Karl Zweimüller / Mbed OS TMC2209-Test2

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Dependencies:   TMCStepper mRotaryEncoder-os

source/TMC2209Stepper.cpp

Committer:
charly
Date:
2021-02-04
Revision:
0:3f4cfbeda9d3

File content as of revision 0:3f4cfbeda9d3:

#include "TMCStepper.h"

uint32_t TMC2209Stepper::IOIN() {
    return read(TMC2209_n::IOIN_t::address);
}
bool TMC2209Stepper::enn()          { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn;      }
bool TMC2209Stepper::ms1()          { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1;      }
bool TMC2209Stepper::ms2()          { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2;      }
bool TMC2209Stepper::diag()         { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.diag;     }
bool TMC2209Stepper::pdn_uart()     { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; }
bool TMC2209Stepper::step()         { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.step;     }
bool TMC2209Stepper::spread_en()    { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.spread_en;}
bool TMC2209Stepper::dir()          { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir;      }
uint8_t TMC2209Stepper::version()   { TMC2209_n::IOIN_t r{0}; r.sr = IOIN(); return r.version;  }

void TMC2209Stepper::push() {
    IHOLD_IRUN(IHOLD_IRUN_register.sr);
    TPOWERDOWN(TPOWERDOWN_register.sr);
    TPWMTHRS(TPWMTHRS_register.sr);
    GCONF(GCONF_register.sr);
    SLAVECONF(SLAVECONF_register.sr);
    VACTUAL(VACTUAL_register.sr);
    CHOPCONF(CHOPCONF_register.sr);
    PWMCONF(PWMCONF_register.sr);
    TCOOLTHRS(TCOOLTHRS_register.sr);
}

void TMC2209Stepper::SGTHRS(uint8_t input) {
    SGTHRS_register.sr = input;
    write(SGTHRS_register.address, SGTHRS_register.sr);
}
uint8_t TMC2209Stepper::SGTHRS() {
    return SGTHRS_register.sr;
}

// W: TCOOLTHRS
uint32_t TMC2209Stepper::TCOOLTHRS() { return TCOOLTHRS_register.sr; }
void TMC2209Stepper::TCOOLTHRS(uint32_t input) {
  TCOOLTHRS_register.sr = input;
  write(TCOOLTHRS_register.address, TCOOLTHRS_register.sr);
}

uint16_t TMC2209Stepper::SG_RESULT() {
    return read(TMC2209_n::SG_RESULT_t::address);
}