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Reenable TOFF=0 when using M569 Cnnn #277

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Reenable TOFF=0 when using M569 Cnnn #277

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14 changes: 10 additions & 4 deletions src/Movement/StepperDrivers/TMC22xx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -275,7 +275,7 @@ class TmcDriverState
void UartTmcHandler(); // core of the ISR for this driver

private:
bool SetChopConf(uint32_t newVal);
bool SetChopConf(uint32_t newVal, bool raw = false);
void UpdateRegister(size_t regIndex, uint32_t regVal);
void UpdateChopConfRegister(); // calculate the chopper control register and flag it for sending
void UpdateCurrent();
Expand Down Expand Up @@ -547,7 +547,7 @@ bool TmcDriverState::SetRegister(SmartDriverRegister reg, uint32_t regVal)
switch(reg)
{
case SmartDriverRegister::chopperControl:
return SetChopConf(regVal);
return SetChopConf(regVal, true);

case SmartDriverRegister::toff:
return SetChopConf((configuredChopConfReg & ~CHOPCONF_TOFF_MASK) | ((regVal << CHOPCONF_TOFF_SHIFT) & CHOPCONF_TOFF_MASK));
Expand Down Expand Up @@ -602,10 +602,16 @@ uint32_t TmcDriverState::GetRegister(SmartDriverRegister reg) const
}

// Set the chopper control register to the settings provided by the user. We allow only the lowest 17 bits to be set.
bool TmcDriverState::SetChopConf(uint32_t newVal)
bool TmcDriverState::SetChopConf(uint32_t newVal, bool raw)
{
const uint32_t offTime = (newVal & CHOPCONF_TOFF_MASK) >> CHOPCONF_TOFF_SHIFT;
if (offTime == 0 || (offTime == 1 && (newVal & CHOPCONF_TBL_MASK) < (2 << CHOPCONF_TBL_SHIFT)))
// TOFF = 0 turns the driver off so it is not allowed unless given via Cnnn parameter.
if (!raw && offTime == 0)
{
return false;
}
// TOFF = 1 is not allowed if TBL = 0.
if (offTime == 1 && (newVal & CHOPCONF_TBL_MASK) < (2 << CHOPCONF_TBL_SHIFT))
{
return false;
}
Expand Down
16 changes: 10 additions & 6 deletions src/Movement/StepperDrivers/TMC2660.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -210,7 +210,7 @@ class TmcDriverState
uint32_t ReadMicrostepPosition() const { return mstepPosition; }

private:
bool SetChopConf(uint32_t newVal);
bool SetChopConf(uint32_t newVal, bool raw = false);

void ResetLoadRegisters()
{
Expand Down Expand Up @@ -419,7 +419,7 @@ bool TmcDriverState::SetRegister(SmartDriverRegister reg, uint32_t regVal)
switch(reg)
{
case SmartDriverRegister::chopperControl:
return SetChopConf(regVal);
return SetChopConf(regVal, true);

case SmartDriverRegister::coolStep:
registers[SmartEnable] = TMC_REG_SMARTEN | (regVal & 0xFFFF);
Expand Down Expand Up @@ -482,12 +482,16 @@ uint32_t TmcDriverState::GetRegister(SmartDriverRegister reg) const
}

// Check the new chopper control register, update it and return true if it is legal
bool TmcDriverState::SetChopConf(uint32_t newVal)
bool TmcDriverState::SetChopConf(uint32_t newVal, bool raw)
{
// TOFF = 0 turns the driver off so it is not allowed.
// TOFF = 1 is not allowed if TBL = 0.
const uint32_t toff = (newVal & TMC_CHOPCONF_TOFF_MASK) >> TMC_CHOPCONF_TOFF_SHIFT;
if (toff == 0 || (toff == 1 && ((newVal & TMC_CHOPCONF_TBL_MASK) == 0)))
// TOFF = 0 turns the driver off so it is not allowed unless given via Cnnn parameter.
if (!raw && toff == 0)
{
return false;
}
// TOFF = 1 is not allowed if TBL = 0.
if (toff == 1 && ((newVal & TMC_CHOPCONF_TBL_MASK) == 0))
{
return false;
}
Expand Down
14 changes: 10 additions & 4 deletions src/Movement/StepperDrivers/TMC51xx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -290,7 +290,7 @@ class TmcDriverState
void TransferFailed();

private:
bool SetChopConf(uint32_t newVal);
bool SetChopConf(uint32_t newVal, bool raw = false);
void UpdateRegister(size_t regIndex, uint32_t regVal);
void UpdateChopConfRegister(); // calculate the chopper control register and flag it for sending
void UpdateCurrent();
Expand Down Expand Up @@ -485,7 +485,7 @@ bool TmcDriverState::SetRegister(SmartDriverRegister reg, uint32_t regVal)
switch(reg)
{
case SmartDriverRegister::chopperControl:
return SetChopConf(regVal);
return SetChopConf(regVal, true);

case SmartDriverRegister::toff:
return SetChopConf((configuredChopConfReg & ~CHOPCONF_TOFF_MASK) | ((regVal << CHOPCONF_TOFF_SHIFT) & CHOPCONF_TOFF_MASK));
Expand Down Expand Up @@ -552,10 +552,16 @@ uint32_t TmcDriverState::GetRegister(SmartDriverRegister reg) const
}

// Set the chopper control register to the settings provided by the user. We allow only the lowest 17 bits to be set.
bool TmcDriverState::SetChopConf(uint32_t newVal)
bool TmcDriverState::SetChopConf(uint32_t newVal, bool raw)
{
const uint32_t offTime = (newVal & CHOPCONF_TOFF_MASK) >> CHOPCONF_TOFF_SHIFT;
if (offTime == 0 || (offTime == 1 && (newVal & CHOPCONF_TBL_MASK) < (2 << CHOPCONF_TBL_SHIFT)))
// TOFF = 0 turns the driver off so it is not allowed unless given via Cnnn parameter.
if (!raw && offTime == 0)
{
return false;
}
// TOFF = 1 is not allowed if TBL = 0.
if (offTime == 1 && (newVal & CHOPCONF_TBL_MASK) < (2 << CHOPCONF_TBL_SHIFT))
{
return false;
}
Expand Down