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fixed some bugs

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This commit is contained in:
Edward Emelianov
2026-01-20 16:35:21 +03:00
parent 3697adba41
commit 87683a12e6
10 changed files with 148 additions and 28 deletions
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34
F3:F303/Multistepper/pdnuart.c
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@@ -184,25 +184,47 @@ int pdnuart_setcurrent(uint8_t no, uint8_t val){
return writeregister(no, TMC2209Reg_IHOLD_IRUN, regval.value);
}
// set microsteps over UART
// set microsteps over UART && clear error flags
int pdnuart_microsteps(uint8_t no, uint32_t val){
if(val > 256) return FALSE;
TMC2209_chopconf_reg_t regval;
if(!readregister(no, TMC2209Reg_CHOPCONF, &regval.value)) return FALSE;
if(val == 256) regval.mres = 0;
else regval.mres = 8 - MSB(val);
return writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
uint32_t toff = regval.toff;
if(toff == 0) toff = 1;
regval.toff = 0; // disable drive to clear errors
int e = writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
TMC2209_gstat_reg_t stat = {.value = 0};
stat.drv_err = 1;
// clear error flags
if(!writeregister(no, TMC2209Reg_GSTAT, stat.value)) e = FALSE;
regval.toff = toff; // now enable drive
if(!writeregister(no, TMC2209Reg_CHOPCONF, regval.value)) e = FALSE;
return e;
}
// init driver number `no`, return FALSE if failed
int pdnuart_init(uint8_t no){
TMC2209_gconf_reg_t gconf;
if(!pdnuart_microsteps(no, the_conf.microsteps[no])) return FALSE;
if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])) return FALSE;
if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE;
if(!pdnuart_microsteps(no, the_conf.microsteps[no])){
USB_sendstr("No usteps\n");
return FALSE;
}
if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])){
USB_sendstr("No current\n");
return FALSE;
}
if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)){
USB_sendstr("Can't read GCONF\n");
return FALSE;
}
gconf.pdn_disable = 1; // PDN now is UART
gconf.mstep_reg_select = 1; // microsteps are by MSTEP
if(!writeregister(no, TMC2209Reg_GCONF, gconf.value)) return FALSE;
if(!writeregister(no, TMC2209Reg_GCONF, gconf.value)){
USB_sendstr("Can't write GCONF\n");
return FALSE;
}
return TRUE;
}