You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
69 lines
2.9 KiB
69 lines
2.9 KiB
7 years ago
|
#include "TMC2130Stepper.h"
|
||
|
|
#include "TMC2130Stepper_MACROS.h"
|
||
|
|
|
||
|
|
// CHOPCONF
|
||
|
|
uint32_t TMC2130Stepper::CHOPCONF() { READ_REG(CHOPCONF); }
|
||
|
|
void TMC2130Stepper::CHOPCONF(uint32_t input) {
|
||
|
|
CHOPCONF_sr = input;
|
||
|
|
WRITE_REG(CHOPCONF);
|
||
|
|
}
|
||
|
|
|
||
|
|
void TMC2130Stepper::toff( uint8_t B ) { MOD_REG(CHOPCONF, TOFF); }
|
||
|
|
void TMC2130Stepper::hstrt( uint8_t B ) { MOD_REG(CHOPCONF, HSTRT); }
|
||
|
|
void TMC2130Stepper::hend( int8_t B ) { MOD_REG(CHOPCONF, HEND); }
|
||
|
|
void TMC2130Stepper::fd( uint8_t B ) { MOD_REG(CHOPCONF, FD); }
|
||
|
|
void TMC2130Stepper::disfdcc( bool B ) { MOD_REG(CHOPCONF, DISFDCC); }
|
||
|
|
void TMC2130Stepper::rndtf( bool B ) { MOD_REG(CHOPCONF, RNDTF); }
|
||
|
|
void TMC2130Stepper::chm( bool B ) { MOD_REG(CHOPCONF, CHM); }
|
||
|
|
void TMC2130Stepper::tbl( uint8_t B ) { MOD_REG(CHOPCONF, TBL); }
|
||
|
|
void TMC2130Stepper::vsense( bool B ) { MOD_REG(CHOPCONF, VSENSE); }
|
||
|
|
void TMC2130Stepper::vhighfs( bool B ) { MOD_REG(CHOPCONF, VHIGHFS); }
|
||
|
|
void TMC2130Stepper::vhighchm( bool B ) { MOD_REG(CHOPCONF, VHIGHCHM); }
|
||
|
|
void TMC2130Stepper::sync( uint8_t B ) { MOD_REG(CHOPCONF, SYNC); }
|
||
|
|
void TMC2130Stepper::mres( uint8_t B ) { MOD_REG(CHOPCONF, MRES); }
|
||
|
|
void TMC2130Stepper::intpol( bool B ) { MOD_REG(CHOPCONF, INTPOL); }
|
||
|
|
void TMC2130Stepper::dedge( bool B ) { MOD_REG(CHOPCONF, DEDGE); }
|
||
|
|
void TMC2130Stepper::diss2g( bool B ) { MOD_REG(CHOPCONF, DISS2G); }
|
||
|
|
|
||
|
|
uint8_t TMC2130Stepper::toff() { GET_BYTE(CHOPCONF, TOFF); }
|
||
|
|
uint8_t TMC2130Stepper::hstrt() { GET_BYTE(CHOPCONF, HSTRT); }
|
||
|
|
int8_t TMC2130Stepper::hend() { GET_BYTE(CHOPCONF, HEND); }
|
||
|
|
uint8_t TMC2130Stepper::fd() { GET_BYTE(CHOPCONF, FD); }
|
||
|
|
bool TMC2130Stepper::disfdcc() { GET_BYTE(CHOPCONF, DISFDCC); }
|
||
|
|
bool TMC2130Stepper::rndtf() { GET_BYTE(CHOPCONF, RNDTF); }
|
||
|
|
bool TMC2130Stepper::chm() { GET_BYTE(CHOPCONF, CHM); }
|
||
|
|
uint8_t TMC2130Stepper::tbl() { GET_BYTE(CHOPCONF, TBL); }
|
||
|
|
bool TMC2130Stepper::vsense() { GET_BIT( CHOPCONF, VSENSE); }
|
||
|
|
bool TMC2130Stepper::vhighfs() { GET_BYTE(CHOPCONF, VHIGHFS); }
|
||
|
|
bool TMC2130Stepper::vhighchm() { GET_BYTE(CHOPCONF, VHIGHCHM); }
|
||
|
|
uint8_t TMC2130Stepper::sync() { GET_BYTE(CHOPCONF, SYNC); }
|
||
|
|
uint8_t TMC2130Stepper::mres() { GET_BYTE(CHOPCONF, MRES); }
|
||
|
|
bool TMC2130Stepper::intpol() { GET_BYTE(CHOPCONF, INTPOL); }
|
||
|
|
bool TMC2130Stepper::dedge() { GET_BYTE(CHOPCONF, DEDGE); }
|
||
|
|
bool TMC2130Stepper::diss2g() { GET_BYTE(CHOPCONF, DISS2G); }
|
||
|
|
|
||
|
|
void TMC2130Stepper::hysterisis_end(int8_t value) { hend(value+3); }
|
||
|
|
int8_t TMC2130Stepper::hysterisis_end() { return hend()-3; };
|
||
|
|
|
||
|
|
void TMC2130Stepper::hysterisis_start(uint8_t value) { hstrt(value-1); }
|
||
|
|
uint8_t TMC2130Stepper::hysterisis_start() { return hstrt()+1; }
|
||
|
|
|
||
|
|
void TMC2130Stepper::blank_time(uint8_t value) {
|
||
|
|
switch (value) {
|
||
|
|
case 16: tbl(0b00); break;
|
||
|
|
case 24: tbl(0b01); break;
|
||
|
|
case 36: tbl(0b10); break;
|
||
|
|
case 54: tbl(0b11); break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
uint8_t TMC2130Stepper::blank_time() {
|
||
|
|
switch (tbl()) {
|
||
|
|
case 0b00: return 16;
|
||
|
|
case 0b01: return 24;
|
||
|
|
case 0b10: return 36;
|
||
|
|
case 0b11: return 54;
|
||
|
|
}
|
||
|
|
return 0;
|
||
|
|
}
|