Marcio Teixeira
7 years ago
parent
6a0a738f0e
commit
32064b945e
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#ifndef TMC2310Stepper_h
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#define TMC2310Stepper_h
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//#define TMC2130DEBUG
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#if defined(ARDUINO) && ARDUINO >= 100
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#include <Arduino.h>
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#endif
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const uint32_t TMC2130Stepper_version = 0x10100; // v1.1.0
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class TMC2130Stepper {
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public:
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TMC2130Stepper(uint8_t pinEN, uint8_t pinDIR, uint8_t pinStep, uint8_t pinCS);
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void begin();
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void checkStatus();
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void rms_current(uint16_t mA, float multiplier=0.5, float RS=0.11);
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uint16_t rms_current();
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void SilentStepStick2130(uint16_t mA);
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void setCurrent(uint16_t mA, float Rsense, float multiplier);
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uint16_t getCurrent();
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bool checkOT();
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bool getOTPW();
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void clear_otpw();
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bool isEnabled();
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// void takeSteps(int steps);
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// void step(int steps, int speed);
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// GCONF
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uint32_t GCONF();
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void GCONF( uint32_t value);
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void I_scale_analog( bool B);
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void internal_Rsense( bool B);
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void en_pwm_mode( bool B);
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void enc_commutation( bool B);
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void shaft( bool B);
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void diag0_error( bool B);
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void diag0_otpw( bool B);
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void diag0_stall( bool B);
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void diag1_stall( bool B);
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void diag1_index( bool B);
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void diag1_onstate( bool B);
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void diag1_steps_skipped( bool B);
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void diag0_int_pushpull( bool B);
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void diag1_pushpull( bool B);
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void small_hysterisis( bool B);
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void stop_enable( bool B);
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void direct_mode( bool B);
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bool I_scale_analog();
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bool internal_Rsense();
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bool en_pwm_mode();
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bool enc_commutation();
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bool shaft();
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bool diag0_error();
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bool diag0_otpw();
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bool diag0_stall();
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bool diag1_stall();
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bool diag1_index();
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bool diag1_onstate();
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bool diag1_steps_skipped();
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bool diag0_int_pushpull();
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bool diag1_pushpull();
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bool small_hysterisis();
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bool stop_enable();
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bool direct_mode();
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// IHOLD_IRUN
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void IHOLD_IRUN( uint32_t input);
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uint32_t IHOLD_IRUN();
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void ihold( uint8_t B);
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void irun( uint8_t B);
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void iholddelay( uint8_t B);
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uint8_t ihold();
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uint8_t irun();
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uint8_t iholddelay();
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// GSTAT
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void GSTAT( uint8_t input);
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uint8_t GSTAT();
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bool reset();
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bool drv_err();
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bool uv_cp();
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// IOIN
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uint32_t IOIN();
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bool step();
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bool dir();
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bool dcen_cfg4();
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bool dcin_cfg5();
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bool drv_enn_cfg6();
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bool dco();
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uint8_t version();
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// TPOWERDOWN
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uint32_t TPOWERDOWN();
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void TPOWERDOWN( uint32_t input);
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// TSTEP
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uint32_t TSTEP();
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// TPWMTHRS
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uint32_t TPWMTHRS();
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void TPWMTHRS( uint32_t input);
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// TCOOLTHRS
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uint32_t TCOOLTHRS();
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void TCOOLTHRS( uint32_t input);
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// THIGH
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uint32_t THIGH();
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void THIGH( uint32_t input);
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// XDRIRECT
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uint32_t XDIRECT();
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void XDIRECT( uint32_t input);
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void coil_A( int16_t B);
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void coil_B( int16_t B);
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int16_t coil_A();
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int16_t coil_B();
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// VDCMIN
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uint32_t VDCMIN();
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void VDCMIN( uint32_t input);
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// CHOPCONF
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uint32_t CHOPCONF();
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void CHOPCONF( uint32_t value);
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void toff( uint8_t B);
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void hstrt( uint8_t B);
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void hend( int8_t B);
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void fd( uint8_t B);
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void disfdcc( bool B);
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void rndtf( bool B);
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void chm( bool B);
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void tbl( uint8_t B);
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void vsense( bool B);
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void vhighfs( bool B);
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void vhighchm( bool B);
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void sync( uint8_t B);
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void mres( uint8_t B);
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void intpol( bool B);
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void dedge( bool B);
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void diss2g( bool B);
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uint8_t toff();
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uint8_t hstrt();
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int8_t hend();
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uint8_t fd();
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bool disfdcc();
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bool rndtf();
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bool chm();
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uint8_t tbl();
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bool vsense();
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bool vhighfs();
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bool vhighchm();
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uint8_t sync();
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uint8_t mres();
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bool intpol();
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bool dedge();
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bool diss2g();
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// COOLCONF
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void COOLCONF(uint32_t value);
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uint32_t COOLCONF();
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void semin( uint8_t B);
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void seup( uint8_t B);
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void semax( uint8_t B);
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void sedn( uint8_t B);
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void seimin( bool B);
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void sgt( uint8_t B);
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void sfilt( bool B);
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uint8_t semin();
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uint8_t seup();
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uint8_t semax();
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uint8_t sedn();
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bool seimin();
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uint8_t sgt();
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bool sfilt();
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// PWMCONF
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void PWMCONF( uint32_t value);
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uint32_t PWMCONF();
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void pwm_ampl( uint8_t B);
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void pwm_grad( uint8_t B);
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void pwm_freq( uint8_t B);
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void pwm_autoscale( bool B);
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void pwm_symmetric( bool B);
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void freewheel( uint8_t B);
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uint8_t pwm_ampl();
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uint8_t pwm_grad();
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uint8_t pwm_freq();
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bool pwm_autoscale();
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bool pwm_symmetric();
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uint8_t freewheel();
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// DRVSTATUS
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uint32_t DRV_STATUS();
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uint16_t sg_result();
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bool fsactive();
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uint8_t cs_actual();
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bool stallguard();
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bool ot();
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bool otpw();
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bool s2ga();
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bool s2gb();
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bool ola();
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bool olb();
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bool stst();
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// PWM_SCALE
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uint8_t PWM_SCALE();
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// ENCM_CTRL
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uint8_t ENCM_CTRL();
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void ENCM_CTRL( uint8_t input);
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void inv( bool B);
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void maxspeed( bool B);
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bool inv();
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bool maxspeed();
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// LOST_STEPS
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uint32_t LOST_STEPS();
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// Helper functions
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void microsteps(uint16_t ms);
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uint16_t microsteps();
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void blank_time(uint8_t value);
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uint8_t blank_time();
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void hysterisis_end(int8_t value);
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int8_t hysterisis_end();
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void hysterisis_start(uint8_t value);
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uint8_t hysterisis_start();
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void sg_current_decrease(uint8_t value);
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uint8_t sg_current_decrease();
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// Aliases
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// RW: GCONF
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inline bool external_ref() __attribute__((always_inline)) { return I_scale_analog(); }
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inline bool internal_sense_R() __attribute__((always_inline)) { return internal_Rsense(); }
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inline bool stealthChop() __attribute__((always_inline)) { return en_pwm_mode(); }
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inline bool commutation() __attribute__((always_inline)) { return enc_commutation(); }
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inline bool shaft_dir() __attribute__((always_inline)) { return shaft(); }
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inline bool diag0_errors() __attribute__((always_inline)) { return diag0_error(); }
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inline bool diag0_temp_prewarn() __attribute__((always_inline)) { return diag0_otpw(); }
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inline bool diag1_chopper_on() __attribute__((always_inline)) { return diag1_onstate(); }
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inline bool diag0_active_high() __attribute__((always_inline)) { return diag0_int_pushpull(); }
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inline bool diag1_active_high() __attribute__((always_inline)) { return diag1_pushpull(); }
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inline void external_ref( bool value) __attribute__((always_inline)) { I_scale_analog(value); }
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inline void internal_sense_R( bool value) __attribute__((always_inline)) { internal_Rsense(value); }
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inline void stealthChop( bool value) __attribute__((always_inline)) { en_pwm_mode(value); }
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inline void commutation( bool value) __attribute__((always_inline)) { enc_commutation(value); }
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inline void shaft_dir( bool value) __attribute__((always_inline)) { shaft(value); }
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inline void diag0_errors( bool value) __attribute__((always_inline)) { diag0_error(value); }
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inline void diag0_temp_prewarn( bool value) __attribute__((always_inline)) { diag0_otpw(value); }
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inline void diag1_chopper_on( bool value) __attribute__((always_inline)) { diag1_onstate(value); }
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inline void diag0_active_high( bool value) __attribute__((always_inline)) { diag0_int_pushpull(value); }
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inline void diag1_active_high( bool value) __attribute__((always_inline)) { diag1_pushpull(value); }
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// RC
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inline uint8_t status_flags() __attribute__((always_inline)) { return GSTAT(); }
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// R
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inline uint32_t input() __attribute__((always_inline)) { return IOIN(); }
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// W: IHOLD_IRUN
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inline uint8_t hold_current() __attribute__((always_inline)) { return ihold(); }
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inline uint8_t run_current() __attribute__((always_inline)) { return irun(); }
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inline uint8_t hold_delay() __attribute__((always_inline)) { return iholddelay(); }
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inline void hold_current( uint8_t value) __attribute__((always_inline)) { ihold(value); }
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inline void run_current( uint8_t value) __attribute__((always_inline)) { irun(value); }
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inline void hold_delay( uint8_t value) __attribute__((always_inline)) { iholddelay(value); }
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// W
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inline uint8_t power_down_delay() __attribute__((always_inline)) { return TPOWERDOWN(); }
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inline void power_down_delay( uint8_t value) __attribute__((always_inline)) { TPOWERDOWN(value); }
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// R
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inline uint32_t microstep_time() __attribute__((always_inline)) { return TSTEP(); }
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// W
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inline uint32_t stealth_max_speed() __attribute__((always_inline)) { return TPWMTHRS(); }
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inline void stealth_max_speed(uint32_t value) __attribute__((always_inline)) { TPWMTHRS(value); }
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// W
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inline uint32_t coolstep_min_speed() __attribute__((always_inline)) { return TCOOLTHRS(); }
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inline void coolstep_min_speed(uint32_t value) __attribute__((always_inline)) { TCOOLTHRS(value); }
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// W
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inline uint32_t mode_sw_speed() __attribute__((always_inline)) { return THIGH(); }
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inline void mode_sw_speed( uint32_t value) __attribute__((always_inline)) { THIGH(value); }
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// RW: XDIRECT
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inline int16_t coil_A_current() __attribute__((always_inline)) { return coil_A(); }
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inline void coil_A_current( int16_t value) __attribute__((always_inline)) { coil_B(value); }
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inline int16_t coil_B_current() __attribute__((always_inline)) { return coil_A(); }
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inline void coil_B_current( int16_t value) __attribute__((always_inline)) { coil_B(value); }
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// W
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inline uint32_t DCstep_min_speed() __attribute__((always_inline)) { return VDCMIN(); }
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inline void DCstep_min_speed( uint32_t value) __attribute__((always_inline)) { VDCMIN(value); }
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// RW: CHOPCONF
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inline uint8_t off_time() __attribute__((always_inline)) { return toff(); }
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// inline uint8_t hysterisis_start() __attribute__((always_inline)) { return hstrt(); }
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// inline int8_t hysterisis_low() __attribute__((always_inline)) { return hend(); }
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inline int8_t hysterisis_low() __attribute__((always_inline)) { return hysterisis_end(); }
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inline uint8_t fast_decay_time() __attribute__((always_inline)) { return fd(); }
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inline bool disable_I_comparator() __attribute__((always_inline)) { return disfdcc(); }
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inline bool random_off_time() __attribute__((always_inline)) { return rndtf(); }
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inline bool chopper_mode() __attribute__((always_inline)) { return chm(); }
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// inline uint8_t blank_time() __attribute__((always_inline)) { return tbl(); }
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inline bool high_sense_R() __attribute__((always_inline)) { return vsense(); }
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inline bool fullstep_threshold() __attribute__((always_inline)) { return vhighfs(); }
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inline bool high_speed_mode() __attribute__((always_inline)) { return vhighchm(); }
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inline uint8_t sync_phases() __attribute__((always_inline)) { return sync(); }
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// inline uint16_t microsteps() __attribute__((always_inline)) { return mres(); }
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inline bool interpolate() __attribute__((always_inline)) { return intpol(); }
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inline bool double_edge_step() __attribute__((always_inline)) { return dedge(); }
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inline bool disable_short_protection() __attribute__((always_inline)) { return diss2g(); }
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inline void off_time( uint8_t value) __attribute__((always_inline)) { toff(value); }
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// inline void hysterisis_start( uint8_t value) __attribute__((always_inline)) { hstrt(value); }
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// inline void hysterisis_low( int8_t value) __attribute__((always_inline)) { hend(value); }
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inline void hysterisis_low( int8_t value) __attribute__((always_inline)) { hysterisis_end(value); }
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inline void fast_decay_time( uint8_t value) __attribute__((always_inline)) { fd(value); }
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inline void disable_I_comparator( bool value) __attribute__((always_inline)) { disfdcc(value); }
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inline void random_off_time( bool value) __attribute__((always_inline)) { rndtf(value); }
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inline void chopper_mode( bool value) __attribute__((always_inline)) { chm(value); }
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// inline void blank_time( uint8_t value) __attribute__((always_inline)) { tbl(value); }
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inline void high_sense_R( bool value) __attribute__((always_inline)) { vsense(value); }
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inline void fullstep_threshold( bool value) __attribute__((always_inline)) { vhighfs(value); }
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inline void high_speed_mode( bool value) __attribute__((always_inline)) { vhighchm(value); }
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inline void sync_phases( uint8_t value) __attribute__((always_inline)) { sync(value); }
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// inline void microsteps( uint16_t value) __attribute__((always_inline)) { mres(value); }
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inline void interpolate( bool value) __attribute__((always_inline)) { intpol(value); }
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inline void double_edge_step( bool value) __attribute__((always_inline)) { dedge(value); }
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inline void disable_short_protection(bool value)__attribute__((always_inline)) { diss2g(value); }
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// W: COOLCONF
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inline uint8_t sg_min() __attribute__((always_inline)) { return semin(); }
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inline uint8_t sg_step_width() __attribute__((always_inline)) { return seup(); }
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inline uint8_t sg_max() __attribute__((always_inline)) { return semax(); }
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// inline uint8_t sg_current_decrease() __attribute__((always_inline)) { return sedn(); }
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inline uint8_t smart_min_current() __attribute__((always_inline)) { return seimin(); }
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inline int8_t sg_stall_value() __attribute__((always_inline)) { return sgt(); }
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inline bool sg_filter() __attribute__((always_inline)) { return sfilt(); }
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inline void sg_min( uint8_t value) __attribute__((always_inline)) { semin(value); }
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inline void sg_step_width( uint8_t value) __attribute__((always_inline)) { seup(value); }
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inline void sg_max( uint8_t value) __attribute__((always_inline)) { semax(value); }
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||||||
|
// inline void sg_current_decrease(uint8_t value)__attribute__((always_inline)) { sedn(value); }
|
||||||
|
inline void smart_min_current( uint8_t value) __attribute__((always_inline)) { seimin(value); }
|
||||||
|
inline void sg_stall_value( int8_t value) __attribute__((always_inline)) { sgt(value); }
|
||||||
|
inline void sg_filter( bool value) __attribute__((always_inline)) { sfilt(value); }
|
||||||
|
// W: PWMCONF
|
||||||
|
inline uint8_t stealth_amplitude() __attribute__((always_inline)) { return pwm_ampl(); }
|
||||||
|
inline uint8_t stealth_gradient() __attribute__((always_inline)) { return pwm_grad(); }
|
||||||
|
inline uint8_t stealth_freq() __attribute__((always_inline)) { return pwm_freq(); }
|
||||||
|
inline bool stealth_autoscale() __attribute__((always_inline)) { return pwm_autoscale(); }
|
||||||
|
inline bool stealth_symmetric() __attribute__((always_inline)) { return pwm_symmetric(); }
|
||||||
|
inline uint8_t standstill_mode() __attribute__((always_inline)) { return freewheel(); }
|
||||||
|
inline void stealth_amplitude( uint8_t value) __attribute__((always_inline)) { pwm_ampl(value); }
|
||||||
|
inline void stealth_gradient( uint8_t value) __attribute__((always_inline)) { pwm_grad(value); }
|
||||||
|
inline void stealth_freq( uint8_t value) __attribute__((always_inline)) { pwm_freq(value); }
|
||||||
|
inline void stealth_autoscale( bool value) __attribute__((always_inline)) { pwm_autoscale(value); }
|
||||||
|
inline void stealth_symmetric( bool value) __attribute__((always_inline)) { pwm_symmetric(value); }
|
||||||
|
inline void standstill_mode( uint8_t value) __attribute__((always_inline)) { freewheel(value); }
|
||||||
|
// W: ENCM_CTRL
|
||||||
|
inline bool invert_encoder() __attribute__((always_inline)) { return inv(); }
|
||||||
|
inline void invert_encoder( bool value) __attribute__((always_inline)) { inv(value); }
|
||||||
|
// R: DRV_STATUS
|
||||||
|
inline uint32_t DRVSTATUS() __attribute__((always_inline)) { return DRV_STATUS(); }
|
||||||
|
|
||||||
|
|
||||||
|
float Rsense = 0.11;
|
||||||
|
bool _started;
|
||||||
|
uint8_t status_response;
|
||||||
|
bool flag_otpw = false;
|
||||||
|
|
||||||
|
private:
|
||||||
|
//const uint8_t WRITE = 0b10000000;
|
||||||
|
//const uint8_t READ = 0b00000000;
|
||||||
|
uint8_t _pinEN = 16;
|
||||||
|
uint8_t _pinSTEP = 18;
|
||||||
|
uint8_t _pinCS = 17;
|
||||||
|
//const int MOSI_PIN = 12;
|
||||||
|
//const int MISO_PIN = 11;
|
||||||
|
//const int SCK_PIN = 13;
|
||||||
|
uint8_t _pinDIR = 19;
|
||||||
|
|
||||||
|
// Shadow registers
|
||||||
|
uint32_t GCONF_sr = 0x00000000UL,
|
||||||
|
IHOLD_IRUN_sr = 0x00000000UL,
|
||||||
|
TSTEP_sr = 0x00000000UL,
|
||||||
|
TPWMTHRS_sr = 0x00000000UL,
|
||||||
|
TCOOLTHRS_sr = 0x00000000UL,
|
||||||
|
THIGH_sr = 0x00000000UL,
|
||||||
|
XDIRECT_sr = 0x00000000UL,
|
||||||
|
VDCMIN_sr = 0x00000000UL,
|
||||||
|
MSLUT0_sr = 0x00000000UL,
|
||||||
|
MSLUT1_sr = 0x00000000UL,
|
||||||
|
MSLUT2_sr = 0x00000000UL,
|
||||||
|
MSLUT3_sr = 0x00000000UL,
|
||||||
|
MSLUT4_sr = 0x00000000UL,
|
||||||
|
MSLUT5_sr = 0x00000000UL,
|
||||||
|
MSLUT6_sr = 0x00000000UL,
|
||||||
|
MSLUT7_sr = 0x00000000UL,
|
||||||
|
MSLUTSEL_sr = 0x00000000UL,
|
||||||
|
CHOPCONF_sr = 0x00000000UL,
|
||||||
|
COOLCONF_sr = 0x00000000UL,
|
||||||
|
DCCTRL_sr = 0x00000000UL,
|
||||||
|
PWMCONF_sr = 0x00050480UL,
|
||||||
|
tmp_sr = 0x00000000UL,
|
||||||
|
TPOWERDOWN_sr = 0x00000000UL,
|
||||||
|
ENCM_CTRL_sr = 0x00000000UL,
|
||||||
|
GSTAT_sr = 0x00000000UL,
|
||||||
|
MSLUTSTART_sr = 0x00000000UL;
|
||||||
|
|
||||||
|
void send2130(uint8_t addressByte, uint32_t *config);
|
||||||
|
|
||||||
|
uint16_t val_mA = 0;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,288 @@
|
|||||||
|
#ifndef TMC2130Stepper_REGDEFS_h
|
||||||
|
#define TMC2130Stepper_REGDEFS_h
|
||||||
|
|
||||||
|
constexpr uint8_t TMC2130_READ = 0x00;
|
||||||
|
constexpr uint8_t TMC2130_WRITE = 0x80;
|
||||||
|
|
||||||
|
// Register memory positions
|
||||||
|
constexpr uint8_t REG_GCONF = 0x00;
|
||||||
|
constexpr uint8_t REG_GSTAT = 0x01;
|
||||||
|
constexpr uint8_t REG_IOIN = 0x04;
|
||||||
|
constexpr uint8_t REG_IHOLD_IRUN = 0x10;
|
||||||
|
constexpr uint8_t REG_TPOWERDOWN = 0x11;
|
||||||
|
constexpr uint8_t REG_TSTEP = 0x12;
|
||||||
|
constexpr uint8_t REG_TPWMTHRS = 0x13;
|
||||||
|
constexpr uint8_t REG_TCOOLTHRS = 0x14;
|
||||||
|
constexpr uint8_t REG_THIGH = 0x15;
|
||||||
|
constexpr uint8_t REG_XDIRECT = 0x2D;
|
||||||
|
constexpr uint8_t REG_VDCMIN = 0x33;
|
||||||
|
constexpr uint8_t REG_MSLUT0 = 0x60;
|
||||||
|
constexpr uint8_t REG_MSLUT1 = 0x61;
|
||||||
|
constexpr uint8_t REG_MSLUT2 = 0x62;
|
||||||
|
constexpr uint8_t REG_MSLUT3 = 0x63;
|
||||||
|
constexpr uint8_t REG_MSLUT4 = 0x64;
|
||||||
|
constexpr uint8_t REG_MSLUT5 = 0x65;
|
||||||
|
constexpr uint8_t REG_MSLUT6 = 0x66;
|
||||||
|
constexpr uint8_t REG_MSLUT7 = 0x67;
|
||||||
|
constexpr uint8_t REG_MSLUTSEL = 0x68;
|
||||||
|
constexpr uint8_t REG_MSLUTSTART = 0x69;
|
||||||
|
constexpr uint8_t REG_MSCNT = 0x6A;
|
||||||
|
constexpr uint8_t REG_MSCURACT = 0x6B;
|
||||||
|
constexpr uint8_t REG_CHOPCONF = 0x6C;
|
||||||
|
constexpr uint8_t REG_COOLCONF = 0x6D;
|
||||||
|
constexpr uint8_t REG_DCCTRL = 0x6E;
|
||||||
|
constexpr uint8_t REG_DRV_STATUS = 0x6F;
|
||||||
|
constexpr uint8_t REG_PWMCONF = 0x70;
|
||||||
|
constexpr uint8_t REG_PWM_SCALE = 0x71;
|
||||||
|
constexpr uint8_t REG_ENCM_CTRL = 0x72;
|
||||||
|
constexpr uint8_t REG_LOST_STEPS = 0x73;
|
||||||
|
|
||||||
|
// SPI_STATUS
|
||||||
|
constexpr uint8_t RESET_FLAG_bp = 0;
|
||||||
|
constexpr uint8_t DRIVER_ERROR_bp = 1;
|
||||||
|
constexpr uint8_t SG2_bp = 2;
|
||||||
|
constexpr uint8_t STANDSTILL_bp = 3;
|
||||||
|
constexpr uint32_t RESET_FLAG_bm = 0x1UL;
|
||||||
|
constexpr uint32_t DRIVER_ERROR_bm = 0x2UL;
|
||||||
|
constexpr uint32_t SG2_bm = 0x4UL;
|
||||||
|
constexpr uint32_t STANDSTILL_bm = 0x8UL;
|
||||||
|
|
||||||
|
// GCONF
|
||||||
|
constexpr uint8_t I_SCALE_ANALOG_bp = 0;
|
||||||
|
constexpr uint8_t INTERNAL_RSENSE_bp = 1;
|
||||||
|
constexpr uint8_t EN_PWM_MODE_bp = 2;
|
||||||
|
constexpr uint8_t ENC_COMMUTATION_bp = 3;
|
||||||
|
constexpr uint8_t SHAFT_bp = 4;
|
||||||
|
constexpr uint8_t DIAG0_ERROR_bp = 5;
|
||||||
|
constexpr uint8_t DIAG0_OTPW_bp = 6;
|
||||||
|
constexpr uint8_t DIAG0_STALL_bp = 7;
|
||||||
|
constexpr uint8_t DIAG1_STALL_bp = 8;
|
||||||
|
constexpr uint8_t DIAG1_INDEX_bp = 9;
|
||||||
|
constexpr uint8_t DIAG1_ONSTATE_bp = 10;
|
||||||
|
constexpr uint8_t DIAG1_STEPS_SKIPPED_bp = 11;
|
||||||
|
constexpr uint8_t DIAG0_INT_PUSHPULL_bp = 12;
|
||||||
|
constexpr uint8_t DIAG1_PUSHPULL_bp = 13;
|
||||||
|
constexpr uint8_t SMALL_HYSTERISIS_bp = 14;
|
||||||
|
constexpr uint8_t STOP_ENABLE_bp = 15;
|
||||||
|
constexpr uint8_t DIRECT_MODE_bp = 16;
|
||||||
|
constexpr uint32_t GCONF_bm = 0x3FFFFUL;
|
||||||
|
constexpr uint32_t I_SCALE_ANALOG_bm = 0x1UL;
|
||||||
|
constexpr uint32_t INTERNAL_RSENSE_bm = 0x2UL;
|
||||||
|
constexpr uint32_t EN_PWM_MODE_bm = 0x4UL;
|
||||||
|
constexpr uint32_t ENC_COMMUTATION_bm = 0x8UL;
|
||||||
|
constexpr uint32_t SHAFT_bm = 0x10UL;
|
||||||
|
constexpr uint32_t DIAG0_ERROR_bm = 0x20UL;
|
||||||
|
constexpr uint32_t DIAG0_OTPW_bm = 0x40UL;
|
||||||
|
constexpr uint32_t DIAG0_STALL_bm = 0x80UL;
|
||||||
|
constexpr uint32_t DIAG1_STALL_bm = 0x100UL;
|
||||||
|
constexpr uint32_t DIAG1_INDEX_bm = 0x200UL;
|
||||||
|
constexpr uint32_t DIAG1_ONSTATE_bm = 0x400UL;
|
||||||
|
constexpr uint32_t DIAG1_STEPS_SKIPPED_bm = 0x800UL;
|
||||||
|
constexpr uint32_t DIAG0_INT_PUSHPULL_bm = 0x1000UL;
|
||||||
|
constexpr uint32_t DIAG1_PUSHPULL_bm = 0x2000UL;
|
||||||
|
constexpr uint32_t SMALL_HYSTERISIS_bm = 0x4000UL;
|
||||||
|
constexpr uint32_t STOP_ENABLE_bm = 0x8000UL;
|
||||||
|
constexpr uint32_t DIRECT_MODE_bm = 0x10000UL;
|
||||||
|
// GSTAT
|
||||||
|
constexpr uint8_t RESET_bp = 0;
|
||||||
|
constexpr uint8_t DRV_ERR_bp = 1;
|
||||||
|
constexpr uint8_t UV_CP_bp = 2;
|
||||||
|
constexpr uint32_t GSTAT_bm = 0x7UL;
|
||||||
|
constexpr uint32_t RESET_bm = 0b1UL;
|
||||||
|
constexpr uint32_t DRV_ERR_bm = 0b10UL;
|
||||||
|
constexpr uint32_t UV_CP_bm = 0b100UL;
|
||||||
|
// IOIN
|
||||||
|
constexpr uint8_t STEP_bp = 0;
|
||||||
|
constexpr uint8_t DIR_bp = 1;
|
||||||
|
constexpr uint8_t DCEN_CFG4_bp = 2;
|
||||||
|
constexpr uint8_t DCIN_CFG5_bp = 3;
|
||||||
|
constexpr uint8_t DRV_ENN_CFG6_bp = 4;
|
||||||
|
constexpr uint8_t DCO_bp = 5;
|
||||||
|
constexpr uint8_t VERSION_bp = 24;
|
||||||
|
constexpr uint32_t IOIN_bm = 0xFF00003FUL;
|
||||||
|
constexpr uint32_t STEP_bm = 0x1UL;
|
||||||
|
constexpr uint32_t DIR_bm = 0x2UL;
|
||||||
|
constexpr uint32_t DCEN_CFG4_bm = 0x4UL;
|
||||||
|
constexpr uint32_t DCIN_CFG5_bm = 0x8UL;
|
||||||
|
constexpr uint32_t DRV_ENN_CFG6_bm = 0x10UL;
|
||||||
|
constexpr uint32_t DCO_bm = 0x20UL;
|
||||||
|
constexpr uint32_t VERSION_bm = 0xFF000000UL;
|
||||||
|
// IHOLD_IRUN
|
||||||
|
constexpr uint8_t IHOLD_bp = 0;
|
||||||
|
constexpr uint8_t IRUN_bp = 8;
|
||||||
|
constexpr uint8_t IHOLDDELAY_bp = 16;
|
||||||
|
constexpr uint32_t IHOLD_IRUN_bm = 0xF1F1FUL;
|
||||||
|
constexpr uint32_t IHOLD_bm = 0x1FUL;
|
||||||
|
constexpr uint32_t IRUN_bm = 0x1F00UL;
|
||||||
|
constexpr uint32_t IHOLDDELAY_bm = 0xF0000UL;
|
||||||
|
// TPOWERDOWN
|
||||||
|
constexpr uint8_t TPOWERDOWN_bp = 0;
|
||||||
|
constexpr uint32_t TPOWERDOWN_bm = 0xFFUL;
|
||||||
|
// TSTEP
|
||||||
|
constexpr uint8_t TSTEP_bp = 0;
|
||||||
|
constexpr uint32_t TSTEP_bm = 0xFFFFFUL;
|
||||||
|
// TPWMTHRS
|
||||||
|
constexpr uint8_t TPWMTHRS_bp = 0;
|
||||||
|
constexpr uint32_t TPWMTHRS_bm = 0xFFFFFUL;
|
||||||
|
// TCOOLTHRS
|
||||||
|
constexpr uint8_t TCOOLTHRS_bp = 0;
|
||||||
|
constexpr uint32_t TCOOLTHRS_bm = 0xFFFFFUL;
|
||||||
|
// THIGH
|
||||||
|
constexpr uint8_t THIGH_bp = 0;
|
||||||
|
constexpr uint32_t THIGH_bm = 0xFFFFFUL;
|
||||||
|
// XDIRECT
|
||||||
|
constexpr uint8_t XDIRECT_bp = 0;
|
||||||
|
constexpr uint32_t XDIRECT_bm = 0xFFFFFFFFUL;
|
||||||
|
constexpr uint8_t COIL_A_bp = 0;
|
||||||
|
constexpr uint8_t COIL_B_bp = 16;
|
||||||
|
constexpr uint32_t COIL_A_bm = 0x1FFUL;
|
||||||
|
constexpr uint32_t COIL_B_bm = 0x1FF0000UL;
|
||||||
|
// VDCMIN
|
||||||
|
constexpr uint8_t VDCMIN_bp = 0;
|
||||||
|
constexpr uint32_t VDCMIN_bm = 0x7FFFFFUL;
|
||||||
|
// MSLUT0
|
||||||
|
constexpr uint8_t MSLUT0_bp = 0;
|
||||||
|
constexpr uint32_t MSLUT0_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUT1
|
||||||
|
constexpr uint8_t MSLUT1_bp = 0;
|
||||||
|
constexpr uint32_t MSLUT1_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUT2
|
||||||
|
constexpr uint8_t MSLUT2_bp = 0;
|
||||||
|
constexpr uint32_t MSLUT2_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUT3
|
||||||
|
constexpr uint8_t MSLUT3_bp = 0;
|
||||||
|
constexpr uint32_t MSLUT3_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUT4
|
||||||
|
constexpr uint8_t MSLUT4_bp = 0;
|
||||||
|
constexpr uint32_t MSLUT4_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUT5
|
||||||
|
constexpr uint8_t MSLUT5_bp = 0;
|
||||||
|
constexpr uint32_t MSLUT5_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUT6
|
||||||
|
constexpr uint8_t MSLUT6_bp = 0;
|
||||||
|
constexpr uint32_t MSLUT6_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUT7
|
||||||
|
constexpr uint8_t MSLUT7_bp = 0;
|
||||||
|
constexpr uint32_t MSLUT7_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUTSEL
|
||||||
|
constexpr uint8_t MSLUTSEL_bp = 0;
|
||||||
|
constexpr uint32_t MSLUTSEL_bm = 0xFFFFFFFFUL;
|
||||||
|
// MSLUTSTART
|
||||||
|
constexpr uint8_t START_SIN_bp = 0;
|
||||||
|
constexpr uint8_t START_SIN90_bp = 16;
|
||||||
|
constexpr uint32_t START_SIN_bm = 0xFFUL;
|
||||||
|
constexpr uint32_t START_SIN90_bm = 0xFF0000UL;
|
||||||
|
// MSCNT
|
||||||
|
constexpr uint8_t MSCNT_bp = 0;
|
||||||
|
constexpr uint32_t MSCNT_bm = 0x3FFUL;
|
||||||
|
// MSCURACT
|
||||||
|
constexpr uint8_t CUR_A_bp = 0;
|
||||||
|
constexpr uint8_t CUR_B_bp = 16;
|
||||||
|
constexpr uint32_t CUR_A_bm = 0x1FFUL;
|
||||||
|
constexpr uint32_t CUR_B_bm = 0x1FF0000UL;
|
||||||
|
// CHOPCONF
|
||||||
|
constexpr uint8_t TOFF_bp = 0;
|
||||||
|
constexpr uint8_t HSTRT_bp = 4;
|
||||||
|
constexpr uint8_t FD_bp = 4;
|
||||||
|
constexpr uint8_t HEND_bp = 7;
|
||||||
|
constexpr uint8_t DISFDCC_bp = 12;
|
||||||
|
constexpr uint8_t RNDTF_bp = 13;
|
||||||
|
constexpr uint8_t CHM_bp = 14;
|
||||||
|
constexpr uint8_t TBL_bp = 15;
|
||||||
|
constexpr uint8_t VSENSE_bp = 17;
|
||||||
|
constexpr uint8_t VHIGHFS_bp = 18;
|
||||||
|
constexpr uint8_t VHIGHCHM_bp = 19;
|
||||||
|
constexpr uint8_t SYNC_bp = 20;
|
||||||
|
constexpr uint8_t MRES_bp = 24;
|
||||||
|
constexpr uint8_t INTPOL_bp = 28;
|
||||||
|
constexpr uint8_t DEDGE_bp = 29;
|
||||||
|
constexpr uint8_t DISS2G_bp = 30;
|
||||||
|
constexpr uint32_t CHOPCONF_bm = 0xFFFFFFFFUL;
|
||||||
|
constexpr uint32_t TOFF_bm = 0xFUL;
|
||||||
|
constexpr uint32_t HSTRT_bm = 0x70UL;
|
||||||
|
constexpr uint32_t FD_bm = 0x830UL;
|
||||||
|
constexpr uint32_t HEND_bm = 0x780UL;
|
||||||
|
constexpr uint32_t DISFDCC_bm = 0x1000UL;
|
||||||
|
constexpr uint32_t RNDTF_bm = 0x2000UL;
|
||||||
|
constexpr uint32_t CHM_bm = 0x4000UL;
|
||||||
|
constexpr uint32_t TBL_bm = 0x18000UL;
|
||||||
|
constexpr uint32_t VSENSE_bm = 0x20000UL;
|
||||||
|
constexpr uint32_t VHIGHFS_bm = 0x40000UL;
|
||||||
|
constexpr uint32_t VHIGHCHM_bm = 0x80000UL;
|
||||||
|
constexpr uint32_t SYNC_bm = 0xF00000UL;
|
||||||
|
constexpr uint32_t MRES_bm = 0xF000000UL;
|
||||||
|
constexpr uint32_t INTPOL_bm = 0x10000000UL;
|
||||||
|
constexpr uint32_t DEDGE_bm = 0x20000000UL;
|
||||||
|
constexpr uint32_t DISS2G_bm = 0x40000000UL;
|
||||||
|
// COOLCONF
|
||||||
|
constexpr uint8_t SEMIN_bp = 0;
|
||||||
|
constexpr uint8_t SEUP_bp = 5;
|
||||||
|
constexpr uint8_t SEMAX_bp = 8;
|
||||||
|
constexpr uint8_t SEDN_bp = 13;
|
||||||
|
constexpr uint8_t SEIMIN_bp = 15;
|
||||||
|
constexpr uint8_t SGT_bp = 16;
|
||||||
|
constexpr uint8_t SFILT_bp = 24;
|
||||||
|
constexpr uint32_t COOLCONF_bm = 0x3FFFFFFUL;
|
||||||
|
constexpr uint32_t SEMIN_bm = 0xFUL;
|
||||||
|
constexpr uint32_t SEUP_bm = 0x60UL;
|
||||||
|
constexpr uint32_t SEMAX_bm = 0xF00UL;
|
||||||
|
constexpr uint32_t SEDN_bm = 0x6000UL;
|
||||||
|
constexpr uint32_t SEIMIN_bm = 0x8000UL;
|
||||||
|
constexpr uint32_t SGT_bm = 0x7F0000UL;
|
||||||
|
constexpr uint32_t SFILT_bm = 0x1000000UL;
|
||||||
|
// DCCTRL
|
||||||
|
constexpr uint8_t DC_TIME_bp = 0;
|
||||||
|
constexpr uint8_t DC_SG_bp = 16;
|
||||||
|
constexpr uint32_t DC_TIME_bm = 0x3FFUL;
|
||||||
|
constexpr uint32_t DC_SG_bm = 0xFF0000UL;
|
||||||
|
// DRV_STATUS
|
||||||
|
constexpr uint8_t SG_RESULT_bp = 0;
|
||||||
|
constexpr uint8_t FSACTIVE_bp = 15;
|
||||||
|
constexpr uint8_t CS_ACTUAL_bp = 16;
|
||||||
|
constexpr uint8_t STALLGUARD_bp = 24;
|
||||||
|
constexpr uint8_t OT_bp = 25;
|
||||||
|
constexpr uint8_t OTPW_bp = 26;
|
||||||
|
constexpr uint8_t S2GA_bp = 27;
|
||||||
|
constexpr uint8_t S2GB_bp = 28;
|
||||||
|
constexpr uint8_t OLA_bp = 29;
|
||||||
|
constexpr uint8_t OLB_bp = 30;
|
||||||
|
constexpr uint8_t STST_bp = 31;
|
||||||
|
constexpr uint32_t DRV_STATUS_bm = 0xFFFFFFFFUL;
|
||||||
|
constexpr uint32_t SG_RESULT_bm = 0x3FFUL;
|
||||||
|
constexpr uint32_t FSACTIVE_bm = 0x8000UL;
|
||||||
|
constexpr uint32_t CS_ACTUAL_bm = 0x1F0000UL;
|
||||||
|
constexpr uint32_t STALLGUARD_bm = 0x1000000UL;
|
||||||
|
constexpr uint32_t OT_bm = 0x2000000UL;
|
||||||
|
constexpr uint32_t OTPW_bm = 0x4000000UL;
|
||||||
|
constexpr uint32_t S2GA_bm = 0x8000000UL;
|
||||||
|
constexpr uint32_t S2GB_bm = 0x10000000UL;
|
||||||
|
constexpr uint32_t OLA_bm = 0x20000000UL;
|
||||||
|
constexpr uint32_t OLB_bm = 0x40000000UL;
|
||||||
|
constexpr uint32_t STST_bm = 0x80000000UL;
|
||||||
|
// PWMCONF
|
||||||
|
constexpr uint8_t PWM_AMPL_bp = 0;
|
||||||
|
constexpr uint8_t PWM_GRAD_bp = 8;
|
||||||
|
constexpr uint8_t PWM_FREQ_bp = 16;
|
||||||
|
constexpr uint8_t PWM_AUTOSCALE_bp = 18;
|
||||||
|
constexpr uint8_t PWM_SYMMETRIC_bp = 19;
|
||||||
|
constexpr uint8_t FREEWHEEL_bp = 20;
|
||||||
|
constexpr uint32_t PWMCONF_bm = 0x7FFFFFUL;
|
||||||
|
constexpr uint32_t PWM_AMPL_bm = 0xFFUL;
|
||||||
|
constexpr uint32_t PWM_GRAD_bm = 0xFF00UL;
|
||||||
|
constexpr uint32_t PWM_FREQ_bm = 0x30000UL;
|
||||||
|
constexpr uint32_t PWM_AUTOSCALE_bm = 0x40000UL;
|
||||||
|
constexpr uint32_t PWM_SYMMETRIC_bm = 0x80000UL;
|
||||||
|
constexpr uint32_t FREEWHEEL_bm = 0x300000UL;
|
||||||
|
// PWM_SCALE
|
||||||
|
constexpr uint8_t PWM_SCALE_bp = 0;
|
||||||
|
constexpr uint32_t PWM_SCALE_bm = 0xFFUL;
|
||||||
|
// ENCM_CTRL
|
||||||
|
constexpr uint8_t INV_bp = 0;
|
||||||
|
constexpr uint8_t MAXSPEED_bp = 1;
|
||||||
|
constexpr uint32_t INV_bm = 0x1UL;
|
||||||
|
constexpr uint32_t MAXSPEED_bm = 0x2UL;
|
||||||
|
// LOST_STEPS
|
||||||
|
constexpr uint8_t LOST_STEPS_bp = 0;
|
||||||
|
constexpr uint32_t LOST_STEPS_bm = 0xFFFFFUL;
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,33 @@
|
|||||||
|
#ifndef TMC2130Stepper_UTILITY_h
|
||||||
|
#define TMC2130Stepper_UTILITY_h
|
||||||
|
|
||||||
|
void print_HEX(uint32_t data) {
|
||||||
|
for(uint8_t B=24; B>=4; B-=8){
|
||||||
|
Serial.print((data>>(B+4))&0xF, HEX);
|
||||||
|
Serial.print((data>>B)&0xF, HEX);
|
||||||
|
Serial.print(":");
|
||||||
|
}
|
||||||
|
Serial.print((data>>4)&0xF, HEX);
|
||||||
|
Serial.print(data&0xF, HEX);
|
||||||
|
}
|
||||||
|
|
||||||
|
void print_BIN(uint32_t data) {
|
||||||
|
int b = 31;
|
||||||
|
for(; b>=24; b--){
|
||||||
|
Serial.print((data>>b)&0b1);
|
||||||
|
}
|
||||||
|
Serial.print(".");
|
||||||
|
for(; b>=16; b--){
|
||||||
|
Serial.print((data>>b)&0b1);
|
||||||
|
}
|
||||||
|
Serial.print(".");
|
||||||
|
for(; b>=8; b--){
|
||||||
|
Serial.print((data>>b)&0b1);
|
||||||
|
}
|
||||||
|
Serial.print(".");
|
||||||
|
for(; b>=0; b--){
|
||||||
|
Serial.print((data>>b)&0b1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,309 @@
|
|||||||
|
#include <SPI.h>
|
||||||
|
#include "TMC2130Stepper.h"
|
||||||
|
#include "TMC2130Stepper_MACROS.h"
|
||||||
|
|
||||||
|
TMC2130Stepper::TMC2130Stepper(uint8_t pinEN, uint8_t pinDIR, uint8_t pinStep, uint8_t pinCS) {
|
||||||
|
_started = false;
|
||||||
|
|
||||||
|
this->_pinEN = pinEN;
|
||||||
|
this->_pinDIR = pinDIR;
|
||||||
|
this->_pinSTEP = pinStep;
|
||||||
|
this->_pinCS = pinCS;
|
||||||
|
|
||||||
|
begin();
|
||||||
|
}
|
||||||
|
|
||||||
|
void TMC2130Stepper::begin() {
|
||||||
|
#ifdef TMC2130DEBUG
|
||||||
|
Serial.println("TMC2130 Stepper driver library");
|
||||||
|
Serial.print("Enable pin: ");
|
||||||
|
Serial.println(_pinEN);
|
||||||
|
Serial.print("Direction pin: ");
|
||||||
|
Serial.println(_pinDIR);
|
||||||
|
Serial.print("Step pin: ");
|
||||||
|
Serial.println(_pinSTEP);
|
||||||
|
Serial.print("Chip select pin: ");
|
||||||
|
Serial.println(_pinCS);
|
||||||
|
#endif
|
||||||
|
//set pins
|
||||||
|
pinMode(_pinEN, OUTPUT);
|
||||||
|
pinMode(_pinDIR, OUTPUT);
|
||||||
|
pinMode(_pinSTEP, OUTPUT);
|
||||||
|
pinMode(_pinCS, OUTPUT);
|
||||||
|
digitalWrite(_pinEN, HIGH); //deactivate driver (LOW active)
|
||||||
|
digitalWrite(_pinDIR, LOW); //LOW or HIGH
|
||||||
|
digitalWrite(_pinSTEP, LOW);
|
||||||
|
digitalWrite(_pinCS, HIGH);
|
||||||
|
/*
|
||||||
|
pinMode(MOSI, OUTPUT);
|
||||||
|
pinMode(MISO, INPUT);
|
||||||
|
pinMode(SCK, OUTPUT);
|
||||||
|
digitalWrite(MOSI, LOW);
|
||||||
|
digitalWrite(MISO, HIGH);
|
||||||
|
digitalWrite(SCK, LOW);
|
||||||
|
|
||||||
|
SPI.begin();
|
||||||
|
*/
|
||||||
|
GCONF(GCONF_sr);
|
||||||
|
CHOPCONF(CHOPCONF_sr);
|
||||||
|
COOLCONF(COOLCONF_sr);
|
||||||
|
PWMCONF(PWMCONF_sr);
|
||||||
|
IHOLD_IRUN(IHOLD_IRUN_sr);
|
||||||
|
|
||||||
|
toff(8); //off_time(8);
|
||||||
|
tbl(1); //blank_time(24);
|
||||||
|
|
||||||
|
_started = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
//uint32_t TMC2130Stepper::send2130(uint8_t addressByte, uint32_t *config, uint32_t value, uint32_t mask) {
|
||||||
|
void TMC2130Stepper::send2130(uint8_t addressByte, uint32_t *config) {
|
||||||
|
//uint8_t s;
|
||||||
|
SPI.begin();
|
||||||
|
SPI.beginTransaction(SPISettings(16000000/8, MSBFIRST, SPI_MODE3));
|
||||||
|
digitalWrite(_pinCS, LOW);
|
||||||
|
|
||||||
|
status_response = SPI.transfer(addressByte & 0xFF); // s =
|
||||||
|
#ifdef TMC2130DEBUG
|
||||||
|
Serial.println("## Received parameters:");
|
||||||
|
Serial.print("## Address byte: ");
|
||||||
|
Serial.println(addressByte, HEX);
|
||||||
|
Serial.print("## Config: ");
|
||||||
|
Serial.println(*config, BIN);
|
||||||
|
Serial.print("## status_response: ");
|
||||||
|
Serial.println(status_response, BIN);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (addressByte >> 7) { // Check if WRITE command
|
||||||
|
//*config &= ~mask; // Clear bits being set
|
||||||
|
//*config |= (value & mask); // Set new values
|
||||||
|
SPI.transfer((*config >> 24) & 0xFF);
|
||||||
|
SPI.transfer((*config >> 16) & 0xFF);
|
||||||
|
SPI.transfer((*config >> 8) & 0xFF);
|
||||||
|
SPI.transfer(*config & 0xFF);
|
||||||
|
#ifdef TMC2130DEBUG
|
||||||
|
Serial.println("## WRITE cmd");
|
||||||
|
Serial.println("##########################");
|
||||||
|
#endif
|
||||||
|
} else { // READ command
|
||||||
|
SPI.transfer16(0x0000); // Clear SPI
|
||||||
|
SPI.transfer16(0x0000);
|
||||||
|
digitalWrite(_pinCS, HIGH);
|
||||||
|
digitalWrite(_pinCS, LOW);
|
||||||
|
|
||||||
|
SPI.transfer(addressByte & 0xFF); // Send the address byte again
|
||||||
|
*config = SPI.transfer(0x00);
|
||||||
|
*config <<= 8;
|
||||||
|
*config |= SPI.transfer(0x00);
|
||||||
|
*config <<= 8;
|
||||||
|
*config |= SPI.transfer(0x00);
|
||||||
|
*config <<= 8;
|
||||||
|
*config |= SPI.transfer(0x00);
|
||||||
|
#ifdef TMC2130DEBUG
|
||||||
|
Serial.println("## READ cmd");
|
||||||
|
Serial.print("## Received config: ");
|
||||||
|
Serial.println(*config, BIN);
|
||||||
|
Serial.println("##########################");
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
digitalWrite(_pinCS, HIGH);
|
||||||
|
SPI.endTransaction();
|
||||||
|
|
||||||
|
//return s;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool TMC2130Stepper::checkOT() {
|
||||||
|
uint32_t response = DRV_STATUS();
|
||||||
|
if (response & OTPW_bm) {
|
||||||
|
flag_otpw = 1;
|
||||||
|
return true; // bit 26 for overtemperature warning flag
|
||||||
|
}
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool TMC2130Stepper::getOTPW() { return flag_otpw; }
|
||||||
|
|
||||||
|
void TMC2130Stepper::clear_otpw() { flag_otpw = 0; }
|
||||||
|
|
||||||
|
bool TMC2130Stepper::isEnabled() { return !digitalRead(_pinEN) && toff(); }
|
||||||
|
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// R+C: GSTAT
|
||||||
|
void TMC2130Stepper::GSTAT(uint8_t input){
|
||||||
|
GSTAT_sr = input;
|
||||||
|
WRITE_REG(GSTAT);
|
||||||
|
}
|
||||||
|
uint8_t TMC2130Stepper::GSTAT() { READ_REG_R(GSTAT); }
|
||||||
|
bool TMC2130Stepper::reset() { GET_BYTE(GSTAT, RESET); }
|
||||||
|
bool TMC2130Stepper::drv_err() { GET_BYTE(GSTAT, DRV_ERR); }
|
||||||
|
bool TMC2130Stepper::uv_cp() { GET_BYTE(GSTAT, UV_CP); }
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// R: IOIN
|
||||||
|
uint32_t TMC2130Stepper::IOIN() { READ_REG_R(IOIN); }
|
||||||
|
bool TMC2130Stepper::step() { GET_BYTE_R(IOIN, STEP); }
|
||||||
|
bool TMC2130Stepper::dir() { GET_BYTE_R(IOIN, DIR); }
|
||||||
|
bool TMC2130Stepper::dcen_cfg4() { GET_BYTE_R(IOIN, DCEN_CFG4); }
|
||||||
|
bool TMC2130Stepper::dcin_cfg5() { GET_BYTE_R(IOIN, DCIN_CFG5); }
|
||||||
|
bool TMC2130Stepper::drv_enn_cfg6() { GET_BYTE_R(IOIN, DRV_ENN_CFG6); }
|
||||||
|
bool TMC2130Stepper::dco() { GET_BYTE_R(IOIN, DCO); }
|
||||||
|
uint8_t TMC2130Stepper::version() { GET_BYTE_R(IOIN, VERSION); }
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// W: TPOWERDOWN
|
||||||
|
uint32_t TMC2130Stepper::TPOWERDOWN() { return TPOWERDOWN_sr; }
|
||||||
|
void TMC2130Stepper::TPOWERDOWN(uint32_t input) {
|
||||||
|
TPOWERDOWN_sr = input;
|
||||||
|
WRITE_REG(TPOWERDOWN);
|
||||||
|
}
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// R: TSTEP
|
||||||
|
uint32_t TMC2130Stepper::TSTEP() { READ_REG_R(TSTEP); }
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// W: TPWMTHRS
|
||||||
|
uint32_t TMC2130Stepper::TPWMTHRS() { return TPWMTHRS_sr; }
|
||||||
|
void TMC2130Stepper::TPWMTHRS(uint32_t input) {
|
||||||
|
TPWMTHRS_sr = input;
|
||||||
|
WRITE_REG(TPWMTHRS);
|
||||||
|
}
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// W: TCOOLTHRS
|
||||||
|
uint32_t TMC2130Stepper::TCOOLTHRS() { return TCOOLTHRS_sr; }
|
||||||
|
void TMC2130Stepper::TCOOLTHRS(uint32_t input) {
|
||||||
|
TCOOLTHRS_sr = input;
|
||||||
|
WRITE_REG(TCOOLTHRS);
|
||||||
|
}
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// W: THIGH
|
||||||
|
uint32_t TMC2130Stepper::THIGH() { return THIGH_sr; }
|
||||||
|
void TMC2130Stepper::THIGH(uint32_t input) {
|
||||||
|
THIGH_sr = input;
|
||||||
|
WRITE_REG(THIGH);
|
||||||
|
}
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// RW: XDIRECT
|
||||||
|
uint32_t TMC2130Stepper::XDIRECT() { READ_REG(XDIRECT); }
|
||||||
|
void TMC2130Stepper::XDIRECT(uint32_t input) {
|
||||||
|
XDIRECT_sr = input;
|
||||||
|
WRITE_REG(XDIRECT);
|
||||||
|
}
|
||||||
|
void TMC2130Stepper::coil_A(int16_t B) { MOD_REG(XDIRECT, COIL_A); }
|
||||||
|
void TMC2130Stepper::coil_B(int16_t B) { MOD_REG(XDIRECT, COIL_B); }
|
||||||
|
int16_t TMC2130Stepper::coil_A() { GET_BYTE_R(XDIRECT, COIL_A); }
|
||||||
|
int16_t TMC2130Stepper::coil_B() { GET_BYTE_R(XDIRECT, COIL_A); }
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// W: VDCMIN
|
||||||
|
uint32_t TMC2130Stepper::VDCMIN() { return VDCMIN_sr; }
|
||||||
|
void TMC2130Stepper::VDCMIN(uint32_t input) {
|
||||||
|
VDCMIN_sr = input;
|
||||||
|
WRITE_REG(VDCMIN);
|
||||||
|
}
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// R: PWM_SCALE
|
||||||
|
uint8_t TMC2130Stepper::PWM_SCALE() { READ_REG_R(PWM_SCALE); }
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// W: ENCM_CTRL
|
||||||
|
uint8_t TMC2130Stepper::ENCM_CTRL() { return ENCM_CTRL_sr; }
|
||||||
|
void TMC2130Stepper::ENCM_CTRL(uint8_t input) {
|
||||||
|
ENCM_CTRL_sr = input;
|
||||||
|
WRITE_REG(ENCM_CTRL);
|
||||||
|
}
|
||||||
|
void TMC2130Stepper::inv(bool B) { MOD_REG(ENCM_CTRL, INV); }
|
||||||
|
void TMC2130Stepper::maxspeed(bool B) { MOD_REG(ENCM_CTRL, MAXSPEED); }
|
||||||
|
bool TMC2130Stepper::inv() { GET_BYTE(ENCM_CTRL, INV); }
|
||||||
|
bool TMC2130Stepper::maxspeed() { GET_BYTE(ENCM_CTRL, MAXSPEED);}
|
||||||
|
///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
// R: LOST_STEPS
|
||||||
|
uint32_t TMC2130Stepper::LOST_STEPS() { READ_REG_R(LOST_STEPS); }
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Helper functions
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
Requested current = mA = I_rms/1000
|
||||||
|
Equation for current:
|
||||||
|
I_rms = (CS+1)/32 * V_fs/(R_sense+0.02ohm) * 1/sqrt(2)
|
||||||
|
Solve for CS ->
|
||||||
|
CS = 32*sqrt(2)*I_rms*(R_sense+0.02)/V_fs - 1
|
||||||
|
|
||||||
|
Example:
|
||||||
|
vsense = 0b0 -> V_fs = 0.325V
|
||||||
|
mA = 1640mA = I_rms/1000 = 1.64A
|
||||||
|
R_sense = 0.10 Ohm
|
||||||
|
->
|
||||||
|
CS = 32*sqrt(2)*1.64*(0.10+0.02)/0.325 - 1 = 26.4
|
||||||
|
CS = 26
|
||||||
|
*/
|
||||||
|
void TMC2130Stepper::rms_current(uint16_t mA, float multiplier, float RS) {
|
||||||
|
Rsense = RS;
|
||||||
|
uint8_t CS = 32.0*1.41421*mA/1000.0*(Rsense+0.02)/0.325 - 1;
|
||||||
|
// If Current Scale is too low, turn on high sensitivity R_sense and calculate again
|
||||||
|
if (CS < 16) {
|
||||||
|
vsense(true);
|
||||||
|
CS = 32.0*1.41421*mA/1000.0*(Rsense+0.02)/0.180 - 1;
|
||||||
|
} else if(vsense()) { // If CS >= 16, turn off high_sense_r if it's currently ON
|
||||||
|
vsense(false);
|
||||||
|
}
|
||||||
|
irun(CS);
|
||||||
|
ihold(CS*multiplier);
|
||||||
|
val_mA = mA;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint16_t TMC2130Stepper::rms_current() {
|
||||||
|
return (float)(irun()+1)/32.0 * (vsense()?0.180:0.325)/(Rsense+0.02) / 1.41421 * 1000;
|
||||||
|
}
|
||||||
|
|
||||||
|
void TMC2130Stepper::setCurrent(uint16_t mA, float R, float multiplier) { rms_current(mA, multiplier, R); }
|
||||||
|
uint16_t TMC2130Stepper::getCurrent() { return val_mA; }
|
||||||
|
|
||||||
|
void TMC2130Stepper::SilentStepStick2130(uint16_t current) { rms_current(current); }
|
||||||
|
|
||||||
|
void TMC2130Stepper::microsteps(uint16_t ms) {
|
||||||
|
switch(ms) {
|
||||||
|
case 256: mres(0); break;
|
||||||
|
case 128: mres(1); break;
|
||||||
|
case 64: mres(2); break;
|
||||||
|
case 32: mres(3); break;
|
||||||
|
case 16: mres(4); break;
|
||||||
|
case 8: mres(5); break;
|
||||||
|
case 4: mres(6); break;
|
||||||
|
case 2: mres(7); break;
|
||||||
|
case 0: mres(8); break;
|
||||||
|
default: break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
uint16_t TMC2130Stepper::microsteps() {
|
||||||
|
switch(mres()) {
|
||||||
|
case 0: return 256;
|
||||||
|
case 1: return 128;
|
||||||
|
case 2: return 64;
|
||||||
|
case 3: return 32;
|
||||||
|
case 4: return 16;
|
||||||
|
case 5: return 8;
|
||||||
|
case 6: return 4;
|
||||||
|
case 7: return 2;
|
||||||
|
case 8: return 0;
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
void TMC2130Stepper::sg_current_decrease(uint8_t value) {
|
||||||
|
switch(value) {
|
||||||
|
case 32: sedn(0b00); break;
|
||||||
|
case 8: sedn(0b01); break;
|
||||||
|
case 2: sedn(0b10); break;
|
||||||
|
case 1: sedn(0b11); break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
uint8_t TMC2130Stepper::sg_current_decrease() {
|
||||||
|
switch(sedn()) {
|
||||||
|
case 0b00: return 32;
|
||||||
|
case 0b01: return 8;
|
||||||
|
case 0b10: return 2;
|
||||||
|
case 0b11: return 1;
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
@ -0,0 +1,68 @@
|
|||||||
|
#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;
|
||||||
|
}
|
||||||
@ -0,0 +1,25 @@
|
|||||||
|
#include "TMC2130Stepper.h"
|
||||||
|
#include "TMC2130Stepper_MACROS.h"
|
||||||
|
|
||||||
|
// COOLCONF
|
||||||
|
uint32_t TMC2130Stepper::COOLCONF() { return COOLCONF_sr; }
|
||||||
|
void TMC2130Stepper::COOLCONF(uint32_t input) {
|
||||||
|
COOLCONF_sr = input;
|
||||||
|
WRITE_REG(COOLCONF);
|
||||||
|
}
|
||||||
|
|
||||||
|
void TMC2130Stepper::semin( uint8_t B ) { MOD_REG(COOLCONF, SEMIN); }
|
||||||
|
void TMC2130Stepper::seup( uint8_t B ) { MOD_REG(COOLCONF, SEUP); }
|
||||||
|
void TMC2130Stepper::semax( uint8_t B ) { MOD_REG(COOLCONF, SEMAX); }
|
||||||
|
void TMC2130Stepper::sedn( uint8_t B ) { MOD_REG(COOLCONF, SEDN); }
|
||||||
|
void TMC2130Stepper::seimin( bool B ) { MOD_REG(COOLCONF, SEIMIN); }
|
||||||
|
void TMC2130Stepper::sgt( uint8_t B ) { MOD_REG(COOLCONF, SGT); }
|
||||||
|
void TMC2130Stepper::sfilt( bool B ) { MOD_REG(COOLCONF, SFILT); }
|
||||||
|
|
||||||
|
uint8_t TMC2130Stepper::semin() { GET_BYTE(COOLCONF, SEMIN); }
|
||||||
|
uint8_t TMC2130Stepper::seup() { GET_BYTE(COOLCONF, SEUP); }
|
||||||
|
uint8_t TMC2130Stepper::semax() { GET_BYTE(COOLCONF, SEMAX); }
|
||||||
|
uint8_t TMC2130Stepper::sedn() { GET_BYTE(COOLCONF, SEDN); }
|
||||||
|
bool TMC2130Stepper::seimin() { GET_BYTE(COOLCONF, SEIMIN); }
|
||||||
|
uint8_t TMC2130Stepper::sgt() { GET_BYTE(COOLCONF, SGT); }
|
||||||
|
bool TMC2130Stepper::sfilt() { GET_BYTE(COOLCONF, SFILT); }
|
||||||
@ -0,0 +1,29 @@
|
|||||||
|
#include "TMC2130Stepper.h"
|
||||||
|
#include "TMC2130Stepper_MACROS.h"
|
||||||
|
|
||||||
|
uint32_t TMC2130Stepper::DRV_STATUS() { READ_REG_R(DRV_STATUS); }
|
||||||
|
|
||||||
|
uint16_t TMC2130Stepper::sg_result(){ GET_BYTE_R(DRV_STATUS, SG_RESULT); }
|
||||||
|
bool TMC2130Stepper::fsactive() { GET_BYTE_R(DRV_STATUS, FSACTIVE); }
|
||||||
|
uint8_t TMC2130Stepper::cs_actual() { GET_BYTE_R(DRV_STATUS, CS_ACTUAL); }
|
||||||
|
bool TMC2130Stepper::stallguard() { GET_BYTE_R(DRV_STATUS, STALLGUARD); }
|
||||||
|
bool TMC2130Stepper::ot() { GET_BYTE_R(DRV_STATUS, OT); }
|
||||||
|
bool TMC2130Stepper::otpw() { GET_BYTE_R(DRV_STATUS, OTPW); }
|
||||||
|
bool TMC2130Stepper::s2ga() { GET_BYTE_R(DRV_STATUS, S2GA); }
|
||||||
|
bool TMC2130Stepper::s2gb() { GET_BYTE_R(DRV_STATUS, S2GB); }
|
||||||
|
bool TMC2130Stepper::ola() { GET_BYTE_R(DRV_STATUS, OLA); }
|
||||||
|
bool TMC2130Stepper::olb() { GET_BYTE_R(DRV_STATUS, OLB); }
|
||||||
|
bool TMC2130Stepper::stst() { GET_BYTE_R(DRV_STATUS, STST); }
|
||||||
|
/*
|
||||||
|
uint16_t TMC2130Stepper::sg_result() {
|
||||||
|
uint32_t drv_status = 0x00000000UL;
|
||||||
|
Serial.print("drv_status=");
|
||||||
|
Serial.print(drv_status);
|
||||||
|
drv_status = DRV_STATUS();
|
||||||
|
Serial.print("\tdrv_status=");
|
||||||
|
Serial.print(drv_status);
|
||||||
|
Serial.print("\t");
|
||||||
|
|
||||||
|
return drv_status&SG_RESULT_bm;
|
||||||
|
}
|
||||||
|
*/
|
||||||
@ -0,0 +1,54 @@
|
|||||||
|
#include "TMC2130Stepper.h"
|
||||||
|
#include "TMC2130Stepper_MACROS.h"
|
||||||
|
|
||||||
|
// GCONF
|
||||||
|
uint32_t TMC2130Stepper::GCONF() { READ_REG(GCONF); }
|
||||||
|
void TMC2130Stepper::GCONF(uint32_t input) {
|
||||||
|
GCONF_sr = input;
|
||||||
|
WRITE_REG(GCONF);
|
||||||
|
}
|
||||||
|
|
||||||
|
void TMC2130Stepper::I_scale_analog(bool B) { MOD_REG(GCONF, I_SCALE_ANALOG); }
|
||||||
|
void TMC2130Stepper::internal_Rsense(bool B) { MOD_REG(GCONF, INTERNAL_RSENSE); }
|
||||||
|
void TMC2130Stepper::en_pwm_mode(bool B) { MOD_REG(GCONF, EN_PWM_MODE); }
|
||||||
|
void TMC2130Stepper::enc_commutation(bool B) { MOD_REG(GCONF, ENC_COMMUTATION); }
|
||||||
|
void TMC2130Stepper::shaft(bool B) { MOD_REG(GCONF, SHAFT); }
|
||||||
|
void TMC2130Stepper::diag0_error(bool B) { MOD_REG(GCONF, DIAG0_ERROR); }
|
||||||
|
void TMC2130Stepper::diag0_otpw(bool B) { MOD_REG(GCONF, DIAG0_OTPW); }
|
||||||
|
void TMC2130Stepper::diag0_stall(bool B) { MOD_REG(GCONF, DIAG0_STALL); }
|
||||||
|
void TMC2130Stepper::diag1_stall(bool B) { MOD_REG(GCONF, DIAG1_STALL); }
|
||||||
|
void TMC2130Stepper::diag1_index(bool B) { MOD_REG(GCONF, DIAG1_INDEX); }
|
||||||
|
void TMC2130Stepper::diag1_onstate(bool B) { MOD_REG(GCONF, DIAG1_ONSTATE); }
|
||||||
|
void TMC2130Stepper::diag1_steps_skipped(bool B) { MOD_REG(GCONF, DIAG1_STEPS_SKIPPED); }
|
||||||
|
void TMC2130Stepper::diag0_int_pushpull(bool B) { MOD_REG(GCONF, DIAG0_INT_PUSHPULL); }
|
||||||
|
void TMC2130Stepper::diag1_pushpull(bool B) { MOD_REG(GCONF, DIAG1_PUSHPULL); }
|
||||||
|
void TMC2130Stepper::small_hysterisis(bool B) { MOD_REG(GCONF, SMALL_HYSTERISIS); }
|
||||||
|
void TMC2130Stepper::stop_enable(bool B) { MOD_REG(GCONF, STOP_ENABLE); }
|
||||||
|
void TMC2130Stepper::direct_mode(bool B) { MOD_REG(GCONF, DIRECT_MODE); }
|
||||||
|
|
||||||
|
bool TMC2130Stepper::I_scale_analog() { GET_BYTE(GCONF, I_SCALE_ANALOG); }
|
||||||
|
bool TMC2130Stepper::internal_Rsense() { GET_BYTE(GCONF, INTERNAL_RSENSE); }
|
||||||
|
bool TMC2130Stepper::en_pwm_mode() { GET_BYTE(GCONF, EN_PWM_MODE); }
|
||||||
|
bool TMC2130Stepper::enc_commutation() { GET_BYTE(GCONF, ENC_COMMUTATION); }
|
||||||
|
bool TMC2130Stepper::shaft() { GET_BYTE(GCONF, SHAFT); }
|
||||||
|
bool TMC2130Stepper::diag0_error() { GET_BYTE(GCONF, DIAG0_ERROR); }
|
||||||
|
bool TMC2130Stepper::diag0_otpw() { GET_BYTE(GCONF, DIAG0_OTPW); }
|
||||||
|
bool TMC2130Stepper::diag0_stall() { GET_BYTE(GCONF, DIAG0_STALL); }
|
||||||
|
bool TMC2130Stepper::diag1_stall() { GET_BYTE(GCONF, DIAG1_STALL); }
|
||||||
|
bool TMC2130Stepper::diag1_index() { GET_BYTE(GCONF, DIAG1_INDEX); }
|
||||||
|
bool TMC2130Stepper::diag1_onstate() { GET_BYTE(GCONF, DIAG1_ONSTATE); }
|
||||||
|
bool TMC2130Stepper::diag1_steps_skipped() { GET_BYTE(GCONF, DIAG1_STEPS_SKIPPED); }
|
||||||
|
bool TMC2130Stepper::diag0_int_pushpull() { GET_BYTE(GCONF, DIAG0_INT_PUSHPULL); }
|
||||||
|
bool TMC2130Stepper::diag1_pushpull() { GET_BYTE(GCONF, DIAG1_PUSHPULL); }
|
||||||
|
bool TMC2130Stepper::small_hysterisis() { GET_BYTE(GCONF, SMALL_HYSTERISIS); }
|
||||||
|
bool TMC2130Stepper::stop_enable() { GET_BYTE(GCONF, STOP_ENABLE); }
|
||||||
|
bool TMC2130Stepper::direct_mode() { GET_BYTE(GCONF, DIRECT_MODE); }
|
||||||
|
|
||||||
|
/*
|
||||||
|
bit 18 not implemented:
|
||||||
|
test_mode 0:
|
||||||
|
Normal operation 1:
|
||||||
|
Enable analog test output on pin DCO. IHOLD[1..0] selects the function of DCO:
|
||||||
|
0…2: T120, DAC, VDDH Attention:
|
||||||
|
Not for user, set to 0 for normal operation!
|
||||||
|
*/
|
||||||
@ -0,0 +1,16 @@
|
|||||||
|
#include "TMC2130Stepper.h"
|
||||||
|
#include "TMC2130Stepper_MACROS.h"
|
||||||
|
|
||||||
|
// IHOLD_IRUN
|
||||||
|
void TMC2130Stepper::IHOLD_IRUN(uint32_t input) {
|
||||||
|
IHOLD_IRUN_sr = input;
|
||||||
|
WRITE_REG(IHOLD_IRUN);
|
||||||
|
}
|
||||||
|
uint32_t TMC2130Stepper::IHOLD_IRUN() { return IHOLD_IRUN_sr; }
|
||||||
|
|
||||||
|
void TMC2130Stepper::ihold(uint8_t B) { MOD_REG(IHOLD_IRUN, IHOLD); }
|
||||||
|
void TMC2130Stepper::irun(uint8_t B) { MOD_REG(IHOLD_IRUN, IRUN); }
|
||||||
|
void TMC2130Stepper::iholddelay(uint8_t B) { MOD_REG(IHOLD_IRUN, IHOLDDELAY); }
|
||||||
|
uint8_t TMC2130Stepper::ihold() { GET_BYTE(IHOLD_IRUN, IHOLD); }
|
||||||
|
uint8_t TMC2130Stepper::irun() { GET_BYTE(IHOLD_IRUN, IRUN); }
|
||||||
|
uint8_t TMC2130Stepper::iholddelay() { GET_BYTE(IHOLD_IRUN, IHOLDDELAY); }
|
||||||
@ -0,0 +1,22 @@
|
|||||||
|
#ifndef TMC2130Stepper_MACROS_H
|
||||||
|
#define TMC2130Stepper_MACROS_H
|
||||||
|
#include "TMC2130Stepper.h"
|
||||||
|
#include "../TMC2130Stepper_REGDEFS.h"
|
||||||
|
|
||||||
|
#define WRITE_REG(R) send2130(TMC2130_WRITE|REG_##R, &R##_sr);
|
||||||
|
|
||||||
|
#define READ_REG(R) send2130(TMC2130_READ|REG_##R, &R##_sr); return R##_sr
|
||||||
|
|
||||||
|
#define READ_REG_R(R) tmp_sr=0; send2130(TMC2130_READ|REG_##R, &tmp_sr); return tmp_sr;
|
||||||
|
|
||||||
|
#define MOD_REG(REG, SETTING) REG##_sr &= ~SETTING##_bm; \
|
||||||
|
REG##_sr |= ((uint32_t)B<<SETTING##_bp)&SETTING##_bm; \
|
||||||
|
WRITE_REG(REG);
|
||||||
|
|
||||||
|
#define GET_BYTE(REG, SETTING) return (REG()&SETTING##_bm) >> SETTING##_bp;
|
||||||
|
|
||||||
|
#define GET_BYTE_R(REG, SETTING) return (REG()&SETTING##_bm) >> SETTING##_bp;
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||||||
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#define GET_BIT(REG, SETTING) return (bool)((REG()&SETTING##_bm) >> SETTING##_bp);
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#endif
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@ -0,0 +1,24 @@
|
|||||||
|
#include "TMC2130Stepper.h"
|
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|
#include "TMC2130Stepper_MACROS.h"
|
||||||
|
|
||||||
|
|
||||||
|
// PWMCONF
|
||||||
|
uint32_t TMC2130Stepper::PWMCONF() { return PWMCONF_sr; }
|
||||||
|
void TMC2130Stepper::PWMCONF(uint32_t input) {
|
||||||
|
PWMCONF_sr = input;
|
||||||
|
WRITE_REG(PWMCONF);
|
||||||
|
}
|
||||||
|
|
||||||
|
void TMC2130Stepper::pwm_ampl( uint8_t B ) { MOD_REG(PWMCONF, PWM_AMPL); }
|
||||||
|
void TMC2130Stepper::pwm_grad( uint8_t B ) { MOD_REG(PWMCONF, PWM_GRAD); }
|
||||||
|
void TMC2130Stepper::pwm_freq( uint8_t B ) { MOD_REG(PWMCONF, PWM_FREQ); }
|
||||||
|
void TMC2130Stepper::pwm_autoscale( bool B ) { MOD_REG(PWMCONF, PWM_AUTOSCALE); }
|
||||||
|
void TMC2130Stepper::pwm_symmetric( bool B ) { MOD_REG(PWMCONF, PWM_SYMMETRIC); }
|
||||||
|
void TMC2130Stepper::freewheel( uint8_t B ) { MOD_REG(PWMCONF, FREEWHEEL); }
|
||||||
|
|
||||||
|
uint8_t TMC2130Stepper::pwm_ampl() { GET_BYTE(PWMCONF, PWM_AMPL); }
|
||||||
|
uint8_t TMC2130Stepper::pwm_grad() { GET_BYTE(PWMCONF, PWM_GRAD); }
|
||||||
|
uint8_t TMC2130Stepper::pwm_freq() { GET_BYTE(PWMCONF, PWM_FREQ); }
|
||||||
|
bool TMC2130Stepper::pwm_autoscale() { GET_BYTE(PWMCONF, PWM_AUTOSCALE); }
|
||||||
|
bool TMC2130Stepper::pwm_symmetric() { GET_BYTE(PWMCONF, PWM_SYMMETRIC); }
|
||||||
|
uint8_t TMC2130Stepper::freewheel() { GET_BYTE(PWMCONF, FREEWHEEL); }
|
||||||
Loading…
Reference in new issue