Karl Zweimüller / Mbed OS TMC2209-Test2

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Dependencies:   TMCStepper mRotaryEncoder-os

source/TMC2209Stepper.cpp@1:60419aa0c030, 2021-02-04 (annotated)

Committer:
charly
Date:
Thu Feb 04 21:35:45 2021 +0000
Revision:
1:60419aa0c030
Parent:
0:3f4cfbeda9d3 
Fast version with ca. 2,5rpm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charly 0:3f4cfbeda9d3 1 #include "TMCStepper.h"
charly 0:3f4cfbeda9d3 2
charly 0:3f4cfbeda9d3 3 uint32_t TMC2209Stepper::IOIN() {
charly 0:3f4cfbeda9d3 4 return read(TMC2209_n::IOIN_t::address);
charly 0:3f4cfbeda9d3 5 }
charly 0:3f4cfbeda9d3 6 bool TMC2209Stepper::enn() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn; }
charly 0:3f4cfbeda9d3 7 bool TMC2209Stepper::ms1() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1; }
charly 0:3f4cfbeda9d3 8 bool TMC2209Stepper::ms2() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2; }
charly 0:3f4cfbeda9d3 9 bool TMC2209Stepper::diag() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.diag; }
charly 0:3f4cfbeda9d3 10 bool TMC2209Stepper::pdn_uart() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; }
charly 0:3f4cfbeda9d3 11 bool TMC2209Stepper::step() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.step; }
charly 0:3f4cfbeda9d3 12 bool TMC2209Stepper::spread_en() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.spread_en;}
charly 0:3f4cfbeda9d3 13 bool TMC2209Stepper::dir() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir; }
charly 0:3f4cfbeda9d3 14 uint8_t TMC2209Stepper::version() { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.version; }
charly 0:3f4cfbeda9d3 15
charly 0:3f4cfbeda9d3 16 void TMC2209Stepper::push() {
charly 0:3f4cfbeda9d3 17 IHOLD_IRUN(IHOLD_IRUN_register.sr);
charly 0:3f4cfbeda9d3 18 TPOWERDOWN(TPOWERDOWN_register.sr);
charly 0:3f4cfbeda9d3 19 TPWMTHRS(TPWMTHRS_register.sr);
charly 0:3f4cfbeda9d3 20 GCONF(GCONF_register.sr);
charly 0:3f4cfbeda9d3 21 SLAVECONF(SLAVECONF_register.sr);
charly 0:3f4cfbeda9d3 22 VACTUAL(VACTUAL_register.sr);
charly 0:3f4cfbeda9d3 23 CHOPCONF(CHOPCONF_register.sr);
charly 0:3f4cfbeda9d3 24 PWMCONF(PWMCONF_register.sr);
charly 0:3f4cfbeda9d3 25 TCOOLTHRS(TCOOLTHRS_register.sr);
charly 0:3f4cfbeda9d3 26 }
charly 0:3f4cfbeda9d3 27
charly 0:3f4cfbeda9d3 28 void TMC2209Stepper::SGTHRS(uint8_t input) {
charly 0:3f4cfbeda9d3 29 SGTHRS_register.sr = input;
charly 0:3f4cfbeda9d3 30 write(SGTHRS_register.address, SGTHRS_register.sr);
charly 0:3f4cfbeda9d3 31 }
charly 0:3f4cfbeda9d3 32 uint8_t TMC2209Stepper::SGTHRS() {
charly 0:3f4cfbeda9d3 33 return SGTHRS_register.sr;
charly 0:3f4cfbeda9d3 34 }
charly 0:3f4cfbeda9d3 35
charly 0:3f4cfbeda9d3 36 // W: TCOOLTHRS
charly 0:3f4cfbeda9d3 37 uint32_t TMC2209Stepper::TCOOLTHRS() { return TCOOLTHRS_register.sr; }
charly 0:3f4cfbeda9d3 38 void TMC2209Stepper::TCOOLTHRS(uint32_t input) {
charly 0:3f4cfbeda9d3 39 TCOOLTHRS_register.sr = input;
charly 0:3f4cfbeda9d3 40 write(TCOOLTHRS_register.address, TCOOLTHRS_register.sr);
charly 0:3f4cfbeda9d3 41 }
charly 0:3f4cfbeda9d3 42
charly 0:3f4cfbeda9d3 43 uint16_t TMC2209Stepper::SG_RESULT() {
charly 0:3f4cfbeda9d3 44 return read(TMC2209_n::SG_RESULT_t::address);
charly 0:3f4cfbeda9d3 45 }