Diff: TMCStepper/TMC2208Stepper.cpp

Revision:

5:7f250f463aa2

Parent:

4:12bfa2c1729f

Child:

6:6ad7bc10ac20

--- a/TMCStepper/TMC2208Stepper.cpp	Thu Mar 18 20:48:31 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,459 +0,0 @@
-#include "TMCStepper.h"
-#include "TMC_MACROS.h"
-//#include "SERIAL_SWITCH.h"
-
-// Protected
-// addr needed for TMC2209
-TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr) :
-    TMCStepper(RS),
-    slave_address(addr)
-    {
-        HWSerial = SerialPort;
-        defaults();
-    }
-
-TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2) :
-    TMC2208Stepper(SerialPort, RS)
-    {
-//        SSwitch *SMulObj = new SSwitch(mul_pin1, mul_pin2, addr);
-//        sswitch = SMulObj;
-    }
-
-#if SW_CAPABLE_PLATFORM
-    // Protected
-    // addr needed for TMC2209
-    TMC2208Stepper::TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, uint8_t addr) :
-        TMCStepper(RS),
-        RXTX_pin(SW_RX_pin == SW_TX_pin ? SW_RX_pin : 0),
-        slave_address(addr)
-        {
-            BufferedSerial *SWSerialObj = new BufferedSerial(SW_TX_pin, SW_RX_pin);
-            SWSerial = SWSerialObj;
-            defaults();
-        }
-
-    void TMC2208Stepper::beginSerial(uint32_t baudrate) {
-        if (SWSerial != nullptr)
-        {
-            //SWSerial->begin(baudrate);
-            //SWSerial->end();
-            SWSerial->set_baud(baudrate);
-            SWSerial->set_format(
-                        /* bits */ 8,
-                        /* parity */ BufferedSerial::None,
-                        /* stop bit */ 1
-                    );
-            SWSerial->set_blocking(true);
-        }
-//        #if defined(ARDUINO_ARCH_AVR)
-//            if (RXTX_pin > 0) {
-//                digitalWrite(RXTX_pin, HIGH);
-//                pinMode(RXTX_pin, OUTPUT);
-//           }
-//        #endif
-    }
-#endif
-
-void TMC2208Stepper::begin() {
-    #if SW_CAPABLE_PLATFORM
-        beginSerial(115200);
-        //beginSerial(9600);
-    #endif
-    pdn_disable(true);
-    mstep_reg_select(true);
-    //Wait to initialize
-    wait_us(replyDelay*1000);
-
-}
-
-void TMC2208Stepper::defaults() {
-    GCONF_register.i_scale_analog = 1;
-    GCONF_register.internal_rsense = 0; // OTP
-    GCONF_register.en_spreadcycle = 0; // OTP
-    GCONF_register.multistep_filt = 1; // OTP
-    IHOLD_IRUN_register.iholddelay = 1; // OTP
-    TPOWERDOWN_register.sr = 20;
-    CHOPCONF_register.sr = 0x10000053;
-    PWMCONF_register.sr = 0xC10D0024;
-  //MSLUT0_register.sr = ???;
-  //MSLUT1_register.sr = ???;
-  //MSLUT2_register.sr = ???;
-  //MSLUT3_register.sr = ???;
-  //MSLUT4_register.sr = ???;
-  //MSLUT5_register.sr = ???;
-  //MSLUT6_register.sr = ???;
-  //MSLUT7_register.sr = ???;
-  //MSLUTSTART_register.start_sin90 = 247;
-}
-
-void TMC2208Stepper::push() {
-    GCONF(GCONF_register.sr);
-    IHOLD_IRUN(IHOLD_IRUN_register.sr);
-    SLAVECONF(SLAVECONF_register.sr);
-    TPOWERDOWN(TPOWERDOWN_register.sr);
-    TPWMTHRS(TPWMTHRS_register.sr);
-    VACTUAL(VACTUAL_register.sr);
-    CHOPCONF(CHOPCONF_register.sr);
-    PWMCONF(PWMCONF_register.sr);
-}
-
-bool TMC2208Stepper::isEnabled() { return !enn() && toff(); }
-
-uint8_t TMC2208Stepper::calcCRC(uint8_t datagram[], uint8_t len) {
-    uint8_t crc = 0;
-    for (uint8_t i = 0; i < len; i++) {
-        uint8_t currentByte = datagram[i];
-        for (uint8_t j = 0; j < 8; j++) {
-            if ((crc >> 7) ^ (currentByte & 0x01)) {
-                crc = (crc << 1) ^ 0x07;
-            } else {
-                crc = (crc << 1);
-            }
-            crc &= 0xff;
-            currentByte = currentByte >> 1;
-        }
-    }
-    return crc;
-}
-
-__attribute__((weak))
-int TMC2208Stepper::available() {
-    int out = 0;
-    #if SW_CAPABLE_PLATFORM
-        if (SWSerial != nullptr) {
-//            out = SWSerial->available();
-out = 1;
-        } else
-    #endif
-        if (HWSerial != nullptr) {
-//            out = HWSerial->available();
-out = 1;
-        }
-
-    return out;
-}
-
-__attribute__((weak))
-void TMC2208Stepper::preWriteCommunication() {
-    if (HWSerial != nullptr) {
-//        if (sswitch != nullptr)
-//            sswitch->active();
-    }
-}
-
-__attribute__((weak))
-void TMC2208Stepper::preReadCommunication() {
-    #if SW_CAPABLE_PLATFORM
-        if (SWSerial != nullptr) {
-//            SWSerial->listen();
-        } else
-    #endif
-        if (HWSerial != nullptr) {
-//            if (sswitch != nullptr)
-//                sswitch->active();
-        }
-}
-
-__attribute__((weak))
-int16_t TMC2208Stepper::serial_read() {
-    int16_t out = 0;
-    int16_t count = 0;
-     
-    #if SW_CAPABLE_PLATFORM
-        if (SWSerial != nullptr) {
-//            out = SWSerial->read();
-            count = SWSerial->read(&out, 1); // read one character
-//            if (SWSerial->readable()) {
-//                SWSerial->read(&out, 1); // read one character
-//            }
-
-        } else
-    #endif
-        if (HWSerial != nullptr) {
-//            out = HWSerial->read();
-            HWSerial->read(&out, 1); // read one character
-        }
-    if (count >= 1) {
-//       printf("<%02X|",out);
-       return out;
-    } else {
-        return -1;
-    }
-}
-
-__attribute__((weak))
-uint8_t TMC2208Stepper::serial_write(const uint8_t data) {
-    int out = 0;
-    #if SW_CAPABLE_PLATFORM
-        if (SWSerial != nullptr) {
-//            printf(">%02X|",data);
-            return SWSerial->write(&data,1);
-        } else
-    #endif
-        if (HWSerial != nullptr) {
-            return HWSerial->write(&data,1);
-        }
-
-    return out;
-}
-
-__attribute__((weak))
-void TMC2208Stepper::postWriteCommunication() {}
-
-__attribute__((weak))
-void TMC2208Stepper::postReadCommunication() {
-    #if SW_CAPABLE_PLATFORM
-//        if (SWSerial != nullptr) {
-//            SWSerial->end();
-//        }
-    #endif
-}
-
-void TMC2208Stepper::write(uint8_t addr, uint32_t regVal) {
-    uint8_t len = 7;
-    addr |= TMC_WRITE;
-    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};
-
-    datagram[len] = calcCRC(datagram, len);
-
-    preWriteCommunication();
-
-    for(uint8_t i=0; i<=len; i++) {
-        bytesWritten += serial_write(datagram[i]);
-    }
-    postWriteCommunication();
-
-    //delay(replyDelay);
-    wait_us(replyDelay*1000);
-}
-
-uint64_t TMC2208Stepper::_sendDatagram(uint8_t datagram[], const uint8_t len, uint16_t timeout) {
-
-//  while (available() > 0) serial_read(); // Flush
-    SWSerial->sync();
-/*    uint8_t dummy;
-    while (SWSerial->readable()) {
-        SWSerial->read(&dummy, 1); // read one character
-    }
-*/    
-/*    uint8_t dummy;
-    while (SWSerial->read(&dummy, 1) >= 0) {
-        ;
-    }    
-*/
-
-    #if defined(ARDUINO_ARCH_AVR)
-        if (RXTX_pin > 0) {
-            digitalWrite(RXTX_pin, HIGH);
-            pinMode(RXTX_pin, OUTPUT);
-        }
-    #endif
-
-    for(int i=0; i<=len; i++) serial_write(datagram[i]);
-
-    #if defined(ARDUINO_ARCH_AVR)
-        if (RXTX_pin > 0) {
-            pinMode(RXTX_pin, INPUT_PULLUP);
-        }
-    #endif
-
-    //delay(this->replyDelay);
-    wait_us(this->replyDelay*1000);
-
-    // scan for the rx frame and read it
-
-//    uint32_t ms = millis();
-    uint32_t sync_target = (static_cast<uint32_t>(datagram[0])<<16) | 0xFF00 | datagram[2];
-    uint32_t sync = 0;
-
-
-    do {
-/*        uint32_t ms2 = millis();
-        if (ms2 != ms) {
-            // 1ms tick
-            ms = ms2;
-            timeout--;
-        }
-        if (!timeout) return 0;
-*/
-        int16_t res = serial_read();
-        if (res < 0) continue;
-
-        sync <<= 8;
-        sync |= res & 0xFF;
-        sync &= 0xFFFFFF;
-
-    } while (sync != sync_target);
-
-    uint64_t out = sync;
- //   ms = millis();
- //   timeout = this->abort_window;
-
-    for(uint8_t i=0; i<5;) {
-/*        uint32_t ms2 = millis();
-        if (ms2 != ms) {
-            // 1ms tick
-            ms = ms2;
-            timeout--;
-        }
-        if (!timeout) return 0;
-*/
-        int16_t res = serial_read();
-        if (res < 0) continue;
-
-        out <<= 8;
-        out |= res & 0xFF;
-
-        i++;
-    }
-
-    #if defined(ARDUINO_ARCH_AVR)
-        if (RXTX_pin > 0) {
-            digitalWrite(RXTX_pin, HIGH);
-            pinMode(RXTX_pin, OUTPUT);
-        }
-    #endif
-
-//    while (available() > 0) serial_read(); // Flush
-    SWSerial->sync();
-
-    return out;
-
-
-}
-
-uint32_t TMC2208Stepper::read(uint8_t addr) {
-    constexpr uint8_t len = 3;
-    addr |= TMC_READ;
-    uint8_t datagram[] = {TMC2208_SYNC, slave_address, addr, 0x00};
-    datagram[len] = calcCRC(datagram, len);
-    uint64_t out = 0x00000000UL;
-
-    for (uint8_t i = 0; i < max_retries; i++) {
-        preReadCommunication();
-        out = _sendDatagram(datagram, len, abort_window);
-        postReadCommunication();
-
-//        delay(replyDelay);
-//        wait_us(replyDelay*1000);
-
-        CRCerror = false;
-        uint8_t out_datagram[] = {
-            static_cast<uint8_t>(out>>56),
-            static_cast<uint8_t>(out>>48),
-            static_cast<uint8_t>(out>>40),
-            static_cast<uint8_t>(out>>32),
-            static_cast<uint8_t>(out>>24),
-            static_cast<uint8_t>(out>>16),
-            static_cast<uint8_t>(out>> 8),
-            static_cast<uint8_t>(out>> 0)
-        };
-        uint8_t crc = calcCRC(out_datagram, 7);
-        if ((crc != static_cast<uint8_t>(out)) || crc == 0 ) {
-            CRCerror = true;
-            out = 0;
-        } else {
-            break;
-        }
-    }
-
-    return out>>8;
-}
-
-uint8_t TMC2208Stepper::IFCNT() {
-    return read(IFCNT_t::address);
-}
-
-void TMC2208Stepper::SLAVECONF(uint16_t input) {
-    SLAVECONF_register.sr = input&0xF00;
-    write(SLAVECONF_register.address, SLAVECONF_register.sr);
-}
-uint16_t TMC2208Stepper::SLAVECONF() {
-    return SLAVECONF_register.sr;
-}
-void TMC2208Stepper::senddelay(uint8_t B)   { SLAVECONF_register.senddelay = B; write(SLAVECONF_register.address, SLAVECONF_register.sr); }
-uint8_t TMC2208Stepper::senddelay()         { return SLAVECONF_register.senddelay; }
-
-void TMC2208Stepper::OTP_PROG(uint16_t input) {
-    write(OTP_PROG_t::address, input);
-}
-
-uint32_t TMC2208Stepper::OTP_READ() {
-    return read(OTP_READ_t::address);
-}
-
-uint32_t TMC2208Stepper::IOIN() {
-    return read(TMC2208_n::IOIN_t::address);
-}
-bool TMC2208Stepper::enn()          { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn;      }
-bool TMC2208Stepper::ms1()          { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1;      }
-bool TMC2208Stepper::ms2()          { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2;      }
-bool TMC2208Stepper::diag()         { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.diag;     }
-bool TMC2208Stepper::pdn_uart()     { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; }
-bool TMC2208Stepper::step()         { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.step;     }
-bool TMC2208Stepper::sel_a()        { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.sel_a;    }
-bool TMC2208Stepper::dir()          { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir;      }
-uint8_t TMC2208Stepper::version()   { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.version;  }
-
-/*
-uint32_t TMC2224Stepper::IOIN() {
-    return read(TMC2224_n::IOIN_t::address);
-}
-bool TMC2224Stepper::enn()          { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn;      }
-bool TMC2224Stepper::ms1()          { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1;      }
-bool TMC2224Stepper::ms2()          { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2;      }
-bool TMC2224Stepper::pdn_uart()     { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; }
-bool TMC2224Stepper::spread()       { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.spread;   }
-bool TMC2224Stepper::step()         { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.step;     }
-bool TMC2224Stepper::sel_a()        { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.sel_a;    }
-bool TMC2224Stepper::dir()          { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir;      }
-uint8_t TMC2224Stepper::version()   { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.version;  }
-*/
-uint16_t TMC2208Stepper::FACTORY_CONF() {
-    return read(FACTORY_CONF_register.address);
-}
-void TMC2208Stepper::FACTORY_CONF(uint16_t input) {
-    FACTORY_CONF_register.sr = input;
-    write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr);
-}
-void TMC2208Stepper::fclktrim(uint8_t B){ FACTORY_CONF_register.fclktrim = B; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); }
-void TMC2208Stepper::ottrim(uint8_t B)  { FACTORY_CONF_register.ottrim = B; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); }
-uint8_t TMC2208Stepper::fclktrim()      { FACTORY_CONF_t r{0}; r.sr = FACTORY_CONF(); return r.fclktrim; }
-uint8_t TMC2208Stepper::ottrim()        { FACTORY_CONF_t r{0}; r.sr = FACTORY_CONF(); return r.ottrim; }
-
-void TMC2208Stepper::VACTUAL(uint32_t input) {
-    VACTUAL_register.sr = input;
-    write(VACTUAL_register.address, VACTUAL_register.sr);
-}
-uint32_t TMC2208Stepper::VACTUAL() {
-    return VACTUAL_register.sr;
-}
-
-uint32_t TMC2208Stepper::PWM_SCALE() {
-    return read(TMC2208_n::PWM_SCALE_t::address);
-}
-uint8_t TMC2208Stepper::pwm_scale_sum() {
-    TMC2208_n::PWM_SCALE_t r{0};
-    r.sr = PWM_SCALE();
-    return r.pwm_scale_sum;
-}
-
-int16_t TMC2208Stepper::pwm_scale_auto() {
-    TMC2208_n::PWM_SCALE_t r{0};
-    r.sr = PWM_SCALE();
-    return r.pwm_scale_auto;
-    // Not two's complement? 9nth bit determines sign
-    /*
-    uint32_t d = PWM_SCALE();
-    int16_t response = (d>>PWM_SCALE_AUTO_bp)&0xFF;
-    if (((d&PWM_SCALE_AUTO_bm) >> 24) & 0x1) return -response;
-    else return response;
-    */
-}
-
-// R: PWM_AUTO
-uint32_t TMC2208Stepper::PWM_AUTO() {
-    return read(PWM_AUTO_t::address);
-}
-uint8_t TMC2208Stepper::pwm_ofs_auto()  { PWM_AUTO_t r{0}; r.sr = PWM_AUTO(); return r.pwm_ofs_auto; }
-uint8_t TMC2208Stepper::pwm_grad_auto() { PWM_AUTO_t r{0}; r.sr = PWM_AUTO(); return r.pwm_grad_auto; }
\ No newline at end of file