} else if(gcode->m == 911) {
// set or get raw registers
// M911 will dump all the registers and status of all the motors
- // M911.1 Pn (or A0) will dump the registers and status of the selected motor
+ // M911.1 Pn (or A0) will dump the registers and status of the selected motor. X0 will request format in processing machine readable format
// M911.2 Pn (or B0) Rxxx Vyyy sets Register xxx to value yyy for motor nnn, xxx == 255 writes the registers, xxx == 0 shows what registers are mapped to what
// M911.3 Pn (or C0) will set the options based on the parameters passed as below...
// TMC2660:-
if(gcode->subcode == 0 && gcode->get_num_args() == 0) {
// M911 no args dump status for all drivers, M911.1 P0|A0 dump for specific driver
gcode->stream->printf("Motor %d (%c)...\n", id, designator);
- dump_status(gcode->stream);
+ dump_status(gcode->stream, true);
}else if(gcode->get_value('P') == id || gcode->has_letter(designator)) {
if(gcode->subcode == 1) {
- dump_status(gcode->stream);
+ dump_status(gcode->stream, !gcode->has_letter('X'));
}else if(gcode->subcode == 2 && gcode->has_letter('R') && gcode->has_letter('V')) {
set_raw_register(gcode->stream, gcode->get_value('R'), gcode->get_value('V'));
}
}
-void MotorDriverControl::dump_status(StreamOutput *stream)
+void MotorDriverControl::dump_status(StreamOutput *stream, bool b)
{
switch(chip) {
case DRV8711:
break;
case TMC2660:
- tmc26x->dumpStatus(stream);
+ tmc26x->dumpStatus(stream, b);
break;
}
}
#include "StreamOutput.h"
#include "Kernel.h"
#include "libs/StreamOutputPool.h"
-
+#include "Robot.h"
+#include "StepperMotor.h"
//! return value for TMC26X.getOverTemperature() if there is a overtemperature situation in the TMC chip
/*!
setConstantOffTimeChopper(7, 54, 13, 12, 1);
#else
// for 1.5amp kysan @ 12v
- setSpreadCycleChopper(5, 2, 5, 0, 0);
+ setSpreadCycleChopper(5, 54, 5, 0, 0);
// for 4amp Nema24 @ 12v
//setSpreadCycleChopper(5, 2, 4, 0, 0);
#endif
} else {
blank_value = 0;
}
+ this->blank_time = blank_time;
+
if (fast_decay_time_setting < 0) {
fast_decay_time_setting = 0;
} else if (fast_decay_time_setting > 15) {
void TMC26X::setSpreadCycleChopper(int8_t constant_off_time, int8_t blank_time, int8_t hysteresis_start, int8_t hysteresis_end, int8_t hysteresis_decrement)
{
+ h_start = hysteresis_start;
+ h_end = hysteresis_end;
+ h_decrement = hysteresis_decrement;
+ this->blank_time = blank_time;
+
//perform some sanity checks
if (constant_off_time < 2) {
constant_off_time = 2;
} else {
blank_value = 0;
}
+
if (hysteresis_start < 1) {
hysteresis_start = 1;
} else if (hysteresis_start > 8) {
chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
//set the hystereis decrement
chopper_config_register |= ((unsigned long)hysteresis_decrement) << HYSTERESIS_DECREMENT_SHIFT;
+
//if started we directly send it to the motor
if (started) {
send262(chopper_config_register);
}
}
-void TMC26X::dumpStatus(StreamOutput *stream)
+void TMC26X::dumpStatus(StreamOutput *stream, bool readable)
{
- if (this->started) {
+ if (readable) {
readStatus(TMC26X_READOUT_POSITION); // get the status bits
stream->printf("Chip type TMC26X\n");
stream->printf(" stall guard2 current register: %08lX(%ld)\n", stall_guard2_current_register_value, stall_guard2_current_register_value);
stream->printf(" driver configuration register: %08lX(%ld)\n", driver_configuration_register_value, driver_configuration_register_value);
stream->printf(" motor_driver_control.xxx.reg %05lX,%05lX,%05lX,%05lX,%05lX\n", driver_control_register_value, chopper_config_register, cool_step_register_value, stall_guard2_current_register_value, driver_configuration_register_value);
+
+ } else {
+ // TODO hardcoded for X need to select ABC as needed
+ bool moving = THEKERNEL->robot->actuators[0]->is_moving();
+ // dump out in the format that the processing script needs
+ if (moving) {
+ stream->printf("#sg%d,p%lu,k%u,r,", getCurrentStallGuardReading(), THEKERNEL->robot->actuators[0]->get_stepped(), getCoolstepCurrent());
+ } else {
+ readStatus(TMC26X_READOUT_POSITION); // get the status bits
+ stream->printf("#s,");
+ }
+ stream->printf("d%d,", THEKERNEL->robot->actuators[0]->which_direction() ? 1 : -1);
+ stream->printf("c%u,m%d,", getCurrent(), getMicrosteps());
+ // stream->printf('S');
+ // stream->printf(tmc26XStepper.getSpeed(), DEC);
+ stream->printf("t%d,f%d,", getStallGuardThreshold(), getStallGuardFilter());
+
+ //print out the general cool step config
+ if (isCoolStepEnabled()) stream->printf("Ke+,");
+ else stream->printf("Ke-,");
+
+ stream->printf("Kl%u,Ku%u,Kn%u,Ki%u,Km%u,",
+ getCoolStepLowerSgThreshold(), getCoolStepUpperSgThreshold(), getCoolStepNumberOfSGReadings(), getCoolStepCurrentIncrementSize(), getCoolStepLowerCurrentLimit());
+
+ //detect the winding status
+ if (isOpenLoadA()) {
+ stream->printf("ao,");
+ } else if(isShortToGroundA()) {
+ stream->printf("ag,");
+ } else {
+ stream->printf("a-,");
+ }
+ //detect the winding status
+ if (isOpenLoadB()) {
+ stream->printf("bo,");
+ } else if(isShortToGroundB()) {
+ stream->printf("bg,");
+ } else {
+ stream->printf("b-,");
+ }
+
+ char temperature = getOverTemperature();
+ if (temperature == 0) {
+ stream->printf("x-,");
+ } else if (temperature == TMC26X_OVERTEMPERATURE_PREWARING) {
+ stream->printf("xw,");
+ } else {
+ stream->printf("xe,");
+ }
+
+ if (isEnabled()) {
+ stream->printf("e1,");
+ } else {
+ stream->printf("e0,");
+ }
+
+ //write out the current chopper config
+ // stream->printf("Cm");
+ // stream->printf(chopperMode, DEC);
+ stream->printf("Co%d,Cb%d,", constant_off_time, blank_time);
+ if ((chopper_config_register & CHOPPER_MODE_T_OFF_FAST_DECAY) == 0) {
+ stream->printf("Cs%d,Ce%d,Cd%d,", h_start, h_end, h_decrement);
+ }
+ stream->printf("\n");
}
}
#define GET(X) (options.at(X))
bool TMC26X::set_options(const options_t& options)
{
- bool set= false;
+ bool set = false;
if(HAS('O') || HAS('Q')) {
// void TMC26X::setStallGuardThreshold(int8_t stall_guard_threshold, int8_t stall_guard_filter_enabled)
- int8_t o= HAS('O') ? GET('O') : getStallGuardThreshold();
- int8_t q= HAS('Q') ? GET('Q') : getStallGuardFilter();
+ int8_t o = HAS('O') ? GET('O') : getStallGuardThreshold();
+ int8_t q = HAS('Q') ? GET('Q') : getStallGuardFilter();
setStallGuardThreshold(o, q);
- set= true;
+ set = true;
}
if(HAS('H') && HAS('I') && HAS('J') && HAS('K') && HAS('L')) {
//void TMC26X::setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, uint8_t current_decrement_step_size, uint8_t current_increment_step_size, uint8_t lower_current_limit)
setCoolStepConfiguration(GET('H'), GET('I'), GET('J'), GET('K'), GET('L'));
- set= true;
+ set = true;
}
if(HAS('S')) {
- uint32_t s= GET('S');
- if(s==0 && HAS('U') && HAS('V') && HAS('W') && HAS('X') && HAS('Y')) {
+ uint32_t s = GET('S');
+ if(s == 0 && HAS('U') && HAS('V') && HAS('W') && HAS('X') && HAS('Y')) {
//void TMC26X::setConstantOffTimeChopper(int8_t constant_off_time, int8_t blank_time, int8_t fast_decay_time_setting, int8_t sine_wave_offset, uint8_t use_current_comparator)
setConstantOffTimeChopper(GET('U'), GET('V'), GET('W'), GET('X'), GET('Y'));
- set= true;
+ set = true;
- }else if(s==1 && HAS('U') && HAS('V') && HAS('W') && HAS('X') && HAS('Y')) {
+ } else if(s == 1 && HAS('U') && HAS('V') && HAS('W') && HAS('X') && HAS('Y')) {
//void TMC26X::setSpreadCycleChopper(int8_t constant_off_time, int8_t blank_time, int8_t hysteresis_start, int8_t hysteresis_end, int8_t hysteresis_decrement);
setSpreadCycleChopper(GET('U'), GET('V'), GET('W'), GET('X'), GET('Y'));
- set= true;
+ set = true;
- }else if(s==2 && HAS('Z')) {
+ } else if(s == 2 && HAS('Z')) {
setRandomOffTime(GET('Z'));
- set= true;
+ set = true;
- }else if(s==3 && HAS('Z')) {
+ } else if(s == 3 && HAS('Z')) {
setDoubleEdge(GET('Z'));
- set= true;
+ set = true;
- }else if(s==4 && HAS('Z')) {
+ } else if(s == 4 && HAS('Z')) {
setStepInterpolation(GET('Z'));
- set= true;
+ set = true;
- }else if(s==5 && HAS('Z')) {
+ } else if(s == 5 && HAS('Z')) {
setCoolStepEnabled(GET('Z') == 1);
- set= true;
+ set = true;
}
}
* \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 dumpStatus(StreamOutput *stream);
+ void dumpStatus(StreamOutput *stream, bool readable= true);
bool setRawRegister(StreamOutput *stream, uint32_t reg, uint32_t val);
using options_t= std::map<char,int>;
bool set_options(const options_t& options);
private:
+ //helper routione to get the top 10 bit of the readout
+ inline int getReadoutValue();
+ // SPI sender
+ inline void send262(unsigned long datagram);
+ std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi;
+
unsigned int resistor{50}; // current sense resitor value in milliohm
//driver control register copies to easily set & modify the registers
//the driver status result
unsigned long driver_status_result;
- //helper routione to get the top 10 bit of the readout
- inline int getReadoutValue();
-
//status values
- bool started; //if the stepper has been started yet
int microsteps; //the current number of micro steps
- int8_t constant_off_time; //we need to remember this value in order to enable and disable the motor
- uint8_t cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
- bool cool_step_enabled; //we need to remember this to configure the coolstep if it si enabled
- // SPI sender
- std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi;
- inline void send262(unsigned long datagram);
+ // only beeded for the tuning app report
+ struct {
+ int8_t blank_time:8;
+ int8_t constant_off_time:5; //we need to remember this value in order to enable and disable the motor
+ int8_t h_start:4;
+ int8_t h_end:4;
+ int8_t h_decrement:3;
+ bool cool_step_enabled:1; //we need to remember this to configure the coolstep if it si enabled
+ bool started:1; //if the stepper has been started yet
+ };
+
+ uint8_t cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
};
HCoop / clinton / Smoothieware.git / commitdiff