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Update Default TMC 2590 Stepper Params #154

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Update Default TMC 2590 Stepper Params #154

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0f54fd4
Updated protection params
ishanvermani May 8, 2025
4f91930
Updated chopper settings
ishanvermani May 8, 2025
9ed9688
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ishanvermani May 8, 2025
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30 changes: 18 additions & 12 deletions firmware/RAD/release/Core/Src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -115,31 +115,33 @@ int main(void)
rad_params.I = 0.0000001;
rad_params.D = 0;

rad_params.CHOPCONF_CHM = 0b0;
//Updated Params
//Datasheet and https://claude.ai/share/010610e9-27fd-4cc1-b8a9-1479f24feb58
rad_params.CHOPCONF_CHM = 0b0; //Using spreadcycle
rad_params.CHOPCONF_HDEC = 0b00;
rad_params.CHOPCONF_HEND = 0b0100;
rad_params.CHOPCONF_HSTRT = 0b110;
rad_params.CHOPCONF_HEND = 0b011; //Hysterisis of 0 - 4
rad_params.CHOPCONF_HSTRT = 0b11;
rad_params.CHOPCONF_RNDTF = 0b0;
rad_params.CHOPCONF_TBL = 0b10;
rad_params.CHOPCONF_TOFF = 0b100;

rad_params.DRVCONF_DIS_S2G = 0b0;
rad_params.DRVCONF_EN_PFD = 0b1;
rad_params.DRVCONF_EN_S2VS = 0b1;
rad_params.DRVCONF_OTSENS = 0b0;
rad_params.CHOPCONF_TOFF = 0b1000; //lower chopper frequency
rad_params.DRVCONF_DIS_S2G = 0b0; //short detection enabled
rad_params.DRVCONF_EN_PFD = 0b0; //undervoltage under 7V - 5V logic not enough to drive stepper
rad_params.DRVCONF_EN_S2VS = 0b1; //enable short and overcurrent protection
rad_params.DRVCONF_OTSENS = 0b1; //reduced temperature threshold for shutdown
rad_params.DRVCONF_RDSEL = 0b11;
rad_params.DRVCONF_SDOFF = 0b0;
rad_params.DRVCONF_SHRTSENS = 0b1;
rad_params.DRVCONF_SHRTSENS = 0b1; //High sensitivity to overcurrent
rad_params.DRVCONF_SLP = 0b11110;
rad_params.DRVCONF_TS2G = 0b00;
rad_params.DRVCONF_TS2G = 0b11; //shortest delay for sensint shorts
rad_params.DRVCONF_TST = 0b0;
rad_params.DRVCONF_VSENSE = 0b0;

rad_params.DRVCTRL_DEDGE = 0b0;
rad_params.DRVCTRL_INTPOL = 0b1;
rad_params.DRVCTRL_MRES = 0b1000;

rad_params.SGCSCONF_CS = 10;
rad_params.SGCSCONF_CS = 5;
rad_params.SGCSCONF_SFILT = 0b0;
rad_params.SGCSCONF_SGT = 0b0000010;

Expand Down Expand Up @@ -200,8 +202,12 @@ int main(void)
//NORMAL OPERATION
rad_params = eeprom_params;



// IGNORE EEPROM AND SET DEFAULT PARAMS FOR FIRST EEPROM SAVE
// rad_params.RAD_ID = 0x19;
// rad_params.SGCSCONF_CS = 5;

// rad_params.RAD_TYPE = RAD_TYPE_ARM_WRIST_RIGHT;
// rad_params.ODOM_INTERVAL = 100;
// rad_params.HEALTH_INTERVAL = 1000;
Expand Down