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$140, $141, $142 current control

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This commit is contained in:
Todd Fleming
2017-01-15 17:09:59 -05:00
parent b32be3d2c1
commit 6b1e180e66
8 changed files with 26 additions and 8 deletions
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12
grbl-lpc/current_control.cpp
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@ -24,6 +24,10 @@
#include "grbl.h"
#include "Driver_I2C.h"
#undef min
#undef max
#include <algorithm>
#ifdef CURRENT_I2C
extern ARM_DRIVER_I2C CURRENT_I2C;
static const uint8_t wiperRegs[] = CURRENT_WIPERS;
@ -48,9 +52,9 @@ void current_init()
;
#endif
set_current(0, DEFAULT_X_CURRENT);
set_current(1, DEFAULT_Y_CURRENT);
set_current(2, DEFAULT_Z_CURRENT);
set_current(0, settings.current[0]);
set_current(1, settings.current[1]);
set_current(2, settings.current[2]);
set_current(3, DEFAULT_A_CURRENT);
#endif
}
@ -60,7 +64,7 @@ void set_current(uint8_t motor, float amps)
#if defined(CURRENT_I2C) && defined(CURRENT_MCP44XX_ADDR)
uint8_t command[] = {
uint8_t(wiperRegs[motor] << 4),
uint8_t(std::round(amps * CURRENT_FACTOR)),
uint8_t(std::min(255.0, std::max(0.0, std::round(amps * CURRENT_FACTOR)))),
};
CURRENT_I2C.MasterTransmit(CURRENT_MCP44XX_ADDR, command, sizeof(command), false);
while (CURRENT_I2C.GetStatus().busy)