void cm_set_spindle_speed_parameter(GCodeState_t *gcode_state, float speed) {gcode_state->spindle_speed = speed;}
void cm_set_tool_number(GCodeState_t *gcode_state, uint8_t tool) {gcode_state->tool = tool;}
+
void cm_set_absolute_override(GCodeState_t *gcode_state, uint8_t absolute_override) {
gcode_state->absolute_override = absolute_override;
cm_set_work_offsets(MODEL); // must reset offsets if you change absolute override
}
+
void cm_set_model_linenum(uint32_t linenum) {
cm.gm.linenum = linenum; // you must first set the model line number,
nv_add_object((const char_t *)"n"); // then add the line number to the nv list
}
+
/***********************************************************************************
* COORDINATE SYSTEMS AND OFFSETS
* Functions to get, set and report coordinate systems and work offsets
* LO Real time clock interrupt (set in xmega_rtc.h)
*
* (*) The TX cannot run at LO level or exception reports and other prints
- * called from a LO interrupt (as in prep_line()) will kill the system in a
- * permanent sleep_mode() call in usart_putc() (usart.c) as no interrupt
- * can release the sleep mode.
+ * called from a LO interrupt (as in prep_line()) will kill the system
+ * in a permanent sleep_mode() call in usart_putc() (usart.c) as no
+ * interrupt can release the sleep mode.
*/
#ifndef HARDWARE_H_ONCE
enum hwPlatform {
HM_PLATFORM_NONE = 0,
- HW_PLATFORM_TINYG_XMEGA, // TinyG code base on Xmega boards.
+ HW_PLATFORM_TINYG_XMEGA, // TinyG code base on Xmega boards.
};
#define HW_VERSION_TINYGV6 6
#define HW_VERSION_TINYGV7 7
#define HW_VERSION_TINYGV8 8
-#include "config.h" // needed for the stat_t typedef
+#include "config.h" // needed for the stat_t typedef
#include <avr/interrupt.h>
-#include "xmega/xmega_rtc.h" // Xmega only. Goes away with RTC refactoring
+#include "xmega/xmega_rtc.h"
-#define MILLISECONDS_PER_TICK 1 // MS for system tick (systick * N)
-#define SYS_ID_LEN 12 // length of system ID string from sys_get_id()
+#define MILLISECONDS_PER_TICK 1 // MS for system tick (systick * N)
+#define SYS_ID_LEN 12 // length of system ID string from sys_get_id()
// Clock Crystal Config. Pick one:
-//#define __CLOCK_INTERNAL_32MHZ TRUE // use internal oscillator
-//#define __CLOCK_EXTERNAL_8MHZ TRUE // uses PLL to provide 32 MHz system clock
-#define __CLOCK_EXTERNAL_16MHZ TRUE // uses PLL to provide 32 MHz system clock
-
-/*** Motor, output bit & switch port assignments ***
- *** These are not all the same, and must line up in multiple places in gpio.h ***
- * Sorry if this is confusing - it's a board routing issue
- */
-#define PORT_MOTOR_1 PORTA // motors mapped to ports
+//#define __CLOCK_INTERNAL_32MHZ TRUE // use internal oscillator
+//#define __CLOCK_EXTERNAL_8MHZ TRUE // uses PLL to provide 32 MHz system clock
+#define __CLOCK_EXTERNAL_16MHZ TRUE // uses PLL to provide 32 MHz system clock
+
+// Motor, output bit & switch port assignments
+// These are not all the same, and must line up in multiple places in gpio.h
+// Sorry if this is confusing - it's a board routing issue
+#define PORT_MOTOR_1 PORTA // motors mapped to ports
#define PORT_MOTOR_2 PORTF
#define PORT_MOTOR_3 PORTE
#define PORT_MOTOR_4 PORTD
-#define PORT_SWITCH_X PORTA // Switch axes mapped to ports
+#define PORT_SWITCH_X PORTA // Switch axes mapped to ports
#define PORT_SWITCH_Y PORTD
#define PORT_SWITCH_Z PORTE
#define PORT_SWITCH_A PORTF
-#define PORT_OUT_V7_X PORTA // v7 mapping - Output bits mapped to ports
+#define PORT_OUT_V7_X PORTA // v7 mapping
#define PORT_OUT_V7_Y PORTF
#define PORT_OUT_V7_Z PORTD
#define PORT_OUT_V7_A PORTE
-#define PORT_OUT_V6_X PORTA // v6 and earlier mapping - Output bits mapped to ports
-#define PORT_OUT_V6_Y PORTF
-#define PORT_OUT_V6_Z PORTE
-#define PORT_OUT_V6_A PORTD
-
// These next four must be changed when the PORT_MOTOR_* definitions change!
#define PORTCFG_VP0MAP_PORT_MOTOR_1_gc PORTCFG_VP02MAP_PORTA_gc
#define PORTCFG_VP1MAP_PORT_MOTOR_2_gc PORTCFG_VP13MAP_PORTF_gc
* b3 (out) chip select
* b4 (in) fault
* b5 (out) output bit for GPIO port1
- * b6 (in) min limit switch on GPIO 2 (note: motor controls and GPIO2 port mappings are not the same)
- * b7 (in) max limit switch on GPIO 2 (note: motor controls and GPIO2 port mappings are not the same)
+ * b6 (in) min limit switch on GPIO 2 *
+ * b7 (in) max limit switch on GPIO 2 *
+ * * motor controls and GPIO2 port mappings are not the same
*/
-#define MOTOR_PORT_DIR_gm 0x3F // dir settings: lower 6 out, upper 2 in
+#define MOTOR_PORT_DIR_gm 0x2f // pin dir settings
enum cfgPortBits { // motor control port bit positions
STEP_BIT_bp = 0, // bit 0
#define MOTOR_ENABLE_BIT_bm (1 << MOTOR_ENABLE_BIT_bp)
#define CHIP_SELECT_BIT_bm (1 << CHIP_SELECT_BIT_bp)
#define FAULT_BIT_bm (1 << FAULT_BIT_bp)
-#define GPIO1_OUT_BIT_bm (1 << GPIO1_OUT_BIT_bp) // spindle and coolant output bits
-#define SW_MIN_BIT_bm (1 << SW_MIN_BIT_bp) // minimum switch inputs
-#define SW_MAX_BIT_bm (1 << SW_MAX_BIT_bp) // maximum switch inputs
-
-/* Bit assignments for GPIO1_OUTs for spindle, PWM and coolant */
+#define GPIO1_OUT_BIT_bm (1 << GPIO1_OUT_BIT_bp) // spindle and coolant
+#define SW_MIN_BIT_bm (1 << SW_MIN_BIT_bp) // minimum switch inputs
+#define SW_MAX_BIT_bm (1 << SW_MAX_BIT_bp) // maximum switch inputs
+// Bit assignments for GPIO1_OUTs for spindle, PWM and coolant
#define SPINDLE_BIT 0x08 // spindle on/off
#define SPINDLE_DIR 0x04 // spindle direction, 1=CW, 0=CCW
#define SPINDLE_PWM 0x02 // spindle PWMs output bit
-#define MIST_COOLANT_BIT 0x01 // coolant on/off - these are the same due to limited ports
-#define FLOOD_COOLANT_BIT 0x01 // coolant on/off
+#define MIST_COOLANT_BIT 0x01 // coolant on/off (same as flood)
+#define FLOOD_COOLANT_BIT 0x01 // coolant on/off (same as mist)
#define SPINDLE_LED 0
#define SPINDLE_DIR_LED 1
#define SPINDLE_PWM_LED 2
#define COOLANT_LED 3
-#define INDICATOR_LED SPINDLE_DIR_LED // can use the spindle direction as an indicator LED
-
-/* Timer assignments - see specific modules for details) */
+// Can use the spindle direction as an indicator LED
+#define INDICATOR_LED SPINDLE_DIR_LED
+// Timer assignments - see specific modules for details)
#define TIMER_DDA TCC0 // DDA timer (see stepper.h)
#define TIMER_DWELL TCD0 // Dwell timer (see stepper.h)
#define TIMER_LOAD TCE0 // Loader time (see stepper.h)
#define TIMER_PWM1 TCD1 // PWM timer #1 (see pwm.c)
#define TIMER_PWM2 TCE1 // PWM timer #2 (see pwm.c)
-/* Timer setup for stepper and dwells */
-
+// Timer setup for stepper and dwells
#define FREQUENCY_DDA (float)50000 // DDA frequency in hz.
#define FREQUENCY_DWELL (float)10000 // Dwell count frequency in hz.
#define LOAD_TIMER_PERIOD 100 // cycles you have to shut off SW interrupt
#define TIMER_EXEC_INTLVL TIMER_OVFINTLVL_LO
-/**** Device singleton - global structure to allow iteration through similar devices ****/
/*
+ Device singleton - global structure to allow iteration through similar devices
+
Ports are shared between steppers and GPIO so we need a global struct.
Each xmega port has 3 bindings; motors, switches and the output bit
The initialization sequence is important. the order is:
- sys_init() binds all ports to the device struct
- - st_init() sets IO directions and sets stepper VPORTS and stepper specific functions
+ - st_init() sets IO directions and sets stepper VPORTS and stepper
+ specific functions
- Care needs to be taken in routines that use ports not to write to bits that are
- not assigned to the designated function - ur unpredicatable results will occur
+ Care needs to be taken in routines that use ports not to write to bits that
+ are not assigned to the designated function - ur unpredicatable results will
+ occur.
*/
-typedef struct hmSingleton {
- PORT_t *st_port[MOTORS]; // bindings for stepper motor ports (stepper.c)
- PORT_t *sw_port[MOTORS]; // bindings for switch ports (GPIO2)
- PORT_t *out_port[MOTORS]; // bindings for output ports (GPIO1)
+typedef struct {
+ PORT_t *st_port[MOTORS]; // bindings for stepper motor ports (stepper.c)
+ PORT_t *sw_port[MOTORS]; // bindings for switch ports (GPIO2)
+ PORT_t *out_port[MOTORS]; // bindings for output ports (GPIO1)
} hwSingleton_t;
hwSingleton_t hw;
-void hardware_init(); // master hardware init
+void hardware_init(); // master hardware init
void hw_request_hard_reset();
void hw_hard_reset();
stat_t hw_hard_reset_handler();
init();
// main loop
- while (true) controller_run(); // single pass through the controller
+ while (true) controller_run(); // single pass through the controller
return 0;
}
#define M1_MOTOR_MAP AXIS_X // 1ma
#define M1_STEP_ANGLE 1.8 // 1sa
#define M1_TRAVEL_PER_REV 1.25 // 1tr
-#define M1_MICROSTEPS 8 // 1mi 1,2,4,8
+#define M1_MICROSTEPS 256 // 1mi 1,2,4,8
#define M1_POLARITY 0 // 1po 0=normal, 1=reversed
#define M1_POWER_MODE MOTOR_POWER_MODE // 1pm standard
#define M1_POWER_LEVEL MOTOR_POWER_LEVEL // 1mp
#define M2_MOTOR_MAP AXIS_Y
#define M2_STEP_ANGLE 1.8
#define M2_TRAVEL_PER_REV 1.25
-#define M2_MICROSTEPS 8
+#define M2_MICROSTEPS 256
#define M2_POLARITY 0
#define M2_POWER_MODE MOTOR_POWER_MODE
#define M2_POWER_LEVEL MOTOR_POWER_LEVEL
#define M3_MOTOR_MAP AXIS_Z
#define M3_STEP_ANGLE 1.8
#define M3_TRAVEL_PER_REV 1.25
-#define M3_MICROSTEPS 8
+#define M3_MICROSTEPS 256
#define M3_POLARITY 0
#define M3_POWER_MODE MOTOR_POWER_MODE
#define M3_POWER_LEVEL MOTOR_POWER_LEVEL
#define M4_MOTOR_MAP AXIS_A
#define M4_STEP_ANGLE 1.8
#define M4_TRAVEL_PER_REV 360 // degrees moved per motor rev
-#define M4_MICROSTEPS 8
+#define M4_MICROSTEPS 256
#define M4_POLARITY 0
#define M4_POWER_MODE MOTOR_POWER_MODE
#define M4_POWER_LEVEL MOTOR_POWER_LEVEL
#define M6_MOTOR_MAP AXIS_C
#define M6_STEP_ANGLE 1.8
#define M6_TRAVEL_PER_REV 360 // degrees moved per motor rev
-#define M6_MICROSTEPS 8
+#define M6_MICROSTEPS 256
#define M6_POLARITY 0
#define M6_POWER_MODE MOTOR_POWER_MODE
#define M6_POWER_LEVEL MOTOR_POWER_LEVEL
/*
- * stepper_init() - initialize stepper motor subsystem
+ * Initialize stepper motor subsystem
*
* Notes:
* - This init requires sys_init() to be run beforehand
* - motor polarity is setup during config_init()
* - high level interrupts must be enabled in main() once all inits are complete
*/
-
-/* NOTE: This is the bare code that the Motate timer calls replace.
- * NB: requires: #include <component_tc.h>
- *
- * REG_TC1_WPMR = 0x54494D00; // enable write to registers
- * TC_Configure(TC_BLOCK_DDA, TC_CHANNEL_DDA, TC_CMR_DDA);
- * REG_RC_DDA = TC_RC_DDA; // set frequency
- * REG_IER_DDA = TC_IER_DDA; // enable interrupts
- * NVIC_EnableIRQ(TC_IRQn_DDA);
- * pmc_enable_periph_clk(TC_ID_DDA);
- * TC_Start(TC_BLOCK_DDA, TC_CHANNEL_DDA);
- */
void stepper_init() {
- memset(&st_run, 0, sizeof(st_run)); // clear all values, pointers and status
+ memset(&st_run, 0, sizeof(st_run)); // clear all values, pointers and status
stepper_init_assertions();
// Configure virtual ports
// setup ports and data structures
for (uint8_t i = 0; i < MOTORS; i++) {
- hw.st_port[i]->DIR = MOTOR_PORT_DIR_gm; // sets outputs for motors & GPIO1, and GPIO2 inputs
- hw.st_port[i]->OUT = MOTOR_ENABLE_BIT_bm; // zero port bits AND disable motor
+ hw.st_port[i]->DIR = MOTOR_PORT_DIR_gm; // sets outputs for motors & GPIO1, and GPIO2 inputs
+ hw.st_port[i]->OUTSET = MOTOR_ENABLE_BIT_bm; // disable motor
}
// setup DDA timer
TIMER_EXEC.PER = EXEC_TIMER_PERIOD; // set period
st_pre.buffer_state = PREP_BUFFER_OWNED_BY_EXEC;
- st_reset(); // reset steppers to known state
+ st_reset(); // reset steppers to known state
}
-/*
- * stepper_init_assertions() - test assertions, return error code if violation exists
- * stepper_test_assertions() - test assertions, return error code if violation exists
- */
void stepper_init_assertions() {
- st_run.magic_end = MAGICNUM;
+ st_run.magic_end = MAGICNUM;
st_run.magic_start = MAGICNUM;
- st_pre.magic_end = MAGICNUM;
+ st_pre.magic_end = MAGICNUM;
st_pre.magic_start = MAGICNUM;
}
+/// Test assertions, return error code if violation exists
stat_t stepper_test_assertions() {
if (st_run.magic_end != MAGICNUM) return STAT_STEPPER_ASSERTION_FAILURE;
if (st_run.magic_start != MAGICNUM) return STAT_STEPPER_ASSERTION_FAILURE;
/*
- * st_runtime_isbusy() - return TRUE if runtime is busy:
+ * return TRUE if runtime is busy:
*
* Busy conditions:
* - motors are running
}
-/// Clear counters
+/// Clear diagnostic counters, reset stepper prep
stat_t st_clc(nvObj_t *nv) {
- // clear diagnostic counters, reset stepper prep
st_reset();
return STAT_OK;
}
+
/*
* Motor power management functions
*
case (MOTOR_2): port = PORT_MOTOR_2_VPORT.OUT; break;
case (MOTOR_3): port = PORT_MOTOR_3_VPORT.OUT; break;
case (MOTOR_4): port = PORT_MOTOR_4_VPORT.OUT; break;
- default: port = 0xff; // defaults to disabled for bad motor input value
+ default: port = 0xff; // defaults to disabled for bad motor input value
}
- return port & MOTOR_ENABLE_BIT_bm ? 0 : 1; // returns 1 if motor is enabled (motor is actually active low)
+ // returns 1 if motor is enabled (motor is actually active low)
+ return port & MOTOR_ENABLE_BIT_bm ? 0 : 1;
}
/*
- * st_motor_power_callback() - callback to manage motor power sequencing
- *
- * Handles motor power-down timing, low-power idle, and adaptive motor power
+ * Callback to manage motor power sequencing
+ * Handles motor power-down timing, low-power idle, and adaptive motor power
*/
-stat_t st_motor_power_callback() { // called by controller
+stat_t st_motor_power_callback() { // called by controller
// manage power for each motor individually
for (uint8_t m = MOTOR_1; m < MOTORS; m++) {
}
// do not process countdown if in a feedhold
- if (cm_get_combined_state() == COMBINED_HOLD) {
- continue;
- }
+ if (cm_get_combined_state() == COMBINED_HOLD) continue;
// do not process countdown if in a feedhold
- if (cm_get_combined_state() == COMBINED_HOLD) {
- continue;
- }
+ if (cm_get_combined_state() == COMBINED_HOLD) continue;
// run the countdown if you are in a countdown
if (st_run.mot[m].power_state == MOTOR_POWER_TIMEOUT_COUNTDOWN) {
}
// pulse stretching for using external drivers.- turn step bits off
- PORT_MOTOR_1_VPORT.OUT &= ~STEP_BIT_bm; // ~ 5 uSec pulse width
- PORT_MOTOR_2_VPORT.OUT &= ~STEP_BIT_bm; // ~ 4 uSec
- PORT_MOTOR_3_VPORT.OUT &= ~STEP_BIT_bm; // ~ 3 uSec
- PORT_MOTOR_4_VPORT.OUT &= ~STEP_BIT_bm; // ~ 2 uSec
+ PORT_MOTOR_1_VPORT.OUT &= ~STEP_BIT_bm; // ~ 5 uSec pulse width
+ PORT_MOTOR_2_VPORT.OUT &= ~STEP_BIT_bm; // ~ 4 uSec
+ PORT_MOTOR_3_VPORT.OUT &= ~STEP_BIT_bm; // ~ 3 uSec
+ PORT_MOTOR_4_VPORT.OUT &= ~STEP_BIT_bm; // ~ 2 uSec
if (--st_run.dda_ticks_downcount != 0) return;
/// DDA timer interrupt routine - service ticks from DDA timer
-ISR(TIMER_DWELL_ISR_vect) { // DWELL timer interrupt
+ISR(TIMER_DWELL_ISR_vect) { // DWELL timer interrupt
if (--st_run.dda_ticks_downcount == 0) {
TIMER_DWELL.CTRLA = STEP_TIMER_DISABLE; // disable DWELL timer
_load_move();
/****************************************************************************************
- * Exec sequencing code - computes and prepares next load segment
+ * Exec sequencing code - computes and prepares next load segment
* st_request_exec_move() - SW interrupt to request to execute a move
- * exec_timer interrupt - interrupt handler for calling exec function
+ * exec_timer interrupt - interrupt handler for calling exec function
*/
void st_request_exec_move() {
if (st_pre.buffer_state == PREP_BUFFER_OWNED_BY_EXEC) {// bother interrupting
}
-ISR(TIMER_EXEC_ISR_vect) { // exec move SW interrupt
- TIMER_EXEC.CTRLA = EXEC_TIMER_DISABLE; // disable SW interrupt timer
+ISR(TIMER_EXEC_ISR_vect) { // exec move SW interrupt
+ TIMER_EXEC.CTRLA = EXEC_TIMER_DISABLE; // disable SW interrupt timer
// exec_move
if (st_pre.buffer_state == PREP_BUFFER_OWNED_BY_EXEC) {
}
-ISR(TIMER_LOAD_ISR_vect) { // load steppers SW interrupt
- TIMER_LOAD.CTRLA = LOAD_TIMER_DISABLE; // disable SW interrupt timer
+ISR(TIMER_LOAD_ISR_vect) { // load steppers SW interrupt
+ TIMER_LOAD.CTRLA = LOAD_TIMER_DISABLE; // disable SW interrupt timer
_load_move();
}
spi_send();
// Next state
- spi_delay = 3;
+ spi_delay = 4;
spi_state = SPI_STATE_READ;
break;
drivers[i].state = TMC2660_STATE_CONFIG;
drivers[i].reg = 0;
- drivers[i].regs[TMC2660_DRVCTRL] = 0;
- drivers[i].regs[TMC2660_CHOPCONF] = 0x14557;
- drivers[i].regs[TMC2660_SMARTEN] = 0x8202;
- drivers[i].regs[TMC2660_SGCSCONF] = 0x1001f;
- drivers[i].regs[TMC2660_DRVCONF] = 0x10;
+ drivers[i].regs[TMC2660_DRVCTRL] = TMC2660_DRVCTRL_MRES_256;
+ //drivers[i].regs[TMC2660_CHOPCONF] = TMC2660_CHOPCONF_TBL_36 | TMC2660_CHOPCONF_HEND(0) | TMC2660_CHOPCONF_HSTART(4) |
+ // TMC2660_CHOPCONF_TOFF(4);
+ drivers[i].regs[TMC2660_CHOPCONF] = TMC2660_CHOPCONF_TBL_36 | TMC2660_CHOPCONF_CHM | TMC2660_CHOPCONF_HEND(7) |
+ TMC2660_CHOPCONF_HSTART(6) | TMC2660_CHOPCONF_TOFF(7);
+ drivers[i].regs[TMC2660_SMARTEN] = TMC2660_SMARTEN_SEIMIN | TMC2660_SMARTEN_MAX(2) | TMC2660_SMARTEN_MIN(2);
+ drivers[i].regs[TMC2660_SGCSCONF] = TMC2660_SGCSCONF_SFILT | TMC2660_SGCSCONF_CS_NONE;
+ drivers[i].regs[TMC2660_DRVCONF] = TMC2660_DRVCONF_RDSEL_MSTEP;
}
// Setup pins
- TMC2660_SPI_PORT.OUTSET = 1 << 4; // High
- TMC2660_SPI_PORT.DIRSET = 1 << 4; // Output
+ TMC2660_SPI_PORT.OUTSET = 1 << TMC2660_SPI_SS_PIN; // High
+ TMC2660_SPI_PORT.DIRSET = 1 << TMC2660_SPI_SS_PIN; // Output (Why is it necessary to set the SS pin?)
TMC2660_SPI_PORT.OUTSET = 1 << TMC2660_SPI_SCK_PIN; // High
TMC2660_SPI_PORT.DIRSET = 1 << TMC2660_SPI_SCK_PIN; // Output
TMC2660_SPI_PORT.DIRCLR = 1 << TMC2660_SPI_MISO_PIN; // Input
TMC2660_SPI_PORT.OUTSET = 1 << TMC2660_SPI_MOSI_PIN; // High
TMC2660_SPI_PORT.DIRSET = 1 << TMC2660_SPI_MOSI_PIN; // Output
-#if TMC2660_NUM_DRIVERS > 0
TMC2660_SPI_SSX_PORT.OUTSET = 1 << TMC2660_SPI_SSX_PIN; // High
TMC2660_SPI_SSX_PORT.DIRSET = 1 << TMC2660_SPI_SSX_PIN; // Output
-#endif
-#if TMC2660_NUM_DRIVERS > 1
TMC2660_SPI_SSY_PORT.OUTSET = 1 << TMC2660_SPI_SSY_PIN; // High
TMC2660_SPI_SSY_PORT.DIRSET = 1 << TMC2660_SPI_SSY_PIN; // Output
-#endif
-#if TMC2660_NUM_DRIVERS > 2
TMC2660_SPI_SSZ_PORT.OUTSET = 1 << TMC2660_SPI_SSZ_PIN; // High
TMC2660_SPI_SSZ_PORT.DIRSET = 1 << TMC2660_SPI_SSZ_PIN; // Output
-#endif
-#if TMC2660_NUM_DRIVERS > 3
TMC2660_SPI_SSA_PORT.OUTSET = 1 << TMC2660_SPI_SSA_PIN; // High
TMC2660_SPI_SSA_PORT.DIRSET = 1 << TMC2660_SPI_SSA_PIN; // Output
-#endif
-#if TMC2660_NUM_DRIVERS > 4
TMC2660_SPI_SSB_PORT.OUTSET = 1 << TMC2660_SPI_SSB_PIN; // High
TMC2660_SPI_SSB_PORT.DIRSET = 1 << TMC2660_SPI_SSB_PIN; // Output
-#endif
// Configure SPI
PR.PRPC &= ~PR_SPI_bm; // Disable power reduction
// Configure timer
PR.PRPC &= ~PR_TC1_bm; // Disable power reduction
TMC2660_TIMER.PER = F_CPU / 1024 / 10; // Set timer period
- TMC2660_TIMER.INTCTRLA = TC_OVFINTLVL_LO_gc; // Low priority overflow int
+ TMC2660_TIMER.INTCTRLA = TC_OVFINTLVL_MED_gc; // overflow interupt level
TMC2660_TIMER.CTRLA = TC_CLKSEL_DIV1024_gc; // enable, clock/1024
}
#include <stdint.h>
#define TMC2660_SPI_PORT PORTC
+#define TMC2660_SPI_SS_PIN 4
#define TMC2660_SPI_SCK_PIN 5
#define TMC2660_SPI_MISO_PIN 6
#define TMC2660_SPI_MOSI_PIN 7
#define TMC2660_SGCSCONF 3
#define TMC2660_SGCSCONF_ADDR (6UL << 17)
-#define TMC2660_SGCSCONF_SFILT (1UL << 17)
+#define TMC2660_SGCSCONF_SFILT (1UL << 16)
#define TMC2660_SGCSCONF_THRESH(x) (((int32_t)x & 0x7f) << 8)
#define TMC2660_SGCSCONF_CS(x) (((int32_t)x & 0x1f) << 0)
#define TMC2660_SGCSCONF_CS_NONE (31UL << 0)
projects / bbctrl-firmware / commitdiff