Karl Zweimüller / Mbed OS TMC2209-Test2

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Dependencies:   TMCStepper mRotaryEncoder-os

source/TMC2208Stepper.cpp@0:3f4cfbeda9d3, 2021-02-04 (annotated)

Committer:
charly
Date:
Thu Feb 04 19:46:56 2021 +0000
Revision:
0:3f4cfbeda9d3
Working Version with TMC2209

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 //#include "SERIAL_SWITCH.h"
charly 0:3f4cfbeda9d3 4
charly 0:3f4cfbeda9d3 5 // Protected
charly 0:3f4cfbeda9d3 6 // addr needed for TMC2209
charly 0:3f4cfbeda9d3 7 TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr) :
charly 0:3f4cfbeda9d3 8 TMCStepper(RS),
charly 0:3f4cfbeda9d3 9 slave_address(addr)
charly 0:3f4cfbeda9d3 10 {
charly 0:3f4cfbeda9d3 11 HWSerial = SerialPort;
charly 0:3f4cfbeda9d3 12 defaults();
charly 0:3f4cfbeda9d3 13 }
charly 0:3f4cfbeda9d3 14
charly 0:3f4cfbeda9d3 15 TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2) :
charly 0:3f4cfbeda9d3 16 TMC2208Stepper(SerialPort, RS)
charly 0:3f4cfbeda9d3 17 {
charly 0:3f4cfbeda9d3 18 // SSwitch *SMulObj = new SSwitch(mul_pin1, mul_pin2, addr);
charly 0:3f4cfbeda9d3 19 // sswitch = SMulObj;
charly 0:3f4cfbeda9d3 20 }
charly 0:3f4cfbeda9d3 21
charly 0:3f4cfbeda9d3 22 #if SW_CAPABLE_PLATFORM
charly 0:3f4cfbeda9d3 23 // Protected
charly 0:3f4cfbeda9d3 24 // addr needed for TMC2209
charly 0:3f4cfbeda9d3 25 TMC2208Stepper::TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, uint8_t addr) :
charly 0:3f4cfbeda9d3 26 TMCStepper(RS),
charly 0:3f4cfbeda9d3 27 RXTX_pin(SW_RX_pin == SW_TX_pin ? SW_RX_pin : 0),
charly 0:3f4cfbeda9d3 28 slave_address(addr)
charly 0:3f4cfbeda9d3 29 {
charly 0:3f4cfbeda9d3 30 BufferedSerial *SWSerialObj = new BufferedSerial(SW_TX_pin, SW_RX_pin);
charly 0:3f4cfbeda9d3 31 SWSerial = SWSerialObj;
charly 0:3f4cfbeda9d3 32 defaults();
charly 0:3f4cfbeda9d3 33 }
charly 0:3f4cfbeda9d3 34
charly 0:3f4cfbeda9d3 35 void TMC2208Stepper::beginSerial(uint32_t baudrate) {
charly 0:3f4cfbeda9d3 36 if (SWSerial != nullptr)
charly 0:3f4cfbeda9d3 37 {
charly 0:3f4cfbeda9d3 38 //SWSerial->begin(baudrate);
charly 0:3f4cfbeda9d3 39 //SWSerial->end();
charly 0:3f4cfbeda9d3 40 SWSerial->set_baud(baudrate);
charly 0:3f4cfbeda9d3 41 SWSerial->set_format(
charly 0:3f4cfbeda9d3 42 /* bits */ 8,
charly 0:3f4cfbeda9d3 43 /* parity */ BufferedSerial::None,
charly 0:3f4cfbeda9d3 44 /* stop bit */ 1
charly 0:3f4cfbeda9d3 45 );
charly 0:3f4cfbeda9d3 46 SWSerial->set_blocking(true);
charly 0:3f4cfbeda9d3 47 }
charly 0:3f4cfbeda9d3 48 // #if defined(ARDUINO_ARCH_AVR)
charly 0:3f4cfbeda9d3 49 // if (RXTX_pin > 0) {
charly 0:3f4cfbeda9d3 50 // digitalWrite(RXTX_pin, HIGH);
charly 0:3f4cfbeda9d3 51 // pinMode(RXTX_pin, OUTPUT);
charly 0:3f4cfbeda9d3 52 // }
charly 0:3f4cfbeda9d3 53 // #endif
charly 0:3f4cfbeda9d3 54 }
charly 0:3f4cfbeda9d3 55 #endif
charly 0:3f4cfbeda9d3 56
charly 0:3f4cfbeda9d3 57 void TMC2208Stepper::begin() {
charly 0:3f4cfbeda9d3 58 #if SW_CAPABLE_PLATFORM
charly 0:3f4cfbeda9d3 59 beginSerial(115200);
charly 0:3f4cfbeda9d3 60 //beginSerial(9600);
charly 0:3f4cfbeda9d3 61 #endif
charly 0:3f4cfbeda9d3 62 pdn_disable(true);
charly 0:3f4cfbeda9d3 63 mstep_reg_select(true);
charly 0:3f4cfbeda9d3 64 //Wait to initialize
charly 0:3f4cfbeda9d3 65 wait_us(replyDelay*1000);
charly 0:3f4cfbeda9d3 66
charly 0:3f4cfbeda9d3 67 }
charly 0:3f4cfbeda9d3 68
charly 0:3f4cfbeda9d3 69 void TMC2208Stepper::defaults() {
charly 0:3f4cfbeda9d3 70 GCONF_register.i_scale_analog = 1;
charly 0:3f4cfbeda9d3 71 GCONF_register.internal_rsense = 0; // OTP
charly 0:3f4cfbeda9d3 72 GCONF_register.en_spreadcycle = 0; // OTP
charly 0:3f4cfbeda9d3 73 GCONF_register.multistep_filt = 1; // OTP
charly 0:3f4cfbeda9d3 74 IHOLD_IRUN_register.iholddelay = 1; // OTP
charly 0:3f4cfbeda9d3 75 TPOWERDOWN_register.sr = 20;
charly 0:3f4cfbeda9d3 76 CHOPCONF_register.sr = 0x10000053;
charly 0:3f4cfbeda9d3 77 PWMCONF_register.sr = 0xC10D0024;
charly 0:3f4cfbeda9d3 78 //MSLUT0_register.sr = ???;
charly 0:3f4cfbeda9d3 79 //MSLUT1_register.sr = ???;
charly 0:3f4cfbeda9d3 80 //MSLUT2_register.sr = ???;
charly 0:3f4cfbeda9d3 81 //MSLUT3_register.sr = ???;
charly 0:3f4cfbeda9d3 82 //MSLUT4_register.sr = ???;
charly 0:3f4cfbeda9d3 83 //MSLUT5_register.sr = ???;
charly 0:3f4cfbeda9d3 84 //MSLUT6_register.sr = ???;
charly 0:3f4cfbeda9d3 85 //MSLUT7_register.sr = ???;
charly 0:3f4cfbeda9d3 86 //MSLUTSTART_register.start_sin90 = 247;
charly 0:3f4cfbeda9d3 87 }
charly 0:3f4cfbeda9d3 88
charly 0:3f4cfbeda9d3 89 void TMC2208Stepper::push() {
charly 0:3f4cfbeda9d3 90 GCONF(GCONF_register.sr);
charly 0:3f4cfbeda9d3 91 IHOLD_IRUN(IHOLD_IRUN_register.sr);
charly 0:3f4cfbeda9d3 92 SLAVECONF(SLAVECONF_register.sr);
charly 0:3f4cfbeda9d3 93 TPOWERDOWN(TPOWERDOWN_register.sr);
charly 0:3f4cfbeda9d3 94 TPWMTHRS(TPWMTHRS_register.sr);
charly 0:3f4cfbeda9d3 95 VACTUAL(VACTUAL_register.sr);
charly 0:3f4cfbeda9d3 96 CHOPCONF(CHOPCONF_register.sr);
charly 0:3f4cfbeda9d3 97 PWMCONF(PWMCONF_register.sr);
charly 0:3f4cfbeda9d3 98 }
charly 0:3f4cfbeda9d3 99
charly 0:3f4cfbeda9d3 100 bool TMC2208Stepper::isEnabled() { return !enn() && toff(); }
charly 0:3f4cfbeda9d3 101
charly 0:3f4cfbeda9d3 102 uint8_t TMC2208Stepper::calcCRC(uint8_t datagram[], uint8_t len) {
charly 0:3f4cfbeda9d3 103 uint8_t crc = 0;
charly 0:3f4cfbeda9d3 104 for (uint8_t i = 0; i < len; i++) {
charly 0:3f4cfbeda9d3 105 uint8_t currentByte = datagram[i];
charly 0:3f4cfbeda9d3 106 for (uint8_t j = 0; j < 8; j++) {
charly 0:3f4cfbeda9d3 107 if ((crc >> 7) ^ (currentByte & 0x01)) {
charly 0:3f4cfbeda9d3 108 crc = (crc << 1) ^ 0x07;
charly 0:3f4cfbeda9d3 109 } else {
charly 0:3f4cfbeda9d3 110 crc = (crc << 1);
charly 0:3f4cfbeda9d3 111 }
charly 0:3f4cfbeda9d3 112 crc &= 0xff;
charly 0:3f4cfbeda9d3 113 currentByte = currentByte >> 1;
charly 0:3f4cfbeda9d3 114 }
charly 0:3f4cfbeda9d3 115 }
charly 0:3f4cfbeda9d3 116 return crc;
charly 0:3f4cfbeda9d3 117 }
charly 0:3f4cfbeda9d3 118
charly 0:3f4cfbeda9d3 119 __attribute__((weak))
charly 0:3f4cfbeda9d3 120 int TMC2208Stepper::available() {
charly 0:3f4cfbeda9d3 121 int out = 0;
charly 0:3f4cfbeda9d3 122 #if SW_CAPABLE_PLATFORM
charly 0:3f4cfbeda9d3 123 if (SWSerial != nullptr) {
charly 0:3f4cfbeda9d3 124 // out = SWSerial->available();
charly 0:3f4cfbeda9d3 125 out = 1;
charly 0:3f4cfbeda9d3 126 } else
charly 0:3f4cfbeda9d3 127 #endif
charly 0:3f4cfbeda9d3 128 if (HWSerial != nullptr) {
charly 0:3f4cfbeda9d3 129 // out = HWSerial->available();
charly 0:3f4cfbeda9d3 130 out = 1;
charly 0:3f4cfbeda9d3 131 }
charly 0:3f4cfbeda9d3 132
charly 0:3f4cfbeda9d3 133 return out;
charly 0:3f4cfbeda9d3 134 }
charly 0:3f4cfbeda9d3 135
charly 0:3f4cfbeda9d3 136 __attribute__((weak))
charly 0:3f4cfbeda9d3 137 void TMC2208Stepper::preWriteCommunication() {
charly 0:3f4cfbeda9d3 138 if (HWSerial != nullptr) {
charly 0:3f4cfbeda9d3 139 // if (sswitch != nullptr)
charly 0:3f4cfbeda9d3 140 // sswitch->active();
charly 0:3f4cfbeda9d3 141 }
charly 0:3f4cfbeda9d3 142 }
charly 0:3f4cfbeda9d3 143
charly 0:3f4cfbeda9d3 144 __attribute__((weak))
charly 0:3f4cfbeda9d3 145 void TMC2208Stepper::preReadCommunication() {
charly 0:3f4cfbeda9d3 146 #if SW_CAPABLE_PLATFORM
charly 0:3f4cfbeda9d3 147 if (SWSerial != nullptr) {
charly 0:3f4cfbeda9d3 148 // SWSerial->listen();
charly 0:3f4cfbeda9d3 149 } else
charly 0:3f4cfbeda9d3 150 #endif
charly 0:3f4cfbeda9d3 151 if (HWSerial != nullptr) {
charly 0:3f4cfbeda9d3 152 // if (sswitch != nullptr)
charly 0:3f4cfbeda9d3 153 // sswitch->active();
charly 0:3f4cfbeda9d3 154 }
charly 0:3f4cfbeda9d3 155 }
charly 0:3f4cfbeda9d3 156
charly 0:3f4cfbeda9d3 157 __attribute__((weak))
charly 0:3f4cfbeda9d3 158 int16_t TMC2208Stepper::serial_read() {
charly 0:3f4cfbeda9d3 159 int16_t out = 0;
charly 0:3f4cfbeda9d3 160 int16_t count = 0;
charly 0:3f4cfbeda9d3 161
charly 0:3f4cfbeda9d3 162 #if SW_CAPABLE_PLATFORM
charly 0:3f4cfbeda9d3 163 if (SWSerial != nullptr) {
charly 0:3f4cfbeda9d3 164 // out = SWSerial->read();
charly 0:3f4cfbeda9d3 165 count = SWSerial->read(&out, 1); // read one character
charly 0:3f4cfbeda9d3 166 // if (SWSerial->readable()) {
charly 0:3f4cfbeda9d3 167 // SWSerial->read(&out, 1); // read one character
charly 0:3f4cfbeda9d3 168 // }
charly 0:3f4cfbeda9d3 169
charly 0:3f4cfbeda9d3 170 } else
charly 0:3f4cfbeda9d3 171 #endif
charly 0:3f4cfbeda9d3 172 if (HWSerial != nullptr) {
charly 0:3f4cfbeda9d3 173 // out = HWSerial->read();
charly 0:3f4cfbeda9d3 174 HWSerial->read(&out, 1); // read one character
charly 0:3f4cfbeda9d3 175 }
charly 0:3f4cfbeda9d3 176 if (count >= 1) {
charly 0:3f4cfbeda9d3 177 // printf("<%02X|",out);
charly 0:3f4cfbeda9d3 178 return out;
charly 0:3f4cfbeda9d3 179 } else {
charly 0:3f4cfbeda9d3 180 return -1;
charly 0:3f4cfbeda9d3 181 }
charly 0:3f4cfbeda9d3 182 }
charly 0:3f4cfbeda9d3 183
charly 0:3f4cfbeda9d3 184 __attribute__((weak))
charly 0:3f4cfbeda9d3 185 uint8_t TMC2208Stepper::serial_write(const uint8_t data) {
charly 0:3f4cfbeda9d3 186 int out = 0;
charly 0:3f4cfbeda9d3 187 #if SW_CAPABLE_PLATFORM
charly 0:3f4cfbeda9d3 188 if (SWSerial != nullptr) {
charly 0:3f4cfbeda9d3 189 // printf(">%02X|",data);
charly 0:3f4cfbeda9d3 190 return SWSerial->write(&data,1);
charly 0:3f4cfbeda9d3 191 } else
charly 0:3f4cfbeda9d3 192 #endif
charly 0:3f4cfbeda9d3 193 if (HWSerial != nullptr) {
charly 0:3f4cfbeda9d3 194 return HWSerial->write(&data,1);
charly 0:3f4cfbeda9d3 195 }
charly 0:3f4cfbeda9d3 196
charly 0:3f4cfbeda9d3 197 return out;
charly 0:3f4cfbeda9d3 198 }
charly 0:3f4cfbeda9d3 199
charly 0:3f4cfbeda9d3 200 __attribute__((weak))
charly 0:3f4cfbeda9d3 201 void TMC2208Stepper::postWriteCommunication() {}
charly 0:3f4cfbeda9d3 202
charly 0:3f4cfbeda9d3 203 __attribute__((weak))
charly 0:3f4cfbeda9d3 204 void TMC2208Stepper::postReadCommunication() {
charly 0:3f4cfbeda9d3 205 #if SW_CAPABLE_PLATFORM
charly 0:3f4cfbeda9d3 206 // if (SWSerial != nullptr) {
charly 0:3f4cfbeda9d3 207 // SWSerial->end();
charly 0:3f4cfbeda9d3 208 // }
charly 0:3f4cfbeda9d3 209 #endif
charly 0:3f4cfbeda9d3 210 }
charly 0:3f4cfbeda9d3 211
charly 0:3f4cfbeda9d3 212 void TMC2208Stepper::write(uint8_t addr, uint32_t regVal) {
charly 0:3f4cfbeda9d3 213 uint8_t len = 7;
charly 0:3f4cfbeda9d3 214 addr |= TMC_WRITE;
charly 0:3f4cfbeda9d3 215 uint8_t datagram[] = {TMC2208_SYNC, slave_address, addr, (uint8_t)(regVal>>24), (uint8_t)(regVal>>16), (uint8_t)(regVal>>8), (uint8_t)(regVal>>0), 0x00};
charly 0:3f4cfbeda9d3 216
charly 0:3f4cfbeda9d3 217 datagram[len] = calcCRC(datagram, len);
charly 0:3f4cfbeda9d3 218
charly 0:3f4cfbeda9d3 219 preWriteCommunication();
charly 0:3f4cfbeda9d3 220
charly 0:3f4cfbeda9d3 221 for(uint8_t i=0; i<=len; i++) {
charly 0:3f4cfbeda9d3 222 bytesWritten += serial_write(datagram[i]);
charly 0:3f4cfbeda9d3 223 }
charly 0:3f4cfbeda9d3 224 postWriteCommunication();
charly 0:3f4cfbeda9d3 225
charly 0:3f4cfbeda9d3 226 //delay(replyDelay);
charly 0:3f4cfbeda9d3 227 wait_us(replyDelay*1000);
charly 0:3f4cfbeda9d3 228 }
charly 0:3f4cfbeda9d3 229
charly 0:3f4cfbeda9d3 230 uint64_t TMC2208Stepper::_sendDatagram(uint8_t datagram[], const uint8_t len, uint16_t timeout) {
charly 0:3f4cfbeda9d3 231
charly 0:3f4cfbeda9d3 232 // while (available() > 0) serial_read(); // Flush
charly 0:3f4cfbeda9d3 233 SWSerial->sync();
charly 0:3f4cfbeda9d3 234 /* uint8_t dummy;
charly 0:3f4cfbeda9d3 235 while (SWSerial->readable()) {
charly 0:3f4cfbeda9d3 236 SWSerial->read(&dummy, 1); // read one character
charly 0:3f4cfbeda9d3 237 }
charly 0:3f4cfbeda9d3 238 */
charly 0:3f4cfbeda9d3 239 /* uint8_t dummy;
charly 0:3f4cfbeda9d3 240 while (SWSerial->read(&dummy, 1) >= 0) {
charly 0:3f4cfbeda9d3 241 ;
charly 0:3f4cfbeda9d3 242 }
charly 0:3f4cfbeda9d3 243 */
charly 0:3f4cfbeda9d3 244
charly 0:3f4cfbeda9d3 245 #if defined(ARDUINO_ARCH_AVR)
charly 0:3f4cfbeda9d3 246 if (RXTX_pin > 0) {
charly 0:3f4cfbeda9d3 247 digitalWrite(RXTX_pin, HIGH);
charly 0:3f4cfbeda9d3 248 pinMode(RXTX_pin, OUTPUT);
charly 0:3f4cfbeda9d3 249 }
charly 0:3f4cfbeda9d3 250 #endif
charly 0:3f4cfbeda9d3 251
charly 0:3f4cfbeda9d3 252 for(int i=0; i<=len; i++) serial_write(datagram[i]);
charly 0:3f4cfbeda9d3 253
charly 0:3f4cfbeda9d3 254 #if defined(ARDUINO_ARCH_AVR)
charly 0:3f4cfbeda9d3 255 if (RXTX_pin > 0) {
charly 0:3f4cfbeda9d3 256 pinMode(RXTX_pin, INPUT_PULLUP);
charly 0:3f4cfbeda9d3 257 }
charly 0:3f4cfbeda9d3 258 #endif
charly 0:3f4cfbeda9d3 259
charly 0:3f4cfbeda9d3 260 //delay(this->replyDelay);
charly 0:3f4cfbeda9d3 261 wait_us(this->replyDelay*1000*2);
charly 0:3f4cfbeda9d3 262
charly 0:3f4cfbeda9d3 263 // scan for the rx frame and read it
charly 0:3f4cfbeda9d3 264
charly 0:3f4cfbeda9d3 265 // uint32_t ms = millis();
charly 0:3f4cfbeda9d3 266 uint32_t sync_target = (static_cast<uint32_t>(datagram[0])<<16) | 0xFF00 | datagram[2];
charly 0:3f4cfbeda9d3 267 uint32_t sync = 0;
charly 0:3f4cfbeda9d3 268
charly 0:3f4cfbeda9d3 269
charly 0:3f4cfbeda9d3 270 do {
charly 0:3f4cfbeda9d3 271 /* uint32_t ms2 = millis();
charly 0:3f4cfbeda9d3 272 if (ms2 != ms) {
charly 0:3f4cfbeda9d3 273 // 1ms tick
charly 0:3f4cfbeda9d3 274 ms = ms2;
charly 0:3f4cfbeda9d3 275 timeout--;
charly 0:3f4cfbeda9d3 276 }
charly 0:3f4cfbeda9d3 277 if (!timeout) return 0;
charly 0:3f4cfbeda9d3 278 */
charly 0:3f4cfbeda9d3 279 int16_t res = serial_read();
charly 0:3f4cfbeda9d3 280 if (res < 0) continue;
charly 0:3f4cfbeda9d3 281
charly 0:3f4cfbeda9d3 282 sync <<= 8;
charly 0:3f4cfbeda9d3 283 sync |= res & 0xFF;
charly 0:3f4cfbeda9d3 284 sync &= 0xFFFFFF;
charly 0:3f4cfbeda9d3 285
charly 0:3f4cfbeda9d3 286 } while (sync != sync_target);
charly 0:3f4cfbeda9d3 287
charly 0:3f4cfbeda9d3 288 uint64_t out = sync;
charly 0:3f4cfbeda9d3 289 // ms = millis();
charly 0:3f4cfbeda9d3 290 // timeout = this->abort_window;
charly 0:3f4cfbeda9d3 291
charly 0:3f4cfbeda9d3 292 for(uint8_t i=0; i<5;) {
charly 0:3f4cfbeda9d3 293 /* uint32_t ms2 = millis();
charly 0:3f4cfbeda9d3 294 if (ms2 != ms) {
charly 0:3f4cfbeda9d3 295 // 1ms tick
charly 0:3f4cfbeda9d3 296 ms = ms2;
charly 0:3f4cfbeda9d3 297 timeout--;
charly 0:3f4cfbeda9d3 298 }
charly 0:3f4cfbeda9d3 299 if (!timeout) return 0;
charly 0:3f4cfbeda9d3 300 */
charly 0:3f4cfbeda9d3 301 int16_t res = serial_read();
charly 0:3f4cfbeda9d3 302 if (res < 0) continue;
charly 0:3f4cfbeda9d3 303
charly 0:3f4cfbeda9d3 304 out <<= 8;
charly 0:3f4cfbeda9d3 305 out |= res & 0xFF;
charly 0:3f4cfbeda9d3 306
charly 0:3f4cfbeda9d3 307 i++;
charly 0:3f4cfbeda9d3 308 }
charly 0:3f4cfbeda9d3 309
charly 0:3f4cfbeda9d3 310 #if defined(ARDUINO_ARCH_AVR)
charly 0:3f4cfbeda9d3 311 if (RXTX_pin > 0) {
charly 0:3f4cfbeda9d3 312 digitalWrite(RXTX_pin, HIGH);
charly 0:3f4cfbeda9d3 313 pinMode(RXTX_pin, OUTPUT);
charly 0:3f4cfbeda9d3 314 }
charly 0:3f4cfbeda9d3 315 #endif
charly 0:3f4cfbeda9d3 316
charly 0:3f4cfbeda9d3 317 // while (available() > 0) serial_read(); // Flush
charly 0:3f4cfbeda9d3 318 SWSerial->sync();
charly 0:3f4cfbeda9d3 319
charly 0:3f4cfbeda9d3 320 return out;
charly 0:3f4cfbeda9d3 321
charly 0:3f4cfbeda9d3 322
charly 0:3f4cfbeda9d3 323 }
charly 0:3f4cfbeda9d3 324
charly 0:3f4cfbeda9d3 325 uint32_t TMC2208Stepper::read(uint8_t addr) {
charly 0:3f4cfbeda9d3 326 constexpr uint8_t len = 3;
charly 0:3f4cfbeda9d3 327 addr |= TMC_READ;
charly 0:3f4cfbeda9d3 328 uint8_t datagram[] = {TMC2208_SYNC, slave_address, addr, 0x00};
charly 0:3f4cfbeda9d3 329 datagram[len] = calcCRC(datagram, len);
charly 0:3f4cfbeda9d3 330 uint64_t out = 0x00000000UL;
charly 0:3f4cfbeda9d3 331
charly 0:3f4cfbeda9d3 332 for (uint8_t i = 0; i < max_retries; i++) {
charly 0:3f4cfbeda9d3 333 preReadCommunication();
charly 0:3f4cfbeda9d3 334 out = _sendDatagram(datagram, len, abort_window);
charly 0:3f4cfbeda9d3 335 postReadCommunication();
charly 0:3f4cfbeda9d3 336
charly 0:3f4cfbeda9d3 337 // delay(replyDelay);
charly 0:3f4cfbeda9d3 338 // wait_us(replyDelay*1000);
charly 0:3f4cfbeda9d3 339
charly 0:3f4cfbeda9d3 340 CRCerror = false;
charly 0:3f4cfbeda9d3 341 uint8_t out_datagram[] = {
charly 0:3f4cfbeda9d3 342 static_cast<uint8_t>(out>>56),
charly 0:3f4cfbeda9d3 343 static_cast<uint8_t>(out>>48),
charly 0:3f4cfbeda9d3 344 static_cast<uint8_t>(out>>40),
charly 0:3f4cfbeda9d3 345 static_cast<uint8_t>(out>>32),
charly 0:3f4cfbeda9d3 346 static_cast<uint8_t>(out>>24),
charly 0:3f4cfbeda9d3 347 static_cast<uint8_t>(out>>16),
charly 0:3f4cfbeda9d3 348 static_cast<uint8_t>(out>> 8),
charly 0:3f4cfbeda9d3 349 static_cast<uint8_t>(out>> 0)
charly 0:3f4cfbeda9d3 350 };
charly 0:3f4cfbeda9d3 351 uint8_t crc = calcCRC(out_datagram, 7);
charly 0:3f4cfbeda9d3 352 if ((crc != static_cast<uint8_t>(out)) || crc == 0 ) {
charly 0:3f4cfbeda9d3 353 CRCerror = true;
charly 0:3f4cfbeda9d3 354 out = 0;
charly 0:3f4cfbeda9d3 355 } else {
charly 0:3f4cfbeda9d3 356 break;
charly 0:3f4cfbeda9d3 357 }
charly 0:3f4cfbeda9d3 358 }
charly 0:3f4cfbeda9d3 359
charly 0:3f4cfbeda9d3 360 return out>>8;
charly 0:3f4cfbeda9d3 361 }
charly 0:3f4cfbeda9d3 362
charly 0:3f4cfbeda9d3 363 uint8_t TMC2208Stepper::IFCNT() {
charly 0:3f4cfbeda9d3 364 return read(IFCNT_t::address);
charly 0:3f4cfbeda9d3 365 }
charly 0:3f4cfbeda9d3 366
charly 0:3f4cfbeda9d3 367 void TMC2208Stepper::SLAVECONF(uint16_t input) {
charly 0:3f4cfbeda9d3 368 SLAVECONF_register.sr = input&0xF00;
charly 0:3f4cfbeda9d3 369 write(SLAVECONF_register.address, SLAVECONF_register.sr);
charly 0:3f4cfbeda9d3 370 }
charly 0:3f4cfbeda9d3 371 uint16_t TMC2208Stepper::SLAVECONF() {
charly 0:3f4cfbeda9d3 372 return SLAVECONF_register.sr;
charly 0:3f4cfbeda9d3 373 }
charly 0:3f4cfbeda9d3 374 void TMC2208Stepper::senddelay(uint8_t B) { SLAVECONF_register.senddelay = B; write(SLAVECONF_register.address, SLAVECONF_register.sr); }
charly 0:3f4cfbeda9d3 375 uint8_t TMC2208Stepper::senddelay() { return SLAVECONF_register.senddelay; }
charly 0:3f4cfbeda9d3 376
charly 0:3f4cfbeda9d3 377 void TMC2208Stepper::OTP_PROG(uint16_t input) {
charly 0:3f4cfbeda9d3 378 write(OTP_PROG_t::address, input);
charly 0:3f4cfbeda9d3 379 }
charly 0:3f4cfbeda9d3 380
charly 0:3f4cfbeda9d3 381 uint32_t TMC2208Stepper::OTP_READ() {
charly 0:3f4cfbeda9d3 382 return read(OTP_READ_t::address);
charly 0:3f4cfbeda9d3 383 }
charly 0:3f4cfbeda9d3 384
charly 0:3f4cfbeda9d3 385 uint32_t TMC2208Stepper::IOIN() {
charly 0:3f4cfbeda9d3 386 return read(TMC2208_n::IOIN_t::address);
charly 0:3f4cfbeda9d3 387 }
charly 0:3f4cfbeda9d3 388 bool TMC2208Stepper::enn() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn; }
charly 0:3f4cfbeda9d3 389 bool TMC2208Stepper::ms1() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1; }
charly 0:3f4cfbeda9d3 390 bool TMC2208Stepper::ms2() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2; }
charly 0:3f4cfbeda9d3 391 bool TMC2208Stepper::diag() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.diag; }
charly 0:3f4cfbeda9d3 392 bool TMC2208Stepper::pdn_uart() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; }
charly 0:3f4cfbeda9d3 393 bool TMC2208Stepper::step() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.step; }
charly 0:3f4cfbeda9d3 394 bool TMC2208Stepper::sel_a() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.sel_a; }
charly 0:3f4cfbeda9d3 395 bool TMC2208Stepper::dir() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir; }
charly 0:3f4cfbeda9d3 396 uint8_t TMC2208Stepper::version() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.version; }
charly 0:3f4cfbeda9d3 397
charly 0:3f4cfbeda9d3 398 /*
charly 0:3f4cfbeda9d3 399 uint32_t TMC2224Stepper::IOIN() {
charly 0:3f4cfbeda9d3 400 return read(TMC2224_n::IOIN_t::address);
charly 0:3f4cfbeda9d3 401 }
charly 0:3f4cfbeda9d3 402 bool TMC2224Stepper::enn() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn; }
charly 0:3f4cfbeda9d3 403 bool TMC2224Stepper::ms1() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1; }
charly 0:3f4cfbeda9d3 404 bool TMC2224Stepper::ms2() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2; }
charly 0:3f4cfbeda9d3 405 bool TMC2224Stepper::pdn_uart() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; }
charly 0:3f4cfbeda9d3 406 bool TMC2224Stepper::spread() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.spread; }
charly 0:3f4cfbeda9d3 407 bool TMC2224Stepper::step() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.step; }
charly 0:3f4cfbeda9d3 408 bool TMC2224Stepper::sel_a() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.sel_a; }
charly 0:3f4cfbeda9d3 409 bool TMC2224Stepper::dir() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir; }
charly 0:3f4cfbeda9d3 410 uint8_t TMC2224Stepper::version() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.version; }
charly 0:3f4cfbeda9d3 411 */
charly 0:3f4cfbeda9d3 412 uint16_t TMC2208Stepper::FACTORY_CONF() {
charly 0:3f4cfbeda9d3 413 return read(FACTORY_CONF_register.address);
charly 0:3f4cfbeda9d3 414 }
charly 0:3f4cfbeda9d3 415 void TMC2208Stepper::FACTORY_CONF(uint16_t input) {
charly 0:3f4cfbeda9d3 416 FACTORY_CONF_register.sr = input;
charly 0:3f4cfbeda9d3 417 write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr);
charly 0:3f4cfbeda9d3 418 }
charly 0:3f4cfbeda9d3 419 void TMC2208Stepper::fclktrim(uint8_t B){ FACTORY_CONF_register.fclktrim = B; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); }
charly 0:3f4cfbeda9d3 420 void TMC2208Stepper::ottrim(uint8_t B) { FACTORY_CONF_register.ottrim = B; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); }
charly 0:3f4cfbeda9d3 421 uint8_t TMC2208Stepper::fclktrim() { FACTORY_CONF_t r{0}; r.sr = FACTORY_CONF(); return r.fclktrim; }
charly 0:3f4cfbeda9d3 422 uint8_t TMC2208Stepper::ottrim() { FACTORY_CONF_t r{0}; r.sr = FACTORY_CONF(); return r.ottrim; }
charly 0:3f4cfbeda9d3 423
charly 0:3f4cfbeda9d3 424 void TMC2208Stepper::VACTUAL(uint32_t input) {
charly 0:3f4cfbeda9d3 425 VACTUAL_register.sr = input;
charly 0:3f4cfbeda9d3 426 write(VACTUAL_register.address, VACTUAL_register.sr);
charly 0:3f4cfbeda9d3 427 }
charly 0:3f4cfbeda9d3 428 uint32_t TMC2208Stepper::VACTUAL() {
charly 0:3f4cfbeda9d3 429 return VACTUAL_register.sr;
charly 0:3f4cfbeda9d3 430 }
charly 0:3f4cfbeda9d3 431
charly 0:3f4cfbeda9d3 432 uint32_t TMC2208Stepper::PWM_SCALE() {
charly 0:3f4cfbeda9d3 433 return read(TMC2208_n::PWM_SCALE_t::address);
charly 0:3f4cfbeda9d3 434 }
charly 0:3f4cfbeda9d3 435 uint8_t TMC2208Stepper::pwm_scale_sum() {
charly 0:3f4cfbeda9d3 436 TMC2208_n::PWM_SCALE_t r{0};
charly 0:3f4cfbeda9d3 437 r.sr = PWM_SCALE();
charly 0:3f4cfbeda9d3 438 return r.pwm_scale_sum;
charly 0:3f4cfbeda9d3 439 }
charly 0:3f4cfbeda9d3 440
charly 0:3f4cfbeda9d3 441 int16_t TMC2208Stepper::pwm_scale_auto() {
charly 0:3f4cfbeda9d3 442 TMC2208_n::PWM_SCALE_t r{0};
charly 0:3f4cfbeda9d3 443 r.sr = PWM_SCALE();
charly 0:3f4cfbeda9d3 444 return r.pwm_scale_auto;
charly 0:3f4cfbeda9d3 445 // Not two's complement? 9nth bit determines sign
charly 0:3f4cfbeda9d3 446 /*
charly 0:3f4cfbeda9d3 447 uint32_t d = PWM_SCALE();
charly 0:3f4cfbeda9d3 448 int16_t response = (d>>PWM_SCALE_AUTO_bp)&0xFF;
charly 0:3f4cfbeda9d3 449 if (((d&PWM_SCALE_AUTO_bm) >> 24) & 0x1) return -response;
charly 0:3f4cfbeda9d3 450 else return response;
charly 0:3f4cfbeda9d3 451 */
charly 0:3f4cfbeda9d3 452 }
charly 0:3f4cfbeda9d3 453
charly 0:3f4cfbeda9d3 454 // R: PWM_AUTO
charly 0:3f4cfbeda9d3 455 uint32_t TMC2208Stepper::PWM_AUTO() {
charly 0:3f4cfbeda9d3 456 return read(PWM_AUTO_t::address);
charly 0:3f4cfbeda9d3 457 }
charly 0:3f4cfbeda9d3 458 uint8_t TMC2208Stepper::pwm_ofs_auto() { PWM_AUTO_t r{0}; r.sr = PWM_AUTO(); return r.pwm_ofs_auto; }
charly 0:3f4cfbeda9d3 459 uint8_t TMC2208Stepper::pwm_grad_auto() { PWM_AUTO_t r{0}; r.sr = PWM_AUTO(); return r.pwm_grad_auto; }