Diff: TMCStepper/TMCStepper.cpp

Revision:

5:7f250f463aa2

Parent:

4:12bfa2c1729f

Child:

6:6ad7bc10ac20

diff -r 12bfa2c1729f -r 7f250f463aa2 TMCStepper/TMCStepper.cpp
--- a/TMCStepper/TMCStepper.cpp	Thu Mar 18 20:48:31 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,157 +0,0 @@
-#include "TMCStepper.h"
-
-
-/*
-  Requested current = mA = I_rms/1000
-  Equation for current:
-  I_rms = (CS+1)/32 * V_fs/(R_sense+0.02ohm) * 1/sqrt(2)
-  Solve for CS ->
-  CS = 32*sqrt(2)*I_rms*(R_sense+0.02)/V_fs - 1
-
-  Example:
-  vsense = 0b0 -> V_fs = 0.325V
-  mA = 1640mA = I_rms/1000 = 1.64A
-  R_sense = 0.10 Ohm
-  ->
-  CS = 32*sqrt(2)*1.64*(0.10+0.02)/0.325 - 1 = 26.4
-  CS = 26
-*/
-
-uint16_t TMCStepper::cs2rms(uint8_t CS) {
-  return (float)(CS+1)/32.0 * (vsense() ? 0.180 : 0.325)/(Rsense+0.02) / 1.41421 * 1000;
-}
-
-void TMCStepper::rms_current(uint16_t mA) {
-  uint8_t CS = 32.0*1.41421*mA/1000.0*(Rsense+0.02)/0.325 - 1;
-  // If Current Scale is too low, turn on high sensitivity R_sense and calculate again
-  if (CS < 16) {
-    vsense(true);
-    CS = 32.0*1.41421*mA/1000.0*(Rsense+0.02)/0.180 - 1;
-  } else { // If CS >= 16, turn off high_sense_r
-    vsense(false);
-  }
-
-  if (CS > 31)
-    CS = 31;
-
-  irun(CS);
-  ihold(CS*holdMultiplier);
-  //val_mA = mA;
-}
-void TMCStepper::rms_current(uint16_t mA, float mult) {
-  holdMultiplier = mult;
-  rms_current(mA);
-}
-
-uint16_t TMCStepper::rms_current() {
-  return cs2rms(irun());
-}
-
-uint8_t TMCStepper::test_connection() {
-  uint32_t drv_status = DRV_STATUS();
-  switch (drv_status) {
-      case 0xFFFFFFFF: return 1;
-      case 0: return 2;
-      default: return 0;
-  }
-}
-
-void TMCStepper::hysteresis_end(int8_t value) { hend(value+3); }
-int8_t TMCStepper::hysteresis_end() { return hend()-3; };
-
-void TMCStepper::hysteresis_start(uint8_t value) { hstrt(value-1); }
-uint8_t TMCStepper::hysteresis_start() { return hstrt()+1; }
-
-void TMCStepper::microsteps(uint16_t ms) {
-  switch(ms) {
-    case 256: mres(0); break;
-    case 128: mres(1); break;
-    case  64: mres(2); break;
-    case  32: mres(3); break;
-    case  16: mres(4); break;
-    case   8: mres(5); break;
-    case   4: mres(6); break;
-    case   2: mres(7); break;
-    case   1: mres(8); break;
-    default: break;
-  }
-}
-
-uint16_t TMCStepper::microsteps() {
-  switch(mres()) {
-    case 0: return 256;
-    case 1: return 128;
-    case 2: return  64;
-    case 3: return  32;
-    case 4: return  16;
-    case 5: return   8;
-    case 6: return   4;
-    case 7: return   2;
-    case 8: return   1;
-  }
-  return 1;
-}
-
-void TMCStepper::blank_time(uint8_t value) {
-  switch (value) {
-    case 16: tbl(0b00); break;
-    case 24: tbl(0b01); break;
-    case 36: tbl(0b10); break;
-    case 54: tbl(0b11); break;
-  }
-}
-
-uint8_t TMCStepper::blank_time() {
-  switch (tbl()) {
-    case 0b00: return 16;
-    case 0b01: return 24;
-    case 0b10: return 36;
-    case 0b11: return 54;
-  }
-  return 0;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////
-// R+C: GSTAT
-uint8_t TMCStepper::GSTAT()  { return read(GSTAT_t::address); }
-void  TMCStepper::GSTAT(uint8_t){ write(GSTAT_t::address, 0b111); }
-bool  TMCStepper::reset()    { GSTAT_t r; r.sr = GSTAT(); return r.reset; }
-bool  TMCStepper::drv_err()  { GSTAT_t r; r.sr = GSTAT(); return r.drv_err; }
-bool  TMCStepper::uv_cp()    { GSTAT_t r; r.sr = GSTAT(); return r.uv_cp; }
-///////////////////////////////////////////////////////////////////////////////////////
-// W: TPOWERDOWN
-uint8_t TMCStepper::TPOWERDOWN() { return TPOWERDOWN_register.sr; }
-void TMCStepper::TPOWERDOWN(uint8_t input) {
-  TPOWERDOWN_register.sr = input;
-  write(TPOWERDOWN_register.address, TPOWERDOWN_register.sr);
-}
-///////////////////////////////////////////////////////////////////////////////////////
-// R: TSTEP
-uint32_t TMCStepper::TSTEP() { return read(TSTEP_t::address); }
-///////////////////////////////////////////////////////////////////////////////////////
-// W: TPWMTHRS
-uint32_t TMCStepper::TPWMTHRS() { return TPWMTHRS_register.sr; }
-void TMCStepper::TPWMTHRS(uint32_t input) {
-  TPWMTHRS_register.sr = input;
-  write(TPWMTHRS_register.address, TPWMTHRS_register.sr);
-}
-
-uint16_t TMCStepper::MSCNT() {
-  return read(MSCNT_t::address);
-}
-
-uint32_t TMCStepper::MSCURACT() { return read(MSCURACT_t::address); }
-int16_t TMCStepper::cur_a() {
-  MSCURACT_t r{0};
-  r.sr = MSCURACT();
-  int16_t value = r.cur_a;
-  if (value > 255) value -= 512;
-  return value;
-}
-int16_t TMCStepper::cur_b() {
-  MSCURACT_t r{0};
-  r.sr = MSCURACT();
-  int16_t value = r.cur_b;
-  if (value > 255) value -= 512;
-  return value;
-}
\ No newline at end of file