Karl Zweimüller / Mbed OS TMC2209-Test2

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Dependencies:   TMCStepper mRotaryEncoder-os

TMCStepper/GCONF.cpp@4:12bfa2c1729f, 2021-03-18 (annotated)

Committer:
charly
Date:
Thu Mar 18 20:48:31 2021 +0000
Revision:
4:12bfa2c1729f
Parent:
2:94c5b3f09463 
working version with rotary encoder for speed-selection.; No speedlimit!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charly 0:3f4cfbeda9d3 1 #include "TMCStepper.h"
charly 0:3f4cfbeda9d3 2 #include "TMC_MACROS.h"
charly 0:3f4cfbeda9d3 3
charly 0:3f4cfbeda9d3 4 #define SET_REG(SETTING) GCONF_register.SETTING = B; write(GCONF_register.address, GCONF_register.sr)
charly 0:3f4cfbeda9d3 5
charly 0:3f4cfbeda9d3 6 // GCONF
charly 0:3f4cfbeda9d3 7 /*
charly 0:3f4cfbeda9d3 8 uint32_t TMC2130Stepper::GCONF() {
charly 0:3f4cfbeda9d3 9 return read(GCONF_register.address);
charly 0:3f4cfbeda9d3 10 }
charly 0:3f4cfbeda9d3 11 void TMC2130Stepper::GCONF(uint32_t input) {
charly 0:3f4cfbeda9d3 12 GCONF_register.sr = input;
charly 0:3f4cfbeda9d3 13 write(GCONF_register.address, GCONF_register.sr);
charly 0:3f4cfbeda9d3 14 }
charly 0:3f4cfbeda9d3 15
charly 0:3f4cfbeda9d3 16 void TMC2130Stepper::I_scale_analog(bool B) { SET_REG(i_scale_analog); }
charly 0:3f4cfbeda9d3 17 void TMC2130Stepper::internal_Rsense(bool B) { SET_REG(internal_rsense); }
charly 0:3f4cfbeda9d3 18 void TMC2130Stepper::en_pwm_mode(bool B) { SET_REG(en_pwm_mode); }
charly 0:3f4cfbeda9d3 19 void TMC2130Stepper::enc_commutation(bool B) { SET_REG(enc_commutation); }
charly 0:3f4cfbeda9d3 20 void TMC2130Stepper::shaft(bool B) { SET_REG(shaft); }
charly 0:3f4cfbeda9d3 21 void TMC2130Stepper::diag0_error(bool B) { SET_REG(diag0_error); }
charly 0:3f4cfbeda9d3 22 void TMC2130Stepper::diag0_otpw(bool B) { SET_REG(diag0_otpw); }
charly 0:3f4cfbeda9d3 23 void TMC2130Stepper::diag0_stall(bool B) { SET_REG(diag0_stall); }
charly 0:3f4cfbeda9d3 24 void TMC2130Stepper::diag1_stall(bool B) { SET_REG(diag1_stall); }
charly 0:3f4cfbeda9d3 25 void TMC2130Stepper::diag1_index(bool B) { SET_REG(diag1_index); }
charly 0:3f4cfbeda9d3 26 void TMC2130Stepper::diag1_onstate(bool B) { SET_REG(diag1_onstate); }
charly 0:3f4cfbeda9d3 27 void TMC2130Stepper::diag1_steps_skipped(bool B) { SET_REG(diag1_steps_skipped); }
charly 0:3f4cfbeda9d3 28 void TMC2130Stepper::diag0_int_pushpull(bool B) { SET_REG(diag0_int_pushpull); }
charly 0:3f4cfbeda9d3 29 void TMC2130Stepper::diag1_pushpull(bool B) { SET_REG(diag1_poscomp_pushpull); }
charly 0:3f4cfbeda9d3 30 void TMC2130Stepper::small_hysteresis(bool B) { SET_REG(small_hysteresis); }
charly 0:3f4cfbeda9d3 31 void TMC2130Stepper::stop_enable(bool B) { SET_REG(stop_enable); }
charly 0:3f4cfbeda9d3 32 void TMC2130Stepper::direct_mode(bool B) { SET_REG(direct_mode); }
charly 0:3f4cfbeda9d3 33
charly 0:3f4cfbeda9d3 34 bool TMC2130Stepper::I_scale_analog() { GCONF_t r{0}; r.sr = GCONF(); return r.i_scale_analog; }
charly 0:3f4cfbeda9d3 35 bool TMC2130Stepper::internal_Rsense() { GCONF_t r{0}; r.sr = GCONF(); return r.internal_rsense; }
charly 0:3f4cfbeda9d3 36 bool TMC2130Stepper::en_pwm_mode() { GCONF_t r{0}; r.sr = GCONF(); return r.en_pwm_mode; }
charly 0:3f4cfbeda9d3 37 bool TMC2130Stepper::enc_commutation() { GCONF_t r{0}; r.sr = GCONF(); return r.enc_commutation; }
charly 0:3f4cfbeda9d3 38 bool TMC2130Stepper::shaft() { GCONF_t r{0}; r.sr = GCONF(); return r.shaft; }
charly 0:3f4cfbeda9d3 39 bool TMC2130Stepper::diag0_error() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_error; }
charly 0:3f4cfbeda9d3 40 bool TMC2130Stepper::diag0_otpw() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_otpw; }
charly 0:3f4cfbeda9d3 41 bool TMC2130Stepper::diag0_stall() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_stall; }
charly 0:3f4cfbeda9d3 42 bool TMC2130Stepper::diag1_stall() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_stall; }
charly 0:3f4cfbeda9d3 43 bool TMC2130Stepper::diag1_index() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_index; }
charly 0:3f4cfbeda9d3 44 bool TMC2130Stepper::diag1_onstate() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_onstate; }
charly 0:3f4cfbeda9d3 45 bool TMC2130Stepper::diag1_steps_skipped() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_steps_skipped; }
charly 0:3f4cfbeda9d3 46 bool TMC2130Stepper::diag0_int_pushpull() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_int_pushpull; }
charly 0:3f4cfbeda9d3 47 bool TMC2130Stepper::diag1_pushpull() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_poscomp_pushpull;}
charly 0:3f4cfbeda9d3 48 bool TMC2130Stepper::small_hysteresis() { GCONF_t r{0}; r.sr = GCONF(); return r.small_hysteresis; }
charly 0:3f4cfbeda9d3 49 bool TMC2130Stepper::stop_enable() { GCONF_t r{0}; r.sr = GCONF(); return r.stop_enable; }
charly 0:3f4cfbeda9d3 50 bool TMC2130Stepper::direct_mode() { GCONF_t r{0}; r.sr = GCONF(); return r.direct_mode; }
charly 0:3f4cfbeda9d3 51 */
charly 0:3f4cfbeda9d3 52 /*
charly 0:3f4cfbeda9d3 53 bit 18 not implemented:
charly 0:3f4cfbeda9d3 54 test_mode 0:
charly 0:3f4cfbeda9d3 55 Normal operation 1:
charly 0:3f4cfbeda9d3 56 Enable analog test output on pin DCO. IHOLD[1..0] selects the function of DCO:
charly 0:3f4cfbeda9d3 57 0…2: T120, DAC, VDDH Attention:
charly 0:3f4cfbeda9d3 58 Not for user, set to 0 for normal operation!
charly 0:3f4cfbeda9d3 59 */
charly 0:3f4cfbeda9d3 60 /*
charly 0:3f4cfbeda9d3 61 void TMC5160Stepper::recalibrate(bool B) { SET_REG(recalibrate); }
charly 0:3f4cfbeda9d3 62 void TMC5160Stepper::faststandstill(bool B) { SET_REG(faststandstill); }
charly 0:3f4cfbeda9d3 63 void TMC5160Stepper::multistep_filt(bool B) { SET_REG(multistep_filt); }
charly 0:3f4cfbeda9d3 64 bool TMC5160Stepper::recalibrate() { GCONF_t r{0}; r.sr = GCONF(); return r.recalibrate; }
charly 0:3f4cfbeda9d3 65 bool TMC5160Stepper::faststandstill() { GCONF_t r{0}; r.sr = GCONF(); return r.faststandstill; }
charly 0:3f4cfbeda9d3 66 bool TMC5160Stepper::multistep_filt() { GCONF_t r{0}; r.sr = GCONF(); return r.multistep_filt; }
charly 0:3f4cfbeda9d3 67 */
charly 0:3f4cfbeda9d3 68 uint32_t TMC2208Stepper::GCONF() {
charly 0:3f4cfbeda9d3 69 return read(GCONF_register.address);
charly 0:3f4cfbeda9d3 70 }
charly 0:3f4cfbeda9d3 71 void TMC2208Stepper::GCONF(uint32_t input) {
charly 0:3f4cfbeda9d3 72 GCONF_register.sr = input;
charly 0:3f4cfbeda9d3 73 write(GCONF_register.address, GCONF_register.sr);
charly 0:3f4cfbeda9d3 74 }
charly 0:3f4cfbeda9d3 75
charly 0:3f4cfbeda9d3 76 void TMC2208Stepper::I_scale_analog(bool B) { SET_REG(i_scale_analog); }
charly 0:3f4cfbeda9d3 77 void TMC2208Stepper::internal_Rsense(bool B) { SET_REG(internal_rsense); }
charly 0:3f4cfbeda9d3 78 void TMC2208Stepper::en_spreadCycle(bool B) { SET_REG(en_spreadcycle); }
charly 0:3f4cfbeda9d3 79 void TMC2208Stepper::shaft(bool B) { SET_REG(shaft); }
charly 0:3f4cfbeda9d3 80 void TMC2208Stepper::index_otpw(bool B) { SET_REG(index_otpw); }
charly 0:3f4cfbeda9d3 81 void TMC2208Stepper::index_step(bool B) { SET_REG(index_step); }
charly 0:3f4cfbeda9d3 82 void TMC2208Stepper::pdn_disable(bool B) { SET_REG(pdn_disable); }
charly 0:3f4cfbeda9d3 83 void TMC2208Stepper::mstep_reg_select(bool B) { SET_REG(mstep_reg_select);}
charly 0:3f4cfbeda9d3 84 void TMC2208Stepper::multistep_filt(bool B) { SET_REG(multistep_filt); }
charly 0:3f4cfbeda9d3 85
charly 0:3f4cfbeda9d3 86 bool TMC2208Stepper::I_scale_analog() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.i_scale_analog; }
charly 0:3f4cfbeda9d3 87 bool TMC2208Stepper::internal_Rsense() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.internal_rsense; }
charly 0:3f4cfbeda9d3 88 bool TMC2208Stepper::en_spreadCycle() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.en_spreadcycle; }
charly 0:3f4cfbeda9d3 89 bool TMC2208Stepper::shaft() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.shaft; }
charly 0:3f4cfbeda9d3 90 bool TMC2208Stepper::index_otpw() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.index_otpw; }
charly 0:3f4cfbeda9d3 91 bool TMC2208Stepper::index_step() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.index_step; }
charly 0:3f4cfbeda9d3 92 bool TMC2208Stepper::pdn_disable() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.pdn_disable; }
charly 0:3f4cfbeda9d3 93 bool TMC2208Stepper::mstep_reg_select() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.mstep_reg_select; }
charly 0:3f4cfbeda9d3 94 bool TMC2208Stepper::multistep_filt() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.multistep_filt; }