From 3564d04ebc2e53960b7a4f43219acbdc9d29031c Mon Sep 17 00:00:00 2001 From: Joseph Coffland Date: Mon, 20 Jun 2016 03:30:53 -0700 Subject: [PATCH] Removed current ramping --- src/tmc2660.c | 24 ++---------------------- 1 file changed, 2 insertions(+), 22 deletions(-) diff --git a/src/tmc2660.c b/src/tmc2660.c index dcd0e8a..0badf43 100644 --- a/src/tmc2660.c +++ b/src/tmc2660.c @@ -56,8 +56,6 @@ typedef struct { uint8_t reg_valid; uint32_t regs[REGS]; - float current; - float target_current; float idle_current; float drive_current; @@ -162,9 +160,6 @@ static void _driver_write(int driver) { } -static void _set_current(int motor, float value); - - // Returns true if the current driver has more data to send static bool _driver_read(int driver) { tmc2660_driver_t *drv = &drivers[driver]; @@ -189,15 +184,6 @@ static bool _driver_read(int driver) { _report_error_flags(driver); } - // Update current - if (drv->target_current != drv->current) { - if (!drv->current) drv->current = 0.05; - else drv->current *= 1.05; - if (drv->target_current < drv->current) drv->current = drv->target_current; - - _set_current(driver, drv->current); - } - // Check if regs have changed for (int i = 0; i < REGS; i++) if (!(drv->reg_valid & (1 << i))) { @@ -407,19 +393,13 @@ stat_t tmc2660_sync() { void tmc2660_enable(int driver) { printf("Enable %d\n", driver); tmc2660_reset(driver); - cli(); - drivers[driver].target_current = drivers[driver].drive_current; - sei(); - //_set_current(driver, drivers[driver].drive_current); + _set_current(driver, drivers[driver].drive_current); } void tmc2660_disable(int driver) { printf("Disable %d\n", driver); - cli(); - drivers[driver].target_current = drivers[driver].idle_current; - sei(); - //_set_current(driver, drivers[driver].idle_current); + _set_current(driver, drivers[driver].idle_current); } -- 2.27.0