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fix(stacker): update tpowerdown and hold current delay for motor driver #493

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merged 1 commit into from
Dec 12, 2024
Merged

fix(stacker): update tpowerdown and hold current delay for motor driver #493

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9 changes: 6 additions & 3 deletions stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,8 @@ static constexpr tmc2160::TMC2160RegisterMap motor_z_config{
.glob_scale = {.global_scaler = 0x0},
.ihold_irun = {.hold_current = 10,
.run_current = 31,
.hold_current_delay = 15},
.hold_current_delay = 1},
.tpowerdown = {.time = tmc2160::PowerDownDelay::seconds_to_reg(0.1)},
.tpwmthrs = {.threshold = 0x80000},
.tcoolthrs = {.threshold = 0x2FF},
.thigh = {.threshold = 0x1},
Expand Down Expand Up @@ -63,7 +64,8 @@ static constexpr tmc2160::TMC2160RegisterMap motor_x_config{
.glob_scale = {.global_scaler = 0x0},
.ihold_irun = {.hold_current = 12,
.run_current = 31,
.hold_current_delay = 7},
.hold_current_delay = 1},
.tpowerdown = {.time = tmc2160::PowerDownDelay::seconds_to_reg(0.1)},
.tpwmthrs = {.threshold = 0x80000},
.tcoolthrs = {.threshold = 0x2FF},
.thigh = {.threshold = 0x1},
Expand Down Expand Up @@ -91,7 +93,8 @@ static constexpr tmc2160::TMC2160RegisterMap motor_l_config{
.glob_scale = {.global_scaler = 0x0},
.ihold_irun = {.hold_current = 7,
.run_current = 8,
.hold_current_delay = 7},
.hold_current_delay = 1},
.tpowerdown = {.time = tmc2160::PowerDownDelay::seconds_to_reg(0.1)},
.tpwmthrs = {.threshold = 0x80000},
.tcoolthrs = {.threshold = 0x2FF},
.thigh = {.threshold = 0x1},
Expand Down
4 changes: 2 additions & 2 deletions stm32-modules/include/flex-stacker/flex-stacker/tmc2160_registers.hpp
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Expand Up @@ -261,11 +261,11 @@ struct __attribute__((packed, __may_alias__)) PowerDownDelay {
static constexpr uint32_t max_val = 0xFF;
static constexpr uint32_t reset = 10;

[[nodiscard]] static auto reg_to_seconds(uint8_t reg) -> double {
[[nodiscard]] static constexpr auto reg_to_seconds(uint8_t reg) -> double {
return (static_cast<double>(reg) / static_cast<double>(max_val)) *
max_time;
}
static auto seconds_to_reg(double seconds) -> uint8_t {
static constexpr auto seconds_to_reg(double seconds) -> uint8_t {
if (seconds > max_time) {
return max_val;
}
Expand Down
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