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Amken USA
486949686c
TMC5160: Added TMC5160 support * Added example code for tmc5160 and smoke test * Update go.mod * Updated mod file * Cleaned up commented out code and updated readme. * ran go fmt * Fixed setrampspeed func * Removed spi1 pin setup in example.go. Renamed SPIComm to spicomm.go * Removed unused test file * Removed commented line
57 lines
1.8 KiB
Go
57 lines
1.8 KiB
Go
package tmc5160
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import (
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"github.com/orsinium-labs/tinymath"
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"golang.org/x/exp/constraints"
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)
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// VelocityToVMAX calculates the VMAX register value from the current stepper velocity which is in microsteps per tRef (i.e 1/clock speed)
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func (stepper *Stepper) CurrentVelocityToVMAX() uint32 {
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tref := float32(16777216) / (float32(stepper.Fclk) * 1000000)
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r := stepper.VelocitySPS * stepper.GearRatio * float32(tref)
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return constrain(uint32(r), 0, maxVMAX) // VMAX register value cannot exceed maxVMAX
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}
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func (stepper *Stepper) DesiredVelocityToVMAX(v float32) uint32 {
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tref := 16777216 / (float32(stepper.Fclk) * 1000000)
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r := tinymath.Round(v * stepper.GearRatio * tref)
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return constrain(uint32(r), 0, maxVMAX) // VMAX register value cannot exceed maxVMAX
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}
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func (stepper *Stepper) DesiredAccelToAMAX(dacc float32, dVel float32) uint32 {
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dVelToVMAX := stepper.DesiredVelocityToVMAX(dVel)
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_a := uint64(dVelToVMAX) * 131072
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_b := float32(_a) / dacc
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_c := _b / float32(uint32(stepper.Fclk)*1000000)
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return uint32(_c)
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}
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// Convert threshold speed (Hz) to internal TSTEP value
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func (stepper *Stepper) DesiredSpeedToTSTEP(thrsSpeed uint32) uint32 {
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if thrsSpeed < 0 {
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return 0
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}
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_a := stepper.DesiredVelocityToVMAX(float32(thrsSpeed))
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_b := float32(16777216 / _a)
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_c := float32(stepper.MSteps) / float32(256)
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_d := uint32(_b * _c)
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return constrain(_d, 0, 1048575)
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}
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func (stepper *Stepper) VMAXToTSTEP(vmax uint32) uint32 {
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_b := float32(16777216 / vmax)
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_c := float32(stepper.MSteps) / float32(256)
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_d := tinymath.Round(_b * _c)
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return constrain(uint32(_d), 0, 1048575)
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}
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// Constrain function to limit values to a specific range (supports multiple types).
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func constrain[T constraints.Ordered](value, min, max T) T {
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if value < min {
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return min
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} else if value > max {
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return max
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}
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return value
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}
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