minors

README.md

@@ -8,6 +8,14 @@ Does networked control of stepper motors w/ up to 2.8A current. Plans for closed
 
 See [circuit chatter](/circuit) and [programming chatter](/embedded).
 
+## Commands
+
+Position:
+key: 129, units: int32_t, steps
+
+Speed:
+key: 130, units: uint32_t, steps/s
+
 # IC Spec'ing
 
 ### Step Driver

circuit/mkstepper/eagle.epf

@@ -137,7 +137,7 @@ State=1
 Number=0
 
 [Desktop]
-Screen="3840 1080"
+Screen="6000 2160"
 Window="Win_1"
 Window="Win_2"
 Window="Win_3"

embedded/mkstepper-v011/mkstepper-v011/main.c

@@ -249,7 +249,7 @@ int main(void)
 	stepper = stepper_new(&step_pin, &dir_pin, 360.0, 64);
 	stepper_reset(&stepper);
 	
-	stepper_targetspeed_steps(&stepper, 500); // so slow
+	stepper_targetspeed_steps(&stepper, 2000); 
 	
 	uint8_t lpcnt = 0;
 	uint8_t stpcnt = 0;

embedded/mkstepper-v011/mkstepper-v011/tmc26.c

@@ -33,15 +33,15 @@ void tmc26_init(tmc26_t *tmc){
 	tmc26_disable(tmc); // turnt off
 	
 	// address, slope control hi and lo to minimum, short to ground protection on, short to gnd timer 3.2us,
-	// enable step/dir, sense resistor full scale current voltage is 0.305mv, readback stallguard2 data, reserved
-	uint32_t drvconf = 0b11100000000000010000; 
+	// enable step/dir, sense resistor full scale current voltage is 0.16mv, readback stallguard2 data, reserved
+	uint32_t drvconf = 0b11100000000000110000; 
 	tmc26_write(tmc, drvconf);
 	
 	// address, sgfilt off, threshold value, current scaling (5-bit value appended)
 	uint32_t sgthresh_mask = 0b00000111111100000000;
 	int32_t sgthres_val = 60;
 	uint32_t cscale_mask = 0b00000000000000011111;
-	uint32_t cscale_val = 9;
+	uint32_t cscale_val = 20;
 	uint32_t sgcsconf = 0b11010000000000000000 | ((sgthres_val << 8) & sgthresh_mask) | (cscale_val & cscale_mask);
 	tmc26_write(tmc, sgcsconf);
 	
@@ -50,11 +50,17 @@ void tmc26_init(tmc26_t *tmc){
 	tmc26_write(tmc, smarten);
 	
 	// times, delays, cycle mode
-	uint32_t chopconf = 0b10010010100000010111;
+	uint32_t chopconf = 0b10011000001000010011;
 	tmc26_write(tmc, chopconf);
 	
 	// 9th bit is intpol, 8th is dedge, last 4 are microstepping
-	uint32_t drvctrl = 0b00000000000100000010;
+	// 0101 8
+	// 0100 16
+	// 0011 32
+	// 0010 64
+	// 0001 128
+	// 0000 256
+	uint32_t drvctrl = 0b00000000001100000100;
 	tmc26_write(tmc, drvctrl);
 }