED) {
return -1;
} else {
return 0;
}
if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED)
return -1;
return 0;
}
/*
/**
* Set the number of microsteps per step.
* 0,2,4,8,16,32,64,128,256 is supported
* 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(int 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;
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;
}
#ifdef TMC_DEBUG0 //crashes
//SERIAL_PRINTF("Microstepping: ");
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
//delete the old value
this->driver_control_register_value &=0xFFFF0ul;
//set the new value
this->driver_control_register_value |=setting_pattern;
//if started we directly send it to the motor
if (started) {
send262(driver_control_register_value);
}
//recalculate the stepping delay by simply setting the speed again
this->setSpeed(this->speed);
}
else if (number_of_steps <= 1) {
setting_pattern = 8;
microsteps = 1;
}
#ifdef TMC_DEBUG0 // crashes
//SERIAL_PRINTF("Microstepping: ");
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
// Delete the old value
this->driver_control_register_value &= 0xFFFF0UL;
// Set the new value
this->driver_control_register_value |= setting_pattern;
// If started we directly send it to the motor
if (started) send262(driver_control_register_value);
// Recalculate the stepping delay by simply setting the speed again
this->setSpeed(this->speed);
}
/*
/**
* returns the effective number of microsteps at the moment
*/
int TMC26XStepper::getMicrosteps(void) {
return microsteps;
}
int TMC26XStepper::getMicrosteps(void) { return microsteps }
/*
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
/**
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
*
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
* duration of the ringing on the sense resistor. For
* 0: min. setting 3: max. setting
* 0: min. setting 3: max. setting
*
* fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle.
* 0: slow decay only
* 1...15: duration of fast decay phase
* 0: slow decay only
* 1...15: duration of fast decay phase
*
* sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset.
* sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset.
* A positive offset corrects for zero crossing error.
* -3..-1: negative offset 0: no offset 1...12: positive offset
* -3..-1: negative offset 0: no offset 1...12: positive offset
*
* use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle.
* If current comparator is enabled, it terminates the fast decay cycle in case the current
* use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle.
* If current comparator is enabled, it terminates the fast decay cycle in case the current
* reaches a higher negative value than the actual positive value.
* 1: enable comparator termination of fast decay cycle
* 0: end by time only
* 1: enable comparator termination of fast decay cycle
* 0: end by time only
*/
void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) {
//perform some sanity checks
if (constant_off_time<2) {
constant_off_time=2;
} else if (constant_off_time>15) {
constant_off_time=15;
}
//save the constant off time
this->constant_off_time = constant_off_time;
char blank_value;
//calculate the value acc to the clock cycles
if (blank_time>=54) {
blank_value=3;
} else if (blank_time>=36) {
blank_value=2;
} else if (blank_time>=24) {
blank_value=1;
} else {
blank_value=0;
}
if (fast_decay_time_setting<0) {
fast_decay_time_setting=0;
} else if (fast_decay_time_setting>15) {
fast_decay_time_setting=15;
}
if (sine_wave_offset < -3) {
sine_wave_offset = -3;
} else if (sine_wave_offset>12) {
sine_wave_offset = 12;
}
//shift the sine_wave_offset
sine_wave_offset +=3;
//calculate the register setting
//first of all delete all the values for this
chopper_config_register &= ~((1<<12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
//set the constant off pattern
chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the fast decay time
//set msb
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8))<<HYSTERESIS_DECREMENT_SHIFT);
//other bits
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7))<<HYSTERESIS_START_VALUE_SHIFT);
//set the sine wave offset
chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
//using the current comparator?
if (!use_current_comparator) {
chopper_config_register |= (1<<12);
}
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
// Perform some sanity checks
LIMIT(constant_off_time, 2, 15);
// Save the constant off time
this->constant_off_time = constant_off_time;
// Calculate the value acc to the clock cycles
const char blank_value = blank_time >= 54 ? 3 :
blank_time >= 36 ? 2 :
blank_time >= 24 ? 1 : 0;
LIMIT(fast_decay_time_setting, 0, 15);
LIMIT(sine_wave_offset, -3, 12);
// Shift the sine_wave_offset
sine_wave_offset += 3;
// Calculate the register setting
// First of all delete all the values for this
chopper_config_register &= ~(_BV(12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
// Set the constant off pattern
chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
// Set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
// Setting the constant off time
chopper_config_register |= constant_off_time;
// Set the fast decay time
// Set msb
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT);
// Other bits
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT);
// Set the sine wave offset
chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
// Using the current comparator?
if (!use_current_comparator)
chopper_config_register |= _BV(12);
// If started we directly send it to the motor
if (started) {
// rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
/*
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
/**
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
*
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
* duration of the ringing on the sense resistor. For
* 0: min. setting 3: max. setting
* 0: min. setting 3: max. setting
*
* hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND.
* 1...8
* 1...8
*
* hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC.
* hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC.
* The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
* -3..-1: negative HEND 0: zero HEND 1...12: positive HEND
* -3..-1: negative HEND 0: zero HEND 1...12: positive HEND
*
* hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
* 0: fast decrement 3: very slow decrement
* 0: fast decrement 3: very slow decrement
*/
void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) {
//perform some sanity checks
if (constant_off_time<2) {
constant_off_time=2;
} else if (constant_off_time>15) {
constant_off_time=15;
}
//save the constant off time
this->constant_off_time = constant_off_time;
char blank_value;
//calculate the value acc to the clock cycles
if (blank_time>=54) {
blank_value=3;
} else if (blank_time>=36) {
blank_value=2;
} else if (blank_time>=24) {
blank_value=1;
} else {
blank_value=0;
}
if (hysteresis_start<1) {
hysteresis_start=1;
} else if (hysteresis_start>8) {
hysteresis_start=8;
}
hysteresis_start--;
// Perform some sanity checks
LIMIT(constant_off_time, 2, 15);
if (hysteresis_end < -3) {
hysteresis_end = -3;
} else if (hysteresis_end>12) {
hysteresis_end = 12;
}
//shift the hysteresis_end
hysteresis_end +=3;
// Save the constant off time
this->constant_off_time = constant_off_time;
if (hysteresis_decrement<0) {
hysteresis_decrement=0;
} else if (hysteresis_decrement>3) {
hysteresis_decrement=3;
}
//first of all delete all the values for this
chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
// Calculate the value acc to the clock cycles
const char blank_value = blank_time >= 54 ? 3 :
blank_time >= 36 ? 2 :
blank_time >= 24 ? 1 : 0;
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the hysteresis_start
chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
//set the hysteresis end
chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
//set the hystereis decrement
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
LIMIT(hysteresis_start, 1, 8);
hysteresis_start--;
LIMIT(hysteresis_start, -3, 12);
// Shift the hysteresis_end
hysteresis_end += 3;
LIMIT(hysteresis_decrement, 0, 3);
//first of all delete all the values for this
chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the hysteresis_start
chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
//set the hysteresis end
chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
//set the hystereis decrement
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
/*
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position.
* With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a
* few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc.
/**
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position.
* With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a
* few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc.
* Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
* Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages
* Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages
* (please refer to sense resistor layout hint in chapter 8.1).
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
* It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum,
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
* It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum,
* reducing electromagnetic emission on single frequencies.
*/
void TMC26XStepper::setRandomOffTime(char value) {
if (value) {
chopper_config_register |= RANDOM_TOFF_TIME;
} else {
chopper_config_register &= ~(RANDOM_TOFF_TIME);
}
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
if (value)
chopper_config_register |= RANDOM_TOFF_TIME;
else
chopper_config_register &= ~(RANDOM_TOFF_TIME);
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
void TMC26XStepper::setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
unsigned char current_increment_step_size, unsigned char lower_current_limit) {
//sanitize the input values
if (lower_SG_threshold>480) {
lower_SG_threshold = 480;
}
//divide by 32
lower_SG_threshold >>=5;
if (SG_hysteresis>480) {
SG_hysteresis=480;
}
//divide by 32
SG_hysteresis >>=5;
if (current_decrement_step_size>3) {
current_decrement_step_size=3;
}
if (current_increment_step_size>3) {
current_increment_step_size=3;
}
if (lower_current_limit>1) {
lower_current_limit=1;
}
//store the lower level in order to enable/disable the cool step
this->cool_step_lower_threshold=lower_SG_threshold;
//if cool step is not enabled we delete the lower value to keep it disabled
if (!this->cool_step_enabled) {
lower_SG_threshold=0;
}
//the good news is that we can start with a complete new cool step register value
//and simply set the values in the register
cool_step_register_value = ((unsigned long)lower_SG_threshold) | (((unsigned long)SG_hysteresis)<<8) | (((unsigned long)current_decrement_step_size)<<5)
| (((unsigned long)current_increment_step_size)<<13) | (((unsigned long)lower_current_limit)<<15)
//and of course we have to include the signature of the register
| COOL_STEP_REGISTER;
//SERIAL_PRINTFln(cool_step_register_value,HEX);
if (started) {
send262(cool_step_register_value);
}
void TMC26XStepper::setCoolStepConfiguration(
unsigned int lower_SG_threshold,
unsigned int SG_hysteresis,
unsigned char current_decrement_step_size,
unsigned char current_increment_step_size,
unsigned char lower_current_limit)
{
// Sanitize the input values
NOMORE(lower_SG_threshold, 480);
// Divide by 32
lower_SG_threshold >>= 5;
NOMORE(SG_hysteresis, 480);
// Divide by 32
SG_hysteresis >>= 5;
NOMORE(current_decrement_step_size, 3);
NOMORE(current_increment_step_size, 3);
NOMORE(lower_current_limit, 1);
// Store the lower level in order to enable/disable the cool step
this->cool_step_lower_threshold=lower_SG_threshold;
// If cool step is not enabled we delete the lower value to keep it disabled
if (!this->cool_step_enabled) lower_SG_threshold = 0;
// The good news is that we can start with a complete new cool step register value
// And simply set the values in the register
cool_step_register_value = ((unsigned long)lower_SG_threshold)
| (((unsigned long)SG_hysteresis) << 8)
| (((unsigned long)current_decrement_step_size) << 5)
| (((unsigned long)current_increment_step_size) << 13)
| (((unsigned long)lower_current_limit) << 15)
| COOL_STEP_REGISTER; // Register signature
//SERIAL_PRINTFln(cool_step_register_value,HEX);
if (started) send262(cool_step_register_value);
}
void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
//simply delete the lower limit to disable the cool step
cool_step_register_value &= ~SE_MIN_PATTERN;
//and set it to the proper value if cool step is to be enabled
if (enabled) {
cool_step_register_value |=this->cool_step_lower_threshold;
}
//and save the enabled status
this->cool_step_enabled = enabled;
//save the register value
if (started) {
send262(cool_step_register_value);
}
// Simply delete the lower limit to disable the cool step
cool_step_register_value &= ~SE_MIN_PATTERN;
// And set it to the proper value if cool step is to be enabled
if (enabled)
cool_step_register_value |= this->cool_step_lower_threshold;
// And save the enabled status
this->cool_step_enabled = enabled;
// Save the register value
if (started) send262(cool_step_register_value);
}
boolean TMC26XStepper::isCoolStepEnabled(void) {
return this->cool_step_enabled;
}
boolean TMC26XStepper::isCoolStepEnabled(void) { return this->cool_step_enabled; }
unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() {
//we return our internally stored value - in order to provide the correct setting even if cool step is not enabled
return this->cool_step_lower_threshold<<5;
// We return our internally stored value - in order to provide the correct setting even if cool step is not enabled
return this->cool_step_lower_threshold<<5;
}
unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() {
return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN)>>8)<<5;
return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5;
}
unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() {
return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN)>>13);
return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13);
}
unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() {
return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN)>>5);
return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5);
}
unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() {
return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH)>>15);
return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15);
}
void TMC26XStepper::setEnabled(boolean enabled) {
//delete the t_off in the chopper config to get sure
chopper_config_register &= ~(T_OFF_PATTERN);
if (enabled) {
//and set the t_off time
chopper_config_register |= this->constant_off_time;
}
//if not enabled we don't have to do anything since we already delete t_off from the register
if (started) {
send262(chopper_config_register);
}
//delete the t_off in the chopper config to get sure
chopper_config_register &= ~(T_OFF_PATTERN);
if (enabled) {
//and set the t_off time
chopper_config_register |= this->constant_off_time;
}
//if not enabled we don't have to do anything since we already delete t_off from the register
if (started) send262(chopper_config_register);
}
boolean TMC26XStepper::isEnabled() {
if (chopper_config_register & T_OFF_PATTERN) {
return true;
} else {
return false;
}
}
boolean TMC26XStepper::isEnabled() { return !!(chopper_config_register & T_OFF_PATTERN); }
/*
* reads a value from the TMC26X status register. The value is not obtained directly but can then
/**
* reads a value from the TMC26X status register. The value is not obtained directly but can then
* be read by the various status routines.
*
*/
void TMC26XStepper::readStatus(char read_value) {
unsigned long old_driver_configuration_register_value = driver_configuration_register_value;
//reset the readout configuration
driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
//this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
if (read_value == TMC26X_READOUT_STALLGUARD) {
driver_configuration_register_value |= READ_STALL_GUARD_READING;
} else if (read_value == TMC26X_READOUT_CURRENT) {
driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP;
}
//all other cases are ignored to prevent funny values
//check if the readout is configured for the value we are interested in
if (driver_configuration_register_value!=old_driver_configuration_register_value) {
//because then we need to write the value twice - one time for configuring, second time to get the value, see below
send262(driver_configuration_register_value);
}
//write the configuration to get the last status
send262(driver_configuration_register_value);
unsigned long old_driver_configuration_register_value = driver_configuration_register_value;
//reset the readout configuration
driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
//this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
if (read_value == TMC26X_READOUT_STALLGUARD)
driver_configuration_register_value |= READ_STALL_GUARD_READING;
else if (read_value == TMC26X_READOUT_CURRENT)
driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP;
//all other cases are ignored to prevent funny values
//check if the readout is configured for the value we are interested in
if (driver_configuration_register_value != old_driver_configuration_register_value) {
//because then we need to write the value twice - one time for configuring, second time to get the value, see below
send262(driver_configuration_register_value);
}
//write the configuration to get the last status
send262(driver_configuration_register_value);
}
int TMC26XStepper::getMotorPosition(void) {
//we read it out even if we are not started yet - perhaps it is useful information for somebody
readStatus(TMC26X_READOUT_POSITION);
return getReadoutValue();
//we read it out even if we are not started yet - perhaps it is useful information for somebody
readStatus(TMC26X_READOUT_POSITION);
return getReadoutValue();
}
//reads the stall guard setting from last status
//returns -1 if stallguard information is not present
int TMC26XStepper::getCurrentStallGuardReading(void) {
//if we don't yet started there cannot be a stall guard value
if (!started) {
return -1;
}
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_STALLGUARD);
return getReadoutValue();
//if we don't yet started there cannot be a stall guard value
if (!started) return -1;
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_STALLGUARD);
return getReadoutValue();
}
unsigned char TMC26XStepper::getCurrentCSReading(void) {
//if we don't yet started there cannot be a stall guard value
if (!started) {
return 0;
}
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_CURRENT);
return (getReadoutValue() & 0x1f);
//if we don't yet started there cannot be a stall guard value
if (!started) return 0;
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_CURRENT);
return (getReadoutValue() & 0x1F);
}
unsigned int TMC26XStepper::getCurrentCurrent(void) {
double result = (double)getCurrentCSReading();
double resistor_value = (double)this->resistor;
double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31;
result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
double result = (double)getCurrentCSReading(),
resistor_value = (double)this->resistor,
voltage = (driver_configuration_register_value & VSENSE)? 0.165 : 0.31;
result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
return (unsigned int)result;
}
/*
return true if the stallguard threshold has been reached
*/
/**
* Return true if the stallguard threshold has been reached
*/
boolean TMC26XStepper::isStallGuardOverThreshold(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
if (!this->started) return false;
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
/*
returns if there is any over temperature condition:
OVER_TEMPERATURE_PREWARING if pre warning level has been reached
OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down
Any of those levels are not too good.
*/
/**
* returns if there is any over temperature condition:
* OVER_TEMPERATURE_PREWARING if pre warning level has been reached
* OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down
* Any of those levels are not too good.
*/
char TMC26XStepper::getOverTemperature(void) {
if (!this->started) {
return 0;
}
if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN) {
return TMC26X_OVERTEMPERATURE_SHUTDOWN;
}
if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING) {
return TMC26X_OVERTEMPERATURE_PREWARING;
}
return 0;
if (!this->started) return 0;
if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN)
return TMC26X_OVERTEMPERATURE_SHUTDOWN;
if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING)
return TMC26X_OVERTEMPERATURE_PREWARING;
return 0;
}
//is motor channel A shorted to ground
// Is motor channel A shorted to ground
boolean TMC26XStepper::isShortToGroundA(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_SHORT_TO_GROUND_A);
if (!this->started) return false;
return (driver_status_result & STATUS_SHORT_TO_GROUND_A);
}
//is motor channel B shorted to ground
// Is motor channel B shorted to ground
boolean TMC26XStepper::isShortToGroundB(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_SHORT_TO_GROUND_B);
if (!this->started) return false;
return (driver_status_result & STATUS_SHORT_TO_GROUND_B);
}
//is motor channel A connected
// Is motor channel A connected
boolean TMC26XStepper::isOpenLoadA(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_OPEN_LOAD_A);
if (!this->started) return false;
return (driver_status_result & STATUS_OPEN_LOAD_A);
}
//is motor channel B connected
// Is motor channel B connected
boolean TMC26XStepper::isOpenLoadB(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_OPEN_LOAD_B);
if (!this->started) return false;
return (driver_status_result & STATUS_OPEN_LOAD_B);
}
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
// Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
boolean TMC26XStepper::isStandStill(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STAND_STILL);
if (!this->started) return false;
return (driver_status_result & STATUS_STAND_STILL);
}
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
boolean TMC26XStepper::isStallGuardReached(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
if (!this->started) return false;
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
//reads the stall guard setting from last status
//returns -1 if stallguard inforamtion is not present
int TMC26XStepper::getReadoutValue(void) {
return (int)(driver_status_result >> 10);
return (int)(driver_status_result >> 10);
}
int TMC26XStepper::getResistor() {
return this->resistor;
}
int TMC26XStepper::getResistor() { return this->resistor; }
boolean TMC26XStepper::isCurrentScalingHalfed() {
if (this->driver_configuration_register_value & VSENSE) {
return true;
} else {
return false;
}
return !!(this->driver_configuration_register_value & VSENSE);
}
/*
version() returns the version of the library:
/**
* version() returns the version of the library:
*/
int TMC26XStepper::version(void)
{
return 1;
}
int TMC26XStepper::version(void) { return 1; }
void TMC26XStepper::debugLastStatus() {
#ifdef TMC_DEBUG1
if (this->started) {
if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) {
SERIAL_ECHOLNPGM("\n WARNING: Overtemperature Prewarning!");
} else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN) {
SERIAL_ECHOLNPGM("\n ERROR: Overtemperature Shutdown!");
}
if (this->isShortToGroundA()) {
SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel A!");
}
if (this->isShortToGroundB()) {
SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel B!");
}
if (this->isOpenLoadA()) {
SERIAL_ECHOLNPGM("\n ERROR: Channel A seems to be unconnected!");
}
if (this->isOpenLoadB()) {
SERIAL_ECHOLNPGM("\n ERROR: Channel B seems to be unconnected!");
}
if (this->isStallGuardReached()) {
SERIAL_ECHOLNPGM("\n INFO: Stall Guard level reached!");
}
if (this->isStandStill()) {
SERIAL_ECHOLNPGM("\n INFO: Motor is standing still.");
}
unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
int value = getReadoutValue();
if (readout_config == READ_MICROSTEP_POSTION) {
//SERIAL_PRINTF("Microstep postion phase A: ");
SERIAL_ECHOPAIR("\n Microstep postion phase A: ", value);
} else if (readout_config == READ_STALL_GUARD_READING) {
//SERIAL_PRINTF("Stall Guard value:");
SERIAL_ECHOPAIR("\n Stall Guard value:", value);
} else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
int stallGuard = value & 0xf;
int current = value & 0x1F0;
//SERIAL_PRINTF("Approx Stall Guard: ");
SERIAL_ECHOPAIR("\n Approx Stall Guard: ", stallGuard);
//SERIAL_PRINTF("Current level");
SERIAL_ECHOPAIR("\n Current level", current);
}
}
#endif
#ifdef TMC_DEBUG1
if (this->started) {
if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING)
SERIAL_ECHOLNPGM("\n WARNING: Overtemperature Prewarning!");
else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN)
SERIAL_ECHOLNPGM("\n ERROR: Overtemperature Shutdown!");
if (this->isShortToGroundA())
SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel A!");
if (this->isShortToGroundB())
SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel B!");
if (this->isOpenLoadA())
SERIAL_ECHOLNPGM("\n ERROR: Channel A seems to be unconnected!");
if (this->isOpenLoadB())
SERIAL_ECHOLNPGM("\n ERROR: Channel B seems to be unconnected!");
if (this->isStallGuardReached())
SERIAL_ECHOLNPGM("\n INFO: Stall Guard level reached!");
if (this->isStandStill())
SERIAL_ECHOLNPGM("\n INFO: Motor is standing still.");
unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
const int value = getReadoutValue();
if (readout_config == READ_MICROSTEP_POSTION) {
//SERIAL_PRINTF("Microstep postion phase A: ");
SERIAL_ECHOPAIR("\n Microstep postion phase A: ", value);
}
else if (readout_config == READ_STALL_GUARD_READING) {
//SERIAL_PRINTF("Stall Guard value:");
SERIAL_ECHOPAIR("\n Stall Guard value:", value);
}
else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
int stallGuard = value & 0xF, current = value & 0x1F0;
//SERIAL_PRINTF("Approx Stall Guard: ");
SERIAL_ECHOPAIR("\n Approx Stall Guard: ", stallGuard);
//SERIAL_PRINTF("Current level");
SERIAL_ECHOPAIR("\n Current level", current);
}
}
#endif
}
/*
/**
* send register settings to the stepper driver via SPI
* returns the current status
*/
inline void TMC26XStepper::send262(unsigned long datagram) {
unsigned long i_datagram;
//preserver the previous spi mode
//unsigned char oldMode = SPCR & SPI_MODE_MASK;
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {
// SPI.setDataMode(SPI_MODE3);
//}
//select the TMC driver
digitalWrite(cs_pin,LOW);
unsigned long i_datagram;
//ensure that only valid bist are set (0-19)
//datagram &=REGISTER_BIT_PATTERN;
#ifdef TMC_DEBUG1
//SERIAL_PRINTF("Sending ");
//SERIAL_PRINTF("Sending ", datagram,HEX);
//SERIAL_ECHOPAIR("\n\nSending \n", print_hex_long(datagram));
SERIAL_PRINTF("\n\nSending %x", datagram);
#endif
//preserver the previous spi mode
//unsigned char oldMode = SPCR & SPI_MODE_MASK;
//write/read the values
i_datagram = STEPPER_SPI.transfer((datagram >> 16) & 0xff);
i_datagram <<= 8;
i_datagram |= STEPPER_SPI.transfer((datagram >> 8) & 0xff);
i_datagram <<= 8;
i_datagram |= STEPPER_SPI.transfer((datagram) & 0xff);
i_datagram >>= 4;
#ifdef TMC_DEBUG1
//SERIAL_PRINTF("Received ");
//SERIAL_PRINTF("Received ", i_datagram,HEX);
//SERIAL_ECHOPAIR("\n\nReceived \n", i_datagram);
SERIAL_PRINTF("\n\nReceived %x", i_datagram);
debugLastStatus();
#endif
//deselect the TMC chip
digitalWrite(cs_pin,HIGH);
//restore the previous SPI mode if neccessary
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {
// SPI.setDataMode(oldMode);
//}
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {
// SPI.setDataMode(SPI_MODE3);
//}
//store the datagram as status result
driver_status_result = i_datagram;
//select the TMC driver
digitalWrite(cs_pin,LOW);
//ensure that only valid bist are set (0-19)
//datagram &=REGISTER_BIT_PATTERN;
#ifdef TMC_DEBUG1
//SERIAL_PRINTF("Sending ");
//SERIAL_PRINTF("Sending ", datagram,HEX);
//SERIAL_ECHOPAIR("\n\nSending \n", print_hex_long(datagram));
SERIAL_PRINTF("\n\nSending %x", datagram);
#endif
//write/read the values
i_datagram = STEPPER_SPI.transfer((datagram >> 16) & 0xFF);
i_datagram <<= 8;
i_datagram |= STEPPER_SPI.transfer((datagram >> 8) & 0xFF);
i_datagram <<= 8;
i_datagram |= STEPPER_SPI.transfer((datagram) & 0xFF);
i_datagram >>= 4;
#ifdef TMC_DEBUG1
//SERIAL_PRINTF("Received ");
//SERIAL_PRINTF("Received ", i_datagram,HEX);
//SERIAL_ECHOPAIR("\n\nReceived \n", i_datagram);
SERIAL_PRINTF("\n\nReceived %x", i_datagram);
debugLastStatus();
#endif
//deselect the TMC chip
digitalWrite(cs_pin,HIGH);
//restore the previous SPI mode if neccessary
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {
// SPI.setDataMode(oldMode);
//}
//store the datagram as status result
driver_status_result = i_datagram;
}
#endif // STM32F7
#endif // STM32F7

195
Marlin/src/HAL/HAL_STM32F7/TMC2660.h
View file

@ -1,37 +1,35 @@
/*
TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
based on the stepper library by Tom Igoe, et. al.
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
/**
* TMC26XStepper.h - - TMC26X Stepper library for Wiring/Arduino
*
* based on the stepper library by Tom Igoe, et. al.
*
* Copyright (c) 2011, Interactive Matter, Marcus Nowotny
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
*/
#include "../../inc/MarlinConfig.h"
// ensure this library description is only included once
#ifndef TMC26XStepper_h
#define TMC26XStepper_h
#ifndef _TMC26XSTEPPER_H_
#define _TMC26XSTEPPER_H_
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TMC chip
/*!
@ -124,8 +122,8 @@ class TMC26XStepper {
* You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps()
*/
TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=100); //resistor=150
TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=100); //resistor=150
/*!
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
*
@ -133,7 +131,7 @@ class TMC26XStepper {
* Most member functions are non functional if the driver has not been started.
* Therefore it is best to call this in your Arduino setup() function.
*/
void start();
void start();
/*!
* \brief resets the stepper in unconfigured mode.
@ -145,7 +143,7 @@ class TMC26XStepper {
* this has to be configured back by yourself.
* (Hint: Normally you do not need this function)
*/
void un_start();
void un_start();
/*!
@ -168,9 +166,9 @@ 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(int number_of_steps);
void setMicrosteps(int number_of_steps);
/*!
/*!
* \brief returns the effective current number of microsteps selected.
*
* This function always returns the effective number of microsteps.
@ -178,7 +176,7 @@ class TMC26XStepper {
*
* \sa setMicrosteps()
*/
int getMicrosteps(void);
int getMicrosteps(void);
/*!
* \brief Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction.
@ -187,7 +185,7 @@ class TMC26XStepper {
* \return 0 if the motor was not moving and moves now. -1 if the motor is moving and the new steps could not be set.
*
* If the previous movement is not finished yet the function will return -1 and not change the steps to move the motor.
* If the motor does not move it return 0
* If the motor does not move it return 0
*
* The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right
* or left This depends on the internal construction of the motor and how you connected it to the stepper driver.
@ -264,7 +262,7 @@ class TMC26XStepper {
* \sa setSpreadCycleChoper() for other alternatives.
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
/*!
* \brief Sets and configures with spread cycle chopper.
@ -286,9 +284,9 @@ class TMC26XStepper {
*
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement);
void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement);
/*!
/*!
* \brief Use random off time for noise reduction (0 for off, -1 for on).
* \param value 0 for off, -1 for on
*
@ -303,16 +301,16 @@ class TMC26XStepper {
* It modulates the slow decay time setting when switched on. The random off time feature further spreads the chopper spectrum,
* reducing electromagnetic emission on single frequencies.
*/
void setRandomOffTime(char value);
void setRandomOffTime(char value);
/*!
/*!
* \brief set the maximum motor current in mA (1000 is 1 Amp)
* Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller
* by employing CoolStep.
* \param current the maximum motor current in mA
* \sa getCurrent(), getCurrentCurrent()
*/
void setCurrent(unsigned int current);
void setCurrent(unsigned int current);
/*!
* \brief readout the motor maximum current in mA (1000 is an Amp)
@ -322,7 +320,7 @@ class TMC26XStepper {
*/
unsigned int getCurrent(void);
/*!
/*!
* \brief set the StallGuard threshold in order to get sensible StallGuard readings.
* \param stall_guard_threshold -64 … 63 the StallGuard threshold
* \param stall_guard_filter_enabled 0 if the filter is disabled, -1 if it is enabled
@ -337,7 +335,7 @@ class TMC26XStepper {
*
* \sa getCurrentStallGuardReading() to read out the current value.
*/
void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
/*!
* \brief reads out the StallGuard threshold
@ -416,13 +414,13 @@ class TMC26XStepper {
*/
unsigned char getCoolStepLowerCurrentLimit();
/*!
/*!
* \brief Get the current microstep position for phase A
* \return The current microstep position for phase A 0…255
*
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
*/
int getMotorPosition(void);
int getMotorPosition(void);
/*!
* \brief Reads the current StallGuard value.
@ -430,7 +428,7 @@ class TMC26XStepper {
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
int getCurrentStallGuardReading(void);
int getCurrentStallGuardReading(void);
/*!
* \brief Reads the current current setting value as fraction of the maximum current
@ -463,7 +461,7 @@ class TMC26XStepper {
*
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
boolean isStallGuardOverThreshold(void);
boolean isStallGuardOverThreshold(void);
/*!
* \brief Return over temperature status of the last status readout
@ -471,7 +469,7 @@ class TMC26XStepper {
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
char getOverTemperature(void);
char getOverTemperature(void);
/*!
* \brief Is motor channel A shorted to ground detected in the last status readout.
@ -480,7 +478,7 @@ class TMC26XStepper {
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isShortToGroundA(void);
boolean isShortToGroundA(void);
/*!
* \brief Is motor channel B shorted to ground detected in the last status readout.
@ -488,22 +486,22 @@ class TMC26XStepper {
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isShortToGroundB(void);
/*!
boolean isShortToGroundB(void);
/*!
* \brief iIs motor channel A connected according to the last statu readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isOpenLoadA(void);
boolean isOpenLoadA(void);
/*!
/*!
* \brief iIs motor channel A connected according to the last statu readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isOpenLoadB(void);
boolean isOpenLoadB(void);
/*!
* \brief Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
@ -511,7 +509,7 @@ class TMC26XStepper {
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isStandStill(void);
boolean isStandStill(void);
/*!
* \brief checks if there is a StallGuard warning in the last status
@ -524,7 +522,7 @@ class TMC26XStepper {
*
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
boolean isStallGuardReached(void);
boolean isStallGuardReached(void);
/*!
*\brief enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.
@ -539,7 +537,7 @@ class TMC26XStepper {
*/
boolean isEnabled();
/*!
/*!
* \brief Manually read out the status register
* This function sends a byte to the motor driver in order to get the current readout. The parameter read_value
* seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method
@ -548,7 +546,7 @@ class TMC26XStepper {
* \param read_value selects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT
* \sa TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT
*/
void readStatus(char read_value);
void readStatus(char read_value);
/*!
* \brief Returns the current sense resistor value in milliohm.
@ -560,51 +558,50 @@ class TMC26XStepper {
* \brief Prints out all the information that can be found in the last status read out - it does not force a status readout.
* The result is printed via Serial
*/
void debugLastStatus(void);
/*!
void debugLastStatus(void);
/*!
* \brief library version
* \return the version number as int.
*/
int version(void);
private:
unsigned int steps_left; //the steps the motor has to do to complete the movement
int direction; // Direction of rotation
unsigned long step_delay; // delay between steps, in ms, based on speed
int number_of_steps; // total number of steps this motor can take
unsigned int speed; // we need to store the current speed in order to change the speed after changing microstepping
unsigned int resistor; //current sense resitor value in milliohm
unsigned int steps_left; // The steps the motor has to do to complete the movement
int direction; // Direction of rotation
unsigned long step_delay; // Delay between steps, in ms, based on speed
int number_of_steps; // Total number of steps this motor can take
unsigned int speed; // Store the current speed in order to change the speed after changing microstepping
unsigned int resistor; // Current sense resitor value in milliohm
unsigned long last_step_time; // time stamp in ms of when the last step was taken
unsigned long next_step_time; // time stamp in ms of when the last step was taken
//driver control register copies to easily set & modify the registers
unsigned long driver_control_register_value;
unsigned long chopper_config_register;
unsigned long cool_step_register_value;
unsigned long stall_guard2_current_register_value;
unsigned long driver_configuration_register_value;
//the driver status result
unsigned long driver_status_result;
//helper routione to get the top 10 bit of the readout
inline int getReadoutValue();
//the pins for the stepper driver
unsigned char cs_pin;
unsigned char step_pin;
unsigned char dir_pin;
//status values
boolean started; //if the stepper has been started yet
int microsteps; //the current number of micro steps
char constant_off_time; //we need to remember this value in order to enable and disable the motor
unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
boolean cool_step_enabled; //we need to remember this to configure the coolstep if it si enabled
//SPI sender
inline void send262(unsigned long datagram);
unsigned long last_step_time; // Time stamp in ms of when the last step was taken
unsigned long next_step_time; // Time stamp in ms of when the last step was taken
// Driver control register copies to easily set & modify the registers
unsigned long driver_control_register_value;
unsigned long chopper_config_register;
unsigned long cool_step_register_value;
unsigned long stall_guard2_current_register_value;
unsigned long driver_configuration_register_value;
// The driver status result
unsigned long driver_status_result;
// Helper routione to get the top 10 bit of the readout
inline int getReadoutValue();
// The pins for the stepper driver
unsigned char cs_pin;
unsigned char step_pin;
unsigned char dir_pin;
// Status values
boolean started; // If the stepper has been started yet
int microsteps; // The current number of micro steps
char constant_off_time; // We need to remember this value in order to enable and disable the motor
unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
boolean cool_step_enabled; // We need to remember this to configure the coolstep if it si enabled
// SPI sender
inline void send262(unsigned long datagram);
};
#endif
#endif // _TMC26XSTEPPER_H_

24
Marlin/src/HAL/HAL_STM32F7/fastio_STM32F7.h
View file

@ -26,10 +26,10 @@
* These use GPIO functions instead of Direct Port Manipulation, as on AVR.
*/
#ifndef _FASTIO_STM32F7_H
#define _FASTIO_STM32F7_H
#ifndef _FASTIO_STM32F7_H
#define _FASTIO_STM32F7_H
#define _BV(bit) (1 << (bit))
#define _BV(bit) (1 << (bit))
#define READ(IO) digitalRead(IO)
#define WRITE(IO, v) digitalWrite(IO,v)
@ -38,17 +38,17 @@
#define _GET_MODE(IO)
#define _SET_MODE(IO,M) pinMode(IO, M)
#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT) /*!< Output Push Pull Mode & GPIO_NOPULL */
#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT) /*!< Output Push Pull Mode & GPIO_NOPULL */
#define SET_INPUT(IO) _SET_MODE(IO, INPUT) /*!< Input Floating Mode */
#define SET_INPUT_PULLUP(IO) _SET_MODE(IO, INPUT_PULLUP) /*!< Input with Pull-up activation */
#define SET_INPUT_PULLDOW(IO) _SET_MODE(IO, INPUT_PULLDOWN) /*!< Input with Pull-down activation */
#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
#define SET_INPUT(IO) _SET_MODE(IO, INPUT) /*!< Input Floating Mode */
#define SET_INPUT_PULLUP(IO) _SET_MODE(IO, INPUT_PULLUP) /*!< Input with Pull-up activation */
#define SET_INPUT_PULLDOW(IO) _SET_MODE(IO, INPUT_PULLDOWN) /*!< Input with Pull-down activation */
#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
#define GET_INPUT(IO)
#define GET_OUTPUT(IO)
#define GET_TIMER(IO)
#define GET_INPUT(IO)
#define GET_OUTPUT(IO)
#define GET_TIMER(IO)
#define OUT_WRITE(IO, v) { _SET_OUTPUT(IO); WRITE(IO, v); }
#endif /* _FASTIO_STM32F7_H */
#endif // _FASTIO_STM32F7_H

73
Marlin/src/HAL/HAL_STM32F7/watchdog_STM32F7.cpp
View file

@ -1,24 +1,24 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef STM32F7
@ -26,29 +26,26 @@
#if ENABLED(USE_WATCHDOG)
#include "watchdog_STM32F7.h"
#include "watchdog_STM32F7.h"
IWDG_HandleTypeDef hiwdg;
IWDG_HandleTypeDef hiwdg;
void watchdog_init() {
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_32; //32kHz LSI clock and 32x prescalar = 1024Hz IWDG clock
hiwdg.Init.Reload = 4095; //4095 counts = 4 seconds at 1024Hz
if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
{
//Error_Handler();
}
void watchdog_init() {
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_32; //32kHz LSI clock and 32x prescalar = 1024Hz IWDG clock
hiwdg.Init.Reload = 4095; //4095 counts = 4 seconds at 1024Hz
if (HAL_IWDG_Init(&hiwdg) != HAL_OK) {
//Error_Handler();
}
}
void watchdog_reset() {
/* Refresh IWDG: reload counter */
if (HAL_IWDG_Refresh(&hiwdg) != HAL_OK)
{
/* Refresh Error */
//Error_Handler();
}
void watchdog_reset() {
/* Refresh IWDG: reload counter */
if (HAL_IWDG_Refresh(&hiwdg) != HAL_OK) {
/* Refresh Error */
//Error_Handler();
}
}
#endif // USE_WATCHDOG

4
Marlin/src/HAL/HAL_SanityCheck.h
View file

@ -37,10 +37,10 @@
#elif defined(__STM32F1__)
#include "HAL_STM32F1/SanityCheck_Stm32f1.h"
#elif defined(STM32F7)
#elif defined(STM32F7)
#include "HAL_STM32F7/SanityCheck_STM32F7.h"
#else
#else
#error Unsupported Platform!
#endif

2
Marlin/src/HAL/HAL_spi_pins.h
View file

@ -41,7 +41,7 @@
#elif defined(STM32F7)
#include "HAL_STM32F7/spi_pins.h"
#else
#else
#error "Unsupported Platform!"
#endif

1
Marlin/src/core/macros.h
View file

@ -120,6 +120,7 @@
// Macros to contrain values
#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
#define NOMORE(v,n) do{ if (v > n) v = n; }while(0)
#define LIMIT(v,n1,n2) do{ if (v < n1) v = n1; else if (v > n2) v = n2; }while(0)
// Macros to support option testing
#define _CAT(a, ...) a ## __VA_ARGS__

2
Marlin/src/module/stepper_indirection.cpp
View file

@ -42,7 +42,7 @@
#include <SPI.h>
#if defined(STM32F7)
#ifdef STM32F7
#include "../HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>

2
Marlin/src/module/stepper_indirection.h
View file

@ -49,7 +49,7 @@
// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
#if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h>
#if defined(STM32F7)
#ifdef STM32F7
#include "../HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>