Karl Zweimüller
Testprogram for TMC2209-Library. Uses Speed-Control via VACTUAL instead of Step/Dir
Dependencies: TMCStepper mRotaryEncoder-os
Revision 2:94c5b3f09463, committed 2021-02-06
- Comitter:
- charly
- Date:
- Sat Feb 06 20:00:31 2021 +0000
- Parent:
- 1:60419aa0c030
- Child:
- 3:209a9c414f54
- Commit message:
- Removed unwanted files. Cleanup.
Changed in this revision
--- a/TMCStepper.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,383 +0,0 @@
-#pragma once
-
-//#define TMCDEBUG
-
-#include "mbed.h"
-
-#define SW_CAPABLE_PLATFORM true
-
-#include "source/TMC2130_bitfields.h"
-#include "source/TMC2160_bitfields.h"
-#include "source/TMC5130_bitfields.h"
-#include "source/TMC5160_bitfields.h"
-#include "source/TMC2208_bitfields.h"
-#include "source/TMC2209_bitfields.h"
-#include "source/TMC2660_bitfields.h"
-
-#define INIT_REGISTER(REG) REG##_t REG##_register = REG##_t
-#define INIT2130_REGISTER(REG) TMC2130_n::REG##_t REG##_register = TMC2130_n::REG##_t
-#define INIT2160_REGISTER(REG) TMC2160_n::REG##_t REG##_register = TMC2160_n::REG##_t
-#define INIT5130_REGISTER(REG) TMC5130_n::REG##_t REG##_register = TMC5130_n::REG##_t
-#define INIT5160_REGISTER(REG) TMC5160_n::REG##_t REG##_register = TMC5160_n::REG##_t
-#define INIT2660_REGISTER(REG) TMC2660_n::REG##_t REG##_register = TMC2660_n::REG##_t
-#define INIT2208_REGISTER(REG) TMC2208_n::REG##_t REG##_register = TMC2208_n::REG##_t
-#define INIT2224_REGISTER(REG) TMC2224_n::REG##_t REG##_register = TMC2224_n::REG##_t
-#define SET_ALIAS(TYPE, DRIVER, NEW, ARG, OLD) TYPE (DRIVER::*NEW)(ARG) = &DRIVER::OLD
-
-#define TMCSTEPPER_VERSION 0x000701 // v0.7.1
-
-#if SW_CAPABLE_PLATFORM
- #include <BufferedSerial.h>
- #include <Stream.h>
-#endif
-class TMCStepper {
- public:
- uint16_t cs2rms(uint8_t CS);
- void rms_current(uint16_t mA);
- void rms_current(uint16_t mA, float mult);
- uint16_t rms_current();
- void hold_multiplier(float val) { holdMultiplier = val; }
- float hold_multiplier() { return holdMultiplier; }
- uint8_t test_connection();
-
- // Helper functions
- void microsteps(uint16_t ms);
- uint16_t microsteps();
- void blank_time(uint8_t value);
- uint8_t blank_time();
- void hysteresis_end(int8_t value);
- int8_t hysteresis_end();
- void hysteresis_start(uint8_t value);
- uint8_t hysteresis_start();
-
- // R+WC: GSTAT
- void GSTAT( uint8_t input);
- uint8_t GSTAT();
- bool reset();
- bool drv_err();
- bool uv_cp();
-
- // W: IHOLD_IRUN
- void IHOLD_IRUN( uint32_t input);
- uint32_t IHOLD_IRUN();
- void ihold( uint8_t B);
- void irun( uint8_t B);
- void iholddelay( uint8_t B);
- uint8_t ihold();
- uint8_t irun();
- uint8_t iholddelay();
-
- // W: TPOWERDOWN
- uint8_t TPOWERDOWN();
- void TPOWERDOWN( uint8_t input);
-
- // R: TSTEP
- uint32_t TSTEP();
-
- // W: TPWMTHRS
- uint32_t TPWMTHRS();
- void TPWMTHRS( uint32_t input);
-
- // R: MSCNT
- uint16_t MSCNT();
-
- // R: MSCURACT
- uint32_t MSCURACT();
- int16_t cur_a();
- int16_t cur_b();
-
- protected:
- TMCStepper(float RS) : Rsense(RS) {};
- INIT_REGISTER(IHOLD_IRUN){{.sr=0}}; // 32b
- INIT_REGISTER(TPOWERDOWN){.sr=0}; // 8b
- INIT_REGISTER(TPWMTHRS){.sr=0}; // 32b
-
- static constexpr uint8_t TMC_READ = 0x00,
- TMC_WRITE = 0x80;
-
- struct TSTEP_t { constexpr static uint8_t address = 0x12; };
- struct MSCNT_t { constexpr static uint8_t address = 0x6A; };
-
- virtual void write(uint8_t, uint32_t) = 0;
- virtual uint32_t read(uint8_t) = 0;
- virtual void vsense(bool) = 0;
- virtual bool vsense(void) = 0;
- virtual uint32_t DRV_STATUS() = 0;
- virtual void hend(uint8_t) = 0;
- virtual uint8_t hend() = 0;
- virtual void hstrt(uint8_t) = 0;
- virtual uint8_t hstrt() = 0;
- virtual void mres(uint8_t) = 0;
- virtual uint8_t mres() = 0;
- virtual void tbl(uint8_t) = 0;
- virtual uint8_t tbl() = 0;
-
- const float Rsense;
- float holdMultiplier = 0.5;
-};
-
-
-class TMC2208Stepper : public TMCStepper {
- public:
- TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2);
- TMC2208Stepper(Stream * SerialPort, float RS) :
- TMC2208Stepper(SerialPort, RS, TMC2208_SLAVE_ADDR)
- {}
- #if SW_CAPABLE_PLATFORM
- TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS) :
- TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, TMC2208_SLAVE_ADDR)
- {}
-
- __attribute__((deprecated("Boolean argument has been deprecated and does nothing")))
- TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, bool) :
- TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, TMC2208_SLAVE_ADDR)
- {};
- #else
- TMC2208Stepper(PinName, PinName, float) = delete; // Your platform does not currently support Software Serial
- #endif
- void defaults();
- void push();
- void begin();
- #if SW_CAPABLE_PLATFORM
- void beginSerial(uint32_t baudrate) __attribute__((weak));
- #else
- void beginSerial(uint32_t) = delete; // Your platform does not currently support Software Serial
- #endif
- bool isEnabled();
-
- // RW: GCONF
- void GCONF(uint32_t input);
- void I_scale_analog(bool B);
- void internal_Rsense(bool B);
- void en_spreadCycle(bool B);
- void shaft(bool B);
- void index_otpw(bool B);
- void index_step(bool B);
- void pdn_disable(bool B);
- void mstep_reg_select(bool B);
- void multistep_filt(bool B);
- uint32_t GCONF();
- bool I_scale_analog();
- bool internal_Rsense();
- bool en_spreadCycle();
- bool shaft();
- bool index_otpw();
- bool index_step();
- bool pdn_disable();
- bool mstep_reg_select();
- bool multistep_filt();
-
- // R: IFCNT
- uint8_t IFCNT();
-
- // W: SLAVECONF
- void SLAVECONF(uint16_t input);
- uint16_t SLAVECONF();
- void senddelay(uint8_t B);
- uint8_t senddelay();
-
- // W: OTP_PROG
- void OTP_PROG(uint16_t input);
-
- // R: OTP_READ
- uint32_t OTP_READ();
-
- // R: IOIN
- uint32_t IOIN();
- bool enn();
- bool ms1();
- bool ms2();
- bool diag();
- bool pdn_uart();
- bool step();
- bool sel_a();
- bool dir();
- uint8_t version();
-
- // RW: FACTORY_CONF
- void FACTORY_CONF(uint16_t input);
- uint16_t FACTORY_CONF();
- void fclktrim(uint8_t B);
- void ottrim(uint8_t B);
- uint8_t fclktrim();
- uint8_t ottrim();
-
- // W: VACTUAL
- void VACTUAL(uint32_t input);
- uint32_t VACTUAL();
-
- // RW: CHOPCONF
- void CHOPCONF(uint32_t input);
- void toff(uint8_t B);
- void hstrt(uint8_t B);
- void hend(uint8_t B);
- void tbl(uint8_t B);
- void vsense(bool B);
- void mres(uint8_t B);
- void intpol(bool B);
- void dedge(bool B);
- void diss2g(bool B);
- void diss2vs(bool B);
- uint32_t CHOPCONF();
- uint8_t toff();
- uint8_t hstrt();
- uint8_t hend();
- uint8_t tbl();
- bool vsense();
- uint8_t mres();
- bool intpol();
- bool dedge();
- bool diss2g();
- bool diss2vs();
-
- // R: DRV_STATUS
- uint32_t DRV_STATUS();
- bool otpw();
- bool ot();
- bool s2ga();
- bool s2gb();
- bool s2vsa();
- bool s2vsb();
- bool ola();
- bool olb();
- bool t120();
- bool t143();
- bool t150();
- bool t157();
- uint16_t cs_actual();
- bool stealth();
- bool stst();
-
- // RW: PWMCONF
- void PWMCONF(uint32_t input);
- void pwm_ofs(uint8_t B);
- void pwm_grad(uint8_t B);
- void pwm_freq(uint8_t B);
- void pwm_autoscale(bool B);
- void pwm_autograd(bool B);
- void freewheel(uint8_t B);
- void pwm_reg(uint8_t B);
- void pwm_lim(uint8_t B);
- uint32_t PWMCONF();
- uint8_t pwm_ofs();
- uint8_t pwm_grad();
- uint8_t pwm_freq();
- bool pwm_autoscale();
- bool pwm_autograd();
- uint8_t freewheel();
- uint8_t pwm_reg();
- uint8_t pwm_lim();
-
- // R: PWM_SCALE
- uint32_t PWM_SCALE();
- uint8_t pwm_scale_sum();
- int16_t pwm_scale_auto();
-
- // R: PWM_AUTO (0x72)
- uint32_t PWM_AUTO();
- uint8_t pwm_ofs_auto();
- uint8_t pwm_grad_auto();
-
- uint16_t bytesWritten = 0;
- float Rsense = 0.11;
- bool CRCerror = false;
- protected:
- INIT2208_REGISTER(GCONF) {{.sr=0}};
- INIT_REGISTER(SLAVECONF) {{.sr=0}};
- INIT_REGISTER(FACTORY_CONF) {{.sr=0}};
- INIT2208_REGISTER(VACTUAL) {.sr=0};
- INIT2208_REGISTER(CHOPCONF) {{.sr=0}};
- INIT2208_REGISTER(PWMCONF) {{.sr=0}};
-
- struct IFCNT_t { constexpr static uint8_t address = 0x02; };
- struct OTP_PROG_t { constexpr static uint8_t address = 0x04; };
- struct OTP_READ_t { constexpr static uint8_t address = 0x05; };
-
- TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr);
- #if SW_CAPABLE_PLATFORM
- TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, uint8_t addr);
- #endif
-
- Stream * HWSerial = nullptr;
- #if SW_CAPABLE_PLATFORM
- BufferedSerial * SWSerial = nullptr;
- const uint16_t RXTX_pin = 0; // Half duplex
- #endif
-
-// SSwitch *sswitch = nullptr;
-
- int available();
- void preWriteCommunication();
- void preReadCommunication();
- int16_t serial_read();
- uint8_t serial_write(const uint8_t data);
- void postWriteCommunication();
- void postReadCommunication();
- void write(uint8_t, uint32_t);
- uint32_t read(uint8_t);
- const uint8_t slave_address;
- uint8_t calcCRC(uint8_t datagram[], uint8_t len);
- static constexpr uint8_t TMC2208_SYNC = 0x05,
- TMC2208_SLAVE_ADDR = 0x00;
- static constexpr uint8_t replyDelay = 2; //ms
- static constexpr uint8_t abort_window = 5;
- static constexpr uint8_t max_retries = 2;
-
- uint64_t _sendDatagram(uint8_t [], const uint8_t, uint16_t);
-};
-
-class TMC2209Stepper : public TMC2208Stepper {
- public:
- TMC2209Stepper(Stream * SerialPort, float RS, uint8_t addr) :
- TMC2208Stepper(SerialPort, RS, addr) {}
-
- #if SW_CAPABLE_PLATFORM
- TMC2209Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, uint8_t addr) :
- TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, addr) {}
- #else
- TMC2209Stepper(PinName, PinName, float, uint8_t) = delete; // Your platform does not currently support Software Serial
- #endif
- void push();
-
- // R: IOIN
- uint32_t IOIN();
- bool enn();
- bool ms1();
- bool ms2();
- bool diag();
- bool pdn_uart();
- bool step();
- bool spread_en();
- bool dir();
- uint8_t version();
-
- // W: TCOOLTHRS
- uint32_t TCOOLTHRS();
- void TCOOLTHRS(uint32_t input);
-
- // W: SGTHRS
- void SGTHRS(uint8_t B);
- uint8_t SGTHRS();
-
- // R: SG_RESULT
- uint16_t SG_RESULT();
-
- // W: COOLCONF
- void COOLCONF(uint16_t B);
- uint16_t COOLCONF();
- void semin(uint8_t B);
- void seup(uint8_t B);
- void semax(uint8_t B);
- void sedn(uint8_t B);
- void seimin(bool B);
- uint8_t semin();
- uint8_t seup();
- uint8_t semax();
- uint8_t sedn();
- bool seimin();
-
- protected:
- INIT_REGISTER(TCOOLTHRS){.sr=0};
- TMC2209_n::SGTHRS_t SGTHRS_register{.sr=0};
- TMC2209_n::COOLCONF_t COOLCONF_register{{.sr=0}};
-};
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/CHOPCONF.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,110 @@
+#include "TMCStepper.h"
+#include "TMC_MACROS.h"
+
+#define SET_REG(SETTING) CHOPCONF_register.SETTING = B; write(CHOPCONF_register.address, CHOPCONF_register.sr)
+
+// CHOPCONF
+/*
+uint32_t TMC2130Stepper::CHOPCONF() {
+ return read(CHOPCONF_register.address);
+}
+void TMC2130Stepper::CHOPCONF(uint32_t input) {
+ CHOPCONF_register.sr = input;
+ write(CHOPCONF_register.address, CHOPCONF_register.sr);
+}
+
+void TMC2130Stepper::toff( uint8_t B ) { SET_REG(toff); }
+void TMC2130Stepper::hstrt( uint8_t B ) { SET_REG(hstrt); }
+void TMC2130Stepper::hend( uint8_t B ) { SET_REG(hend); }
+//void TMC2130Stepper::fd( uint8_t B ) { SET_REG(fd); }
+void TMC2130Stepper::disfdcc( bool B ) { SET_REG(disfdcc); }
+void TMC2130Stepper::rndtf( bool B ) { SET_REG(rndtf); }
+void TMC2130Stepper::chm( bool B ) { SET_REG(chm); }
+void TMC2130Stepper::tbl( uint8_t B ) { SET_REG(tbl); }
+void TMC2130Stepper::vsense( bool B ) { SET_REG(vsense); }
+void TMC2130Stepper::vhighfs( bool B ) { SET_REG(vhighfs); }
+void TMC2130Stepper::vhighchm( bool B ) { SET_REG(vhighchm);}
+void TMC2130Stepper::sync( uint8_t B ) { SET_REG(sync); }
+void TMC2130Stepper::mres( uint8_t B ) { SET_REG(mres); }
+void TMC2130Stepper::intpol( bool B ) { SET_REG(intpol); }
+void TMC2130Stepper::dedge( bool B ) { SET_REG(dedge); }
+void TMC2130Stepper::diss2g( bool B ) { SET_REG(diss2g); }
+
+uint8_t TMC2130Stepper::toff() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.toff; }
+uint8_t TMC2130Stepper::hstrt() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.hstrt; }
+uint8_t TMC2130Stepper::hend() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.hend; }
+//uint8_t TMC2130Stepper::fd() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.fd; }
+bool TMC2130Stepper::disfdcc() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.disfdcc; }
+bool TMC2130Stepper::rndtf() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.rndtf; }
+bool TMC2130Stepper::chm() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.chm; }
+uint8_t TMC2130Stepper::tbl() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.tbl; }
+bool TMC2130Stepper::vsense() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.vsense; }
+bool TMC2130Stepper::vhighfs() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.vhighfs; }
+bool TMC2130Stepper::vhighchm() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.vhighchm;}
+uint8_t TMC2130Stepper::sync() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.sync; }
+uint8_t TMC2130Stepper::mres() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.mres; }
+bool TMC2130Stepper::intpol() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.intpol; }
+bool TMC2130Stepper::dedge() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.dedge; }
+bool TMC2130Stepper::diss2g() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.diss2g; }
+
+void TMC5160Stepper::diss2vs(bool B){ SET_REG(diss2vs); }
+void TMC5160Stepper::tpfd(uint8_t B){ SET_REG(tpfd); }
+bool TMC5160Stepper::diss2vs() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.diss2vs; }
+uint8_t TMC5160Stepper::tpfd() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.tpfd; }
+*/
+void TMC2208Stepper::CHOPCONF(uint32_t input) {
+ CHOPCONF_register.sr = input;
+ write(CHOPCONF_register.address, CHOPCONF_register.sr);
+}
+uint32_t TMC2208Stepper::CHOPCONF() {
+ return read(CHOPCONF_register.address);
+}
+void TMC2208Stepper::toff ( uint8_t B ) { SET_REG(toff); }
+void TMC2208Stepper::hstrt ( uint8_t B ) { SET_REG(hstrt); }
+void TMC2208Stepper::hend ( uint8_t B ) { SET_REG(hend); }
+void TMC2208Stepper::tbl ( uint8_t B ) { SET_REG(tbl); }
+void TMC2208Stepper::vsense ( bool B ) { SET_REG(vsense); }
+void TMC2208Stepper::mres ( uint8_t B ) { SET_REG(mres); }
+void TMC2208Stepper::intpol ( bool B ) { SET_REG(intpol); }
+void TMC2208Stepper::dedge ( bool B ) { SET_REG(dedge); }
+void TMC2208Stepper::diss2g ( bool B ) { SET_REG(diss2g); }
+void TMC2208Stepper::diss2vs( bool B ) { SET_REG(diss2vs); }
+
+uint8_t TMC2208Stepper::toff() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.toff; }
+uint8_t TMC2208Stepper::hstrt() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.hstrt; }
+uint8_t TMC2208Stepper::hend() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.hend; }
+uint8_t TMC2208Stepper::tbl() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.tbl; }
+bool TMC2208Stepper::vsense() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.vsense; }
+uint8_t TMC2208Stepper::mres() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.mres; }
+bool TMC2208Stepper::intpol() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.intpol; }
+bool TMC2208Stepper::dedge() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.dedge; }
+bool TMC2208Stepper::diss2g() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.diss2g; }
+bool TMC2208Stepper::diss2vs() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.diss2vs; }
+/*
+#define GET_REG_2660(SETTING) return CHOPCONF_register.SETTING;
+
+uint32_t TMC2660Stepper::CHOPCONF() { return CHOPCONF_register.sr; }
+void TMC2660Stepper::CHOPCONF(uint32_t data) {
+ CHOPCONF_register.sr = data;
+ write(CHOPCONF_register.address, CHOPCONF_register.sr);
+}
+
+void TMC2660Stepper::toff(uint8_t B) {
+ SET_REG(toff);
+ if (B>0) _savedToff = B;
+}
+void TMC2660Stepper::hstrt(uint8_t B) { SET_REG(hstrt); }
+void TMC2660Stepper::hend(uint8_t B) { SET_REG(hend); }
+void TMC2660Stepper::hdec(uint8_t B) { SET_REG(hdec); }
+void TMC2660Stepper::rndtf(bool B) { SET_REG(rndtf); }
+void TMC2660Stepper::chm(bool B) { SET_REG(chm); }
+void TMC2660Stepper::tbl(uint8_t B) { SET_REG(tbl); }
+
+uint8_t TMC2660Stepper::toff() { GET_REG_2660(toff); }
+uint8_t TMC2660Stepper::hstrt() { GET_REG_2660(hstrt); }
+uint8_t TMC2660Stepper::hend() { GET_REG_2660(hend); }
+uint8_t TMC2660Stepper::hdec() { GET_REG_2660(hdec); }
+bool TMC2660Stepper::rndtf() { GET_REG_2660(rndtf); }
+bool TMC2660Stepper::chm() { GET_REG_2660(chm); }
+uint8_t TMC2660Stepper::tbl() { GET_REG_2660(tbl); }
+*/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/DRV_STATUS.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,38 @@
+#include "TMCStepper.h"
+#include "TMC_MACROS.h"
+
+#define GET_REG(NS, SETTING) NS::DRV_STATUS_t r{0}; r.sr = DRV_STATUS(); return r.SETTING
+/*
+uint32_t TMC2130Stepper::DRV_STATUS() { return read(DRV_STATUS_t::address); }
+
+uint16_t TMC2130Stepper::sg_result(){ GET_REG(TMC2130_n, sg_result); }
+bool TMC2130Stepper::fsactive() { GET_REG(TMC2130_n, fsactive); }
+uint8_t TMC2130Stepper::cs_actual() { GET_REG(TMC2130_n, cs_actual); }
+bool TMC2130Stepper::stallguard() { GET_REG(TMC2130_n, stallGuard); }
+bool TMC2130Stepper::ot() { GET_REG(TMC2130_n, ot); }
+bool TMC2130Stepper::otpw() { GET_REG(TMC2130_n, otpw); }
+bool TMC2130Stepper::s2ga() { GET_REG(TMC2130_n, s2ga); }
+bool TMC2130Stepper::s2gb() { GET_REG(TMC2130_n, s2gb); }
+bool TMC2130Stepper::ola() { GET_REG(TMC2130_n, ola); }
+bool TMC2130Stepper::olb() { GET_REG(TMC2130_n, olb); }
+bool TMC2130Stepper::stst() { GET_REG(TMC2130_n, stst); }
+*/
+uint32_t TMC2208Stepper::DRV_STATUS() {
+ return read(TMC2208_n::DRV_STATUS_t::address);
+}
+
+bool TMC2208Stepper::otpw() { GET_REG(TMC2208_n, otpw); }
+bool TMC2208Stepper::ot() { GET_REG(TMC2208_n, ot); }
+bool TMC2208Stepper::s2ga() { GET_REG(TMC2208_n, s2ga); }
+bool TMC2208Stepper::s2gb() { GET_REG(TMC2208_n, s2gb); }
+bool TMC2208Stepper::s2vsa() { GET_REG(TMC2208_n, s2vsa); }
+bool TMC2208Stepper::s2vsb() { GET_REG(TMC2208_n, s2vsb); }
+bool TMC2208Stepper::ola() { GET_REG(TMC2208_n, ola); }
+bool TMC2208Stepper::olb() { GET_REG(TMC2208_n, olb); }
+bool TMC2208Stepper::t120() { GET_REG(TMC2208_n, t120); }
+bool TMC2208Stepper::t143() { GET_REG(TMC2208_n, t143); }
+bool TMC2208Stepper::t150() { GET_REG(TMC2208_n, t150); }
+bool TMC2208Stepper::t157() { GET_REG(TMC2208_n, t157); }
+uint16_t TMC2208Stepper::cs_actual() { GET_REG(TMC2208_n, cs_actual); }
+bool TMC2208Stepper::stealth() { GET_REG(TMC2208_n, stealth); }
+bool TMC2208Stepper::stst() { GET_REG(TMC2208_n, stst); }
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/GCONF.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,94 @@
+#include "TMCStepper.h"
+#include "TMC_MACROS.h"
+
+#define SET_REG(SETTING) GCONF_register.SETTING = B; write(GCONF_register.address, GCONF_register.sr)
+
+// GCONF
+/*
+uint32_t TMC2130Stepper::GCONF() {
+ return read(GCONF_register.address);
+}
+void TMC2130Stepper::GCONF(uint32_t input) {
+ GCONF_register.sr = input;
+ write(GCONF_register.address, GCONF_register.sr);
+}
+
+void TMC2130Stepper::I_scale_analog(bool B) { SET_REG(i_scale_analog); }
+void TMC2130Stepper::internal_Rsense(bool B) { SET_REG(internal_rsense); }
+void TMC2130Stepper::en_pwm_mode(bool B) { SET_REG(en_pwm_mode); }
+void TMC2130Stepper::enc_commutation(bool B) { SET_REG(enc_commutation); }
+void TMC2130Stepper::shaft(bool B) { SET_REG(shaft); }
+void TMC2130Stepper::diag0_error(bool B) { SET_REG(diag0_error); }
+void TMC2130Stepper::diag0_otpw(bool B) { SET_REG(diag0_otpw); }
+void TMC2130Stepper::diag0_stall(bool B) { SET_REG(diag0_stall); }
+void TMC2130Stepper::diag1_stall(bool B) { SET_REG(diag1_stall); }
+void TMC2130Stepper::diag1_index(bool B) { SET_REG(diag1_index); }
+void TMC2130Stepper::diag1_onstate(bool B) { SET_REG(diag1_onstate); }
+void TMC2130Stepper::diag1_steps_skipped(bool B) { SET_REG(diag1_steps_skipped); }
+void TMC2130Stepper::diag0_int_pushpull(bool B) { SET_REG(diag0_int_pushpull); }
+void TMC2130Stepper::diag1_pushpull(bool B) { SET_REG(diag1_poscomp_pushpull); }
+void TMC2130Stepper::small_hysteresis(bool B) { SET_REG(small_hysteresis); }
+void TMC2130Stepper::stop_enable(bool B) { SET_REG(stop_enable); }
+void TMC2130Stepper::direct_mode(bool B) { SET_REG(direct_mode); }
+
+bool TMC2130Stepper::I_scale_analog() { GCONF_t r{0}; r.sr = GCONF(); return r.i_scale_analog; }
+bool TMC2130Stepper::internal_Rsense() { GCONF_t r{0}; r.sr = GCONF(); return r.internal_rsense; }
+bool TMC2130Stepper::en_pwm_mode() { GCONF_t r{0}; r.sr = GCONF(); return r.en_pwm_mode; }
+bool TMC2130Stepper::enc_commutation() { GCONF_t r{0}; r.sr = GCONF(); return r.enc_commutation; }
+bool TMC2130Stepper::shaft() { GCONF_t r{0}; r.sr = GCONF(); return r.shaft; }
+bool TMC2130Stepper::diag0_error() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_error; }
+bool TMC2130Stepper::diag0_otpw() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_otpw; }
+bool TMC2130Stepper::diag0_stall() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_stall; }
+bool TMC2130Stepper::diag1_stall() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_stall; }
+bool TMC2130Stepper::diag1_index() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_index; }
+bool TMC2130Stepper::diag1_onstate() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_onstate; }
+bool TMC2130Stepper::diag1_steps_skipped() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_steps_skipped; }
+bool TMC2130Stepper::diag0_int_pushpull() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_int_pushpull; }
+bool TMC2130Stepper::diag1_pushpull() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_poscomp_pushpull;}
+bool TMC2130Stepper::small_hysteresis() { GCONF_t r{0}; r.sr = GCONF(); return r.small_hysteresis; }
+bool TMC2130Stepper::stop_enable() { GCONF_t r{0}; r.sr = GCONF(); return r.stop_enable; }
+bool TMC2130Stepper::direct_mode() { GCONF_t r{0}; r.sr = GCONF(); return r.direct_mode; }
+*/
+/*
+bit 18 not implemented:
+test_mode 0:
+Normal operation 1:
+Enable analog test output on pin DCO. IHOLD[1..0] selects the function of DCO:
+0…2: T120, DAC, VDDH Attention:
+Not for user, set to 0 for normal operation!
+*/
+/*
+void TMC5160Stepper::recalibrate(bool B) { SET_REG(recalibrate); }
+void TMC5160Stepper::faststandstill(bool B) { SET_REG(faststandstill); }
+void TMC5160Stepper::multistep_filt(bool B) { SET_REG(multistep_filt); }
+bool TMC5160Stepper::recalibrate() { GCONF_t r{0}; r.sr = GCONF(); return r.recalibrate; }
+bool TMC5160Stepper::faststandstill() { GCONF_t r{0}; r.sr = GCONF(); return r.faststandstill; }
+bool TMC5160Stepper::multistep_filt() { GCONF_t r{0}; r.sr = GCONF(); return r.multistep_filt; }
+*/
+uint32_t TMC2208Stepper::GCONF() {
+ return read(GCONF_register.address);
+}
+void TMC2208Stepper::GCONF(uint32_t input) {
+ GCONF_register.sr = input;
+ write(GCONF_register.address, GCONF_register.sr);
+}
+
+void TMC2208Stepper::I_scale_analog(bool B) { SET_REG(i_scale_analog); }
+void TMC2208Stepper::internal_Rsense(bool B) { SET_REG(internal_rsense); }
+void TMC2208Stepper::en_spreadCycle(bool B) { SET_REG(en_spreadcycle); }
+void TMC2208Stepper::shaft(bool B) { SET_REG(shaft); }
+void TMC2208Stepper::index_otpw(bool B) { SET_REG(index_otpw); }
+void TMC2208Stepper::index_step(bool B) { SET_REG(index_step); }
+void TMC2208Stepper::pdn_disable(bool B) { SET_REG(pdn_disable); }
+void TMC2208Stepper::mstep_reg_select(bool B) { SET_REG(mstep_reg_select);}
+void TMC2208Stepper::multistep_filt(bool B) { SET_REG(multistep_filt); }
+
+bool TMC2208Stepper::I_scale_analog() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.i_scale_analog; }
+bool TMC2208Stepper::internal_Rsense() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.internal_rsense; }
+bool TMC2208Stepper::en_spreadCycle() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.en_spreadcycle; }
+bool TMC2208Stepper::shaft() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.shaft; }
+bool TMC2208Stepper::index_otpw() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.index_otpw; }
+bool TMC2208Stepper::index_step() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.index_step; }
+bool TMC2208Stepper::pdn_disable() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.pdn_disable; }
+bool TMC2208Stepper::mstep_reg_select() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.mstep_reg_select; }
+bool TMC2208Stepper::multistep_filt() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.multistep_filt; }
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/IHOLD_IRUN.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,20 @@
+#include "TMCStepper.h"
+#include "TMC_MACROS.h"
+
+#define SET_REG(SETTING) IHOLD_IRUN_register.SETTING = B; write(IHOLD_IRUN_register.address, IHOLD_IRUN_register.sr);
+#define GET_REG(SETTING) return IHOLD_IRUN_register.SETTING;
+
+// IHOLD_IRUN
+uint32_t TMCStepper::IHOLD_IRUN() { return IHOLD_IRUN_register.sr; }
+void TMCStepper::IHOLD_IRUN(uint32_t input) {
+ IHOLD_IRUN_register.sr = input;
+ write(IHOLD_IRUN_register.address, IHOLD_IRUN_register.sr);
+}
+
+void TMCStepper::ihold(uint8_t B) { SET_REG(ihold); }
+void TMCStepper::irun(uint8_t B) { SET_REG(irun); }
+void TMCStepper::iholddelay(uint8_t B) { SET_REG(iholddelay); }
+
+uint8_t TMCStepper::ihold() { GET_REG(ihold); }
+uint8_t TMCStepper::irun() { GET_REG(irun); }
+uint8_t TMCStepper::iholddelay() { GET_REG(iholddelay); }
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/PWMCONF.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,80 @@
+#include "TMCStepper.h"
+#include "TMC_MACROS.h"
+
+#define SET_REG(SETTING) PWMCONF_register.SETTING = B; write(PWMCONF_register.address, PWMCONF_register.sr)
+#define GET_REG(SETTING) return PWMCONF_register.SETTING
+
+// PWMCONF
+/*
+uint32_t TMC2130Stepper::PWMCONF() { return PWMCONF_register.sr; }
+void TMC2130Stepper::PWMCONF(uint32_t input) {
+ PWMCONF_register.sr = input;
+ write(PWMCONF_register.address, PWMCONF_register.sr);
+}
+
+void TMC2130Stepper::pwm_ampl( uint8_t B ) { SET_REG(pwm_ampl); }
+void TMC2130Stepper::pwm_grad( uint8_t B ) { SET_REG(pwm_grad); }
+void TMC2130Stepper::pwm_freq( uint8_t B ) { SET_REG(pwm_freq); }
+void TMC2130Stepper::pwm_autoscale( bool B ) { SET_REG(pwm_autoscale); }
+void TMC2130Stepper::pwm_symmetric( bool B ) { SET_REG(pwm_symmetric); }
+void TMC2130Stepper::freewheel( uint8_t B ) { SET_REG(freewheel); }
+
+uint8_t TMC2130Stepper::pwm_ampl() { GET_REG(pwm_ampl); }
+uint8_t TMC2130Stepper::pwm_grad() { GET_REG(pwm_grad); }
+uint8_t TMC2130Stepper::pwm_freq() { GET_REG(pwm_freq); }
+bool TMC2130Stepper::pwm_autoscale() { GET_REG(pwm_autoscale); }
+bool TMC2130Stepper::pwm_symmetric() { GET_REG(pwm_symmetric); }
+uint8_t TMC2130Stepper::freewheel() { GET_REG(freewheel); }
+
+uint32_t TMC2160Stepper::PWMCONF() {
+ return PWMCONF_register.sr;
+}
+void TMC2160Stepper::PWMCONF(uint32_t input) {
+ PWMCONF_register.sr = input;
+ write(PWMCONF_register.address, PWMCONF_register.sr);
+}
+
+void TMC2160Stepper::pwm_ofs ( uint8_t B ) { PWMCONF_register.pwm_ofs = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2160Stepper::pwm_grad ( uint8_t B ) { PWMCONF_register.pwm_grad = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2160Stepper::pwm_freq ( uint8_t B ) { PWMCONF_register.pwm_freq = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2160Stepper::pwm_autoscale ( bool B ) { PWMCONF_register.pwm_autoscale = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2160Stepper::pwm_autograd ( bool B ) { PWMCONF_register.pwm_autograd = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2160Stepper::freewheel ( uint8_t B ) { PWMCONF_register.freewheel = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2160Stepper::pwm_reg ( uint8_t B ) { PWMCONF_register.pwm_reg = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2160Stepper::pwm_lim ( uint8_t B ) { PWMCONF_register.pwm_lim = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+
+uint8_t TMC2160Stepper::pwm_ofs() { return PWMCONF_register.pwm_ofs; }
+uint8_t TMC2160Stepper::pwm_grad() { return PWMCONF_register.pwm_grad; }
+uint8_t TMC2160Stepper::pwm_freq() { return PWMCONF_register.pwm_freq; }
+bool TMC2160Stepper::pwm_autoscale() { return PWMCONF_register.pwm_autoscale;}
+bool TMC2160Stepper::pwm_autograd() { return PWMCONF_register.pwm_autograd; }
+uint8_t TMC2160Stepper::freewheel() { return PWMCONF_register.freewheel; }
+uint8_t TMC2160Stepper::pwm_reg() { return PWMCONF_register.pwm_reg; }
+uint8_t TMC2160Stepper::pwm_lim() { return PWMCONF_register.pwm_lim; }
+*/
+uint32_t TMC2208Stepper::PWMCONF() {
+ return read(PWMCONF_register.address);
+}
+void TMC2208Stepper::PWMCONF(uint32_t input) {
+ PWMCONF_register.sr = input;
+ write(PWMCONF_register.address, PWMCONF_register.sr);
+}
+
+void TMC2208Stepper::pwm_ofs ( uint8_t B ) { PWMCONF_register.pwm_ofs = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2208Stepper::pwm_grad ( uint8_t B ) { PWMCONF_register.pwm_grad = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2208Stepper::pwm_freq ( uint8_t B ) { PWMCONF_register.pwm_freq = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2208Stepper::pwm_autoscale ( bool B ) { PWMCONF_register.pwm_autoscale = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2208Stepper::pwm_autograd ( bool B ) { PWMCONF_register.pwm_autograd = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2208Stepper::freewheel ( uint8_t B ) { PWMCONF_register.freewheel = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2208Stepper::pwm_reg ( uint8_t B ) { PWMCONF_register.pwm_reg = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+void TMC2208Stepper::pwm_lim ( uint8_t B ) { PWMCONF_register.pwm_lim = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
+
+uint8_t TMC2208Stepper::pwm_ofs() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_ofs; }
+uint8_t TMC2208Stepper::pwm_grad() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_grad; }
+uint8_t TMC2208Stepper::pwm_freq() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_freq; }
+bool TMC2208Stepper::pwm_autoscale() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_autoscale; }
+bool TMC2208Stepper::pwm_autograd() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_autograd; }
+uint8_t TMC2208Stepper::freewheel() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.freewheel; }
+uint8_t TMC2208Stepper::pwm_reg() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_reg; }
+uint8_t TMC2208Stepper::pwm_lim() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_lim; }
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/TMC2208Stepper.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,459 @@
+#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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/TMC2208_bitfields.h Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,181 @@
+#pragma once
+#pragma pack(push, 1)
+
+namespace TMC2208_n {
+ struct GCONF_t {
+ constexpr static uint8_t address = 0x00;
+ union {
+ uint16_t sr : 10;
+ struct {
+ bool i_scale_analog : 1,
+ internal_rsense : 1,
+ en_spreadcycle : 1,
+ shaft : 1,
+ index_otpw : 1,
+ index_step : 1,
+ pdn_disable : 1,
+ mstep_reg_select : 1,
+ multistep_filt : 1,
+ test_mode : 1;
+ };
+ };
+ };
+}
+
+namespace TMC2208_n {
+ struct IOIN_t {
+ constexpr static uint8_t address = 0x06;
+ union {
+ uint32_t sr;
+ struct {
+ bool enn : 1,
+ : 1,
+ ms1 : 1,
+ ms2 : 1,
+ diag : 1,
+ : 1,
+ pdn_uart : 1,
+ step : 1,
+ sel_a : 1,
+ dir : 1;
+ uint16_t : 14;
+ uint8_t version : 8;
+ };
+ };
+ };
+}
+
+namespace TMC2224_n {
+ struct IOIN_t {
+ constexpr static uint8_t address = 0x06;
+ union {
+ uint32_t sr;
+ struct {
+ bool : 1,
+ pdn_uart : 1,
+ spread : 1,
+ dir : 1,
+ enn : 1,
+ step : 1,
+ ms1 : 1,
+ ms2 : 1,
+ sel_a : 1;
+ uint16_t : 15;
+ uint8_t version : 8;
+ };
+ };
+ };
+}
+
+struct FACTORY_CONF_t {
+ constexpr static uint8_t address = 0x07;
+ union {
+ uint16_t sr;
+ struct {
+ uint8_t fclktrim : 5,
+ : 3,
+ ottrim : 2;
+ };
+ };
+};
+
+namespace TMC2208_n {
+ struct VACTUAL_t {
+ constexpr static uint8_t address = 0x22;
+ uint32_t sr;
+ };
+}
+
+struct MSCURACT_t {
+ constexpr static uint8_t address = 0x6B;
+ union {
+ uint32_t sr : 25;
+ struct {
+ int16_t cur_a : 9,
+ : 7,
+ cur_b : 9;
+ };
+ };
+};
+
+namespace TMC2208_n {
+ struct CHOPCONF_t {
+ constexpr static uint8_t address = 0x6C;
+ union {
+ uint32_t sr;
+ struct {
+ uint8_t toff : 4,
+ hstrt : 3,
+ hend : 4,
+ : 4,
+ tbl : 2;
+ bool vsense : 1;
+ uint8_t : 6,
+ mres : 4;
+ bool intpol : 1,
+ dedge : 1,
+ diss2g : 1,
+ diss2vs : 1;
+ };
+ };
+ };
+
+ struct PWMCONF_t {
+ constexpr static uint8_t address = 0x70;
+ union {
+ uint32_t sr;
+ struct {
+ uint8_t pwm_ofs : 8,
+ pwm_grad : 8,
+ pwm_freq : 2;
+ bool pwm_autoscale : 1,
+ pwm_autograd : 1;
+ uint8_t freewheel : 2,
+ : 2,
+ pwm_reg : 4,
+ pwm_lim : 4;
+ };
+ };
+ };
+
+ struct DRV_STATUS_t {
+ constexpr static uint8_t address = 0x6F;
+ union {
+ uint32_t sr;
+ struct {
+ bool otpw : 1,
+ ot : 1,
+ s2ga : 1,
+ s2gb : 1,
+ s2vsa : 1,
+ s2vsb : 1,
+ ola : 1,
+ olb : 1,
+ t120 : 1,
+ t143 : 1,
+ t150 : 1,
+ t157 : 1;
+ uint8_t : 4,
+ cs_actual : 5,
+ : 3,
+ : 6;
+ bool stealth : 1,
+ stst : 1;
+ };
+ };
+ };
+
+ struct PWM_SCALE_t {
+ constexpr static uint8_t address = 0x71;
+ union {
+ uint32_t sr;
+ struct {
+ uint8_t pwm_scale_sum : 8,
+ : 8;
+ int16_t pwm_scale_auto : 9;
+ };
+ };
+ };
+}
+
+#pragma pack(pop)
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/TMC2209Stepper.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,45 @@
+#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);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/TMC2209_bitfields.h Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,247 @@
+#pragma once
+#pragma pack(push, 1)
+
+namespace TMC2209_n {
+ struct IOIN_t {
+ constexpr static uint8_t address = 0x06;
+ union {
+ uint32_t sr;
+ struct {
+ bool enn : 1,
+ : 1,
+ ms1 : 1,
+ ms2 : 1,
+ diag : 1,
+ : 1,
+ pdn_uart : 1,
+ step : 1,
+ spread_en : 1,
+ dir : 1;
+ uint16_t : 14;
+ uint8_t version : 8;
+ };
+ };
+ };
+
+ struct SGTHRS_t {
+ constexpr static uint8_t address = 0x40;
+ uint8_t sr : 8;
+ };
+
+ struct SG_RESULT_t {
+ constexpr static uint8_t address = 0x41;
+ uint16_t sr : 10;
+ };
+
+ struct COOLCONF_t {
+ constexpr static uint8_t address = 0x42;
+ union {
+ uint16_t sr;
+ struct {
+ uint8_t semin : 4,
+ : 1,
+ seup : 2,
+ : 1,
+ semax : 4,
+ : 1,
+ sedn : 2;
+ bool seimin : 1;
+ };
+ };
+ };
+
+} //namespace
+//////////////////////////////////////////////////////
+struct SLAVECONF_t {
+ constexpr static uint8_t address = 0x03;
+ union {
+ uint16_t sr : 12;
+ struct {
+ uint8_t slaveaddr : 8;
+ uint8_t senddelay : 4;
+ };
+ };
+};
+
+struct PWM_AUTO_t {
+ constexpr static uint8_t address = 0x72;
+ union {
+ uint32_t sr : 24;
+ struct {
+ uint8_t pwm_ofs_auto : 8,
+ : 8,
+ pwm_grad_auto : 8;
+ };
+ };
+};
+
+struct GCONF_t {
+ constexpr static uint8_t address = 0x00;
+ union {
+ uint32_t sr : 18;
+ struct {
+ bool i_scale_analog : 1, // 2130, 5130
+ internal_rsense : 1, // 2130, 5130
+ en_pwm_mode : 1,
+ enc_commutation : 1, // 2130, 5130
+ shaft : 1,
+ diag0_error : 1,
+ diag0_otpw : 1,
+ diag0_stall : 1,
+ diag1_stall : 1,
+ diag1_index : 1,
+ diag1_onstate : 1,
+ diag1_steps_skipped : 1,
+ diag0_int_pushpull : 1,
+ diag1_pushpull : 1,
+ small_hysteresis : 1,
+ stop_enable : 1,
+ direct_mode : 1;
+ };
+ struct { // TMC5160
+ bool recalibrate : 1,
+ faststandstill : 1,
+ : 1,
+ multistep_filt : 1,
+ : 3,
+ diag0_step : 1,
+ diag1_dir : 1,
+ : 4,
+ diag1_poscomp_pushpull : 1;
+ };
+ };
+};
+
+struct IHOLD_IRUN_t {
+ constexpr static uint8_t address = 0x10;
+ union {
+ uint32_t sr : 20;
+ struct {
+ uint8_t ihold : 5,
+ : 3,
+ irun : 5,
+ : 3,
+ iholddelay : 4;
+ };
+ };
+};
+
+struct GSTAT_t {
+ constexpr static uint8_t address = 0x01;
+ union {
+ uint8_t sr : 3;
+ struct {
+ bool reset : 1,
+ drv_err : 1,
+ uv_cp : 1;
+ };
+ };
+};
+
+struct TPOWERDOWN_t {
+ constexpr static uint8_t address = 0x11;
+ uint8_t sr : 8;
+};
+
+struct TPWMTHRS_t {
+ constexpr static uint8_t address = 0x13;
+ uint32_t sr : 20;
+};
+
+struct TCOOLTHRS_t {
+ constexpr static uint8_t address = 0x14;
+ uint32_t sr : 20;
+};
+
+struct THIGH_t {
+ constexpr static uint8_t address = 0x15;
+ uint32_t sr : 20;
+};
+
+struct XDIRECT_t {
+ constexpr static uint8_t address = 0x2D;
+ union {
+ uint32_t sr : 25;
+ struct {
+ int16_t coil_A : 9;
+ int8_t : 7;
+ int16_t coil_B : 9;
+ };
+ };
+};
+
+struct VDCMIN_t {
+ constexpr static uint8_t address = 0x33;
+ uint32_t sr : 23;
+};
+
+struct CHOPCONF_t {
+ constexpr static uint8_t address = 0x6C;
+ union {
+ uint32_t sr : 32;
+ struct {
+ uint8_t toff : 4,
+ hstrt : 3,
+ hend : 4,
+ : 1;
+ bool disfdcc : 1,
+ rndtf : 1,
+ chm : 1;
+ uint8_t tbl : 2;
+ bool vsense : 1,
+ vhighfs : 1,
+ vhighchm : 1;
+ uint8_t sync : 4, // 2130, 5130
+ mres : 4;
+ bool intpol : 1,
+ dedge : 1,
+ diss2g : 1;
+ };
+ struct { // TMC5160
+ uint32_t : 20;
+ uint8_t tpfd : 4; // 5160
+ uint16_t : 7;
+ bool diss2vs : 1; // TMC5160 only
+ };
+ };
+};
+
+struct DCCTRL_t {
+ constexpr static uint8_t address = 0x6E;
+ union {
+ uint32_t sr : 24;
+ struct {
+ uint16_t dc_time : 10,
+ : 6;
+ uint8_t dc_sg : 8;
+ };
+ };
+};
+
+struct PWMCONF_t {
+ constexpr static uint8_t address = 0x70;
+ union {
+ uint32_t sr : 22;
+ struct {
+ uint8_t pwm_ampl : 8,
+ pwm_grad : 8,
+ pwm_freq : 2;
+ bool pwm_autoscale : 1,
+ pwm_symmetric : 1;
+ uint8_t freewheel : 2;
+ };
+ };
+};
+
+struct ENCM_CTRL_t {
+ constexpr static uint8_t address = 0x72;
+ union {
+ uint8_t sr : 2;
+ struct {
+ bool inv : 1,
+ maxspeed : 1;
+ };
+ };
+};
+
+#pragma pack(pop)
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/TMCStepper.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,157 @@
+#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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/TMCStepper.h Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,383 @@
+#pragma once
+
+//#define TMCDEBUG
+
+#include "mbed.h"
+
+#define SW_CAPABLE_PLATFORM true
+
+//#include "TMC2130_bitfields.h"
+//#include "TMC2160_bitfields.h"
+//#include "TMC5130_bitfields.h"
+//#include "TMC5160_bitfields.h"
+#include "TMC2208_bitfields.h"
+#include "TMC2209_bitfields.h"
+//#include "TMC2660_bitfields.h"
+
+#define INIT_REGISTER(REG) REG##_t REG##_register = REG##_t
+//#define INIT2130_REGISTER(REG) TMC2130_n::REG##_t REG##_register = TMC2130_n::REG##_t
+//#define INIT2160_REGISTER(REG) TMC2160_n::REG##_t REG##_register = TMC2160_n::REG##_t
+//#define INIT5130_REGISTER(REG) TMC5130_n::REG##_t REG##_register = TMC5130_n::REG##_t
+//#define INIT5160_REGISTER(REG) TMC5160_n::REG##_t REG##_register = TMC5160_n::REG##_t
+//#define INIT2660_REGISTER(REG) TMC2660_n::REG##_t REG##_register = TMC2660_n::REG##_t
+#define INIT2208_REGISTER(REG) TMC2208_n::REG##_t REG##_register = TMC2208_n::REG##_t
+//#define INIT2224_REGISTER(REG) TMC2224_n::REG##_t REG##_register = TMC2224_n::REG##_t
+#define SET_ALIAS(TYPE, DRIVER, NEW, ARG, OLD) TYPE (DRIVER::*NEW)(ARG) = &DRIVER::OLD
+
+#define TMCSTEPPER_VERSION 0x000701 // v0.7.1
+
+#if SW_CAPABLE_PLATFORM
+ #include <BufferedSerial.h>
+ #include <Stream.h>
+#endif
+class TMCStepper {
+ public:
+ uint16_t cs2rms(uint8_t CS);
+ void rms_current(uint16_t mA);
+ void rms_current(uint16_t mA, float mult);
+ uint16_t rms_current();
+ void hold_multiplier(float val) { holdMultiplier = val; }
+ float hold_multiplier() { return holdMultiplier; }
+ uint8_t test_connection();
+
+ // Helper functions
+ void microsteps(uint16_t ms);
+ uint16_t microsteps();
+ void blank_time(uint8_t value);
+ uint8_t blank_time();
+ void hysteresis_end(int8_t value);
+ int8_t hysteresis_end();
+ void hysteresis_start(uint8_t value);
+ uint8_t hysteresis_start();
+
+ // R+WC: GSTAT
+ void GSTAT( uint8_t input);
+ uint8_t GSTAT();
+ bool reset();
+ bool drv_err();
+ bool uv_cp();
+
+ // W: IHOLD_IRUN
+ void IHOLD_IRUN( uint32_t input);
+ uint32_t IHOLD_IRUN();
+ void ihold( uint8_t B);
+ void irun( uint8_t B);
+ void iholddelay( uint8_t B);
+ uint8_t ihold();
+ uint8_t irun();
+ uint8_t iholddelay();
+
+ // W: TPOWERDOWN
+ uint8_t TPOWERDOWN();
+ void TPOWERDOWN( uint8_t input);
+
+ // R: TSTEP
+ uint32_t TSTEP();
+
+ // W: TPWMTHRS
+ uint32_t TPWMTHRS();
+ void TPWMTHRS( uint32_t input);
+
+ // R: MSCNT
+ uint16_t MSCNT();
+
+ // R: MSCURACT
+ uint32_t MSCURACT();
+ int16_t cur_a();
+ int16_t cur_b();
+
+ protected:
+ TMCStepper(float RS) : Rsense(RS) {};
+ INIT_REGISTER(IHOLD_IRUN){{.sr=0}}; // 32b
+ INIT_REGISTER(TPOWERDOWN){.sr=0}; // 8b
+ INIT_REGISTER(TPWMTHRS){.sr=0}; // 32b
+
+ static constexpr uint8_t TMC_READ = 0x00,
+ TMC_WRITE = 0x80;
+
+ struct TSTEP_t { constexpr static uint8_t address = 0x12; };
+ struct MSCNT_t { constexpr static uint8_t address = 0x6A; };
+
+ virtual void write(uint8_t, uint32_t) = 0;
+ virtual uint32_t read(uint8_t) = 0;
+ virtual void vsense(bool) = 0;
+ virtual bool vsense(void) = 0;
+ virtual uint32_t DRV_STATUS() = 0;
+ virtual void hend(uint8_t) = 0;
+ virtual uint8_t hend() = 0;
+ virtual void hstrt(uint8_t) = 0;
+ virtual uint8_t hstrt() = 0;
+ virtual void mres(uint8_t) = 0;
+ virtual uint8_t mres() = 0;
+ virtual void tbl(uint8_t) = 0;
+ virtual uint8_t tbl() = 0;
+
+ const float Rsense;
+ float holdMultiplier = 0.5;
+};
+
+
+class TMC2208Stepper : public TMCStepper {
+ public:
+ TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2);
+ TMC2208Stepper(Stream * SerialPort, float RS) :
+ TMC2208Stepper(SerialPort, RS, TMC2208_SLAVE_ADDR)
+ {}
+ #if SW_CAPABLE_PLATFORM
+ TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS) :
+ TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, TMC2208_SLAVE_ADDR)
+ {}
+
+ __attribute__((deprecated("Boolean argument has been deprecated and does nothing")))
+ TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, bool) :
+ TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, TMC2208_SLAVE_ADDR)
+ {};
+ #else
+ TMC2208Stepper(PinName, PinName, float) = delete; // Your platform does not currently support Software Serial
+ #endif
+ void defaults();
+ void push();
+ void begin();
+ #if SW_CAPABLE_PLATFORM
+ void beginSerial(uint32_t baudrate) __attribute__((weak));
+ #else
+ void beginSerial(uint32_t) = delete; // Your platform does not currently support Software Serial
+ #endif
+ bool isEnabled();
+
+ // RW: GCONF
+ void GCONF(uint32_t input);
+ void I_scale_analog(bool B);
+ void internal_Rsense(bool B);
+ void en_spreadCycle(bool B);
+ void shaft(bool B);
+ void index_otpw(bool B);
+ void index_step(bool B);
+ void pdn_disable(bool B);
+ void mstep_reg_select(bool B);
+ void multistep_filt(bool B);
+ uint32_t GCONF();
+ bool I_scale_analog();
+ bool internal_Rsense();
+ bool en_spreadCycle();
+ bool shaft();
+ bool index_otpw();
+ bool index_step();
+ bool pdn_disable();
+ bool mstep_reg_select();
+ bool multistep_filt();
+
+ // R: IFCNT
+ uint8_t IFCNT();
+
+ // W: SLAVECONF
+ void SLAVECONF(uint16_t input);
+ uint16_t SLAVECONF();
+ void senddelay(uint8_t B);
+ uint8_t senddelay();
+
+ // W: OTP_PROG
+ void OTP_PROG(uint16_t input);
+
+ // R: OTP_READ
+ uint32_t OTP_READ();
+
+ // R: IOIN
+ uint32_t IOIN();
+ bool enn();
+ bool ms1();
+ bool ms2();
+ bool diag();
+ bool pdn_uart();
+ bool step();
+ bool sel_a();
+ bool dir();
+ uint8_t version();
+
+ // RW: FACTORY_CONF
+ void FACTORY_CONF(uint16_t input);
+ uint16_t FACTORY_CONF();
+ void fclktrim(uint8_t B);
+ void ottrim(uint8_t B);
+ uint8_t fclktrim();
+ uint8_t ottrim();
+
+ // W: VACTUAL
+ void VACTUAL(uint32_t input);
+ uint32_t VACTUAL();
+
+ // RW: CHOPCONF
+ void CHOPCONF(uint32_t input);
+ void toff(uint8_t B);
+ void hstrt(uint8_t B);
+ void hend(uint8_t B);
+ void tbl(uint8_t B);
+ void vsense(bool B);
+ void mres(uint8_t B);
+ void intpol(bool B);
+ void dedge(bool B);
+ void diss2g(bool B);
+ void diss2vs(bool B);
+ uint32_t CHOPCONF();
+ uint8_t toff();
+ uint8_t hstrt();
+ uint8_t hend();
+ uint8_t tbl();
+ bool vsense();
+ uint8_t mres();
+ bool intpol();
+ bool dedge();
+ bool diss2g();
+ bool diss2vs();
+
+ // R: DRV_STATUS
+ uint32_t DRV_STATUS();
+ bool otpw();
+ bool ot();
+ bool s2ga();
+ bool s2gb();
+ bool s2vsa();
+ bool s2vsb();
+ bool ola();
+ bool olb();
+ bool t120();
+ bool t143();
+ bool t150();
+ bool t157();
+ uint16_t cs_actual();
+ bool stealth();
+ bool stst();
+
+ // RW: PWMCONF
+ void PWMCONF(uint32_t input);
+ void pwm_ofs(uint8_t B);
+ void pwm_grad(uint8_t B);
+ void pwm_freq(uint8_t B);
+ void pwm_autoscale(bool B);
+ void pwm_autograd(bool B);
+ void freewheel(uint8_t B);
+ void pwm_reg(uint8_t B);
+ void pwm_lim(uint8_t B);
+ uint32_t PWMCONF();
+ uint8_t pwm_ofs();
+ uint8_t pwm_grad();
+ uint8_t pwm_freq();
+ bool pwm_autoscale();
+ bool pwm_autograd();
+ uint8_t freewheel();
+ uint8_t pwm_reg();
+ uint8_t pwm_lim();
+
+ // R: PWM_SCALE
+ uint32_t PWM_SCALE();
+ uint8_t pwm_scale_sum();
+ int16_t pwm_scale_auto();
+
+ // R: PWM_AUTO (0x72)
+ uint32_t PWM_AUTO();
+ uint8_t pwm_ofs_auto();
+ uint8_t pwm_grad_auto();
+
+ uint16_t bytesWritten = 0;
+ float Rsense = 0.11;
+ bool CRCerror = false;
+ protected:
+ INIT2208_REGISTER(GCONF) {{.sr=0}};
+ INIT_REGISTER(SLAVECONF) {{.sr=0}};
+ INIT_REGISTER(FACTORY_CONF) {{.sr=0}};
+ INIT2208_REGISTER(VACTUAL) {.sr=0};
+ INIT2208_REGISTER(CHOPCONF) {{.sr=0}};
+ INIT2208_REGISTER(PWMCONF) {{.sr=0}};
+
+ struct IFCNT_t { constexpr static uint8_t address = 0x02; };
+ struct OTP_PROG_t { constexpr static uint8_t address = 0x04; };
+ struct OTP_READ_t { constexpr static uint8_t address = 0x05; };
+
+ TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr);
+ #if SW_CAPABLE_PLATFORM
+ TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, uint8_t addr);
+ #endif
+
+ Stream * HWSerial = nullptr;
+ #if SW_CAPABLE_PLATFORM
+ BufferedSerial * SWSerial = nullptr;
+ const uint16_t RXTX_pin = 0; // Half duplex
+ #endif
+
+// SSwitch *sswitch = nullptr;
+
+ int available();
+ void preWriteCommunication();
+ void preReadCommunication();
+ int16_t serial_read();
+ uint8_t serial_write(const uint8_t data);
+ void postWriteCommunication();
+ void postReadCommunication();
+ void write(uint8_t, uint32_t);
+ uint32_t read(uint8_t);
+ const uint8_t slave_address;
+ uint8_t calcCRC(uint8_t datagram[], uint8_t len);
+ static constexpr uint8_t TMC2208_SYNC = 0x05,
+ TMC2208_SLAVE_ADDR = 0x00;
+ static constexpr uint8_t replyDelay = 2; //ms
+ static constexpr uint8_t abort_window = 5;
+ static constexpr uint8_t max_retries = 2;
+
+ uint64_t _sendDatagram(uint8_t [], const uint8_t, uint16_t);
+};
+
+class TMC2209Stepper : public TMC2208Stepper {
+ public:
+ TMC2209Stepper(Stream * SerialPort, float RS, uint8_t addr) :
+ TMC2208Stepper(SerialPort, RS, addr) {}
+
+ #if SW_CAPABLE_PLATFORM
+ TMC2209Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, uint8_t addr) :
+ TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, addr) {}
+ #else
+ TMC2209Stepper(PinName, PinName, float, uint8_t) = delete; // Your platform does not currently support Software Serial
+ #endif
+ void push();
+
+ // R: IOIN
+ uint32_t IOIN();
+ bool enn();
+ bool ms1();
+ bool ms2();
+ bool diag();
+ bool pdn_uart();
+ bool step();
+ bool spread_en();
+ bool dir();
+ uint8_t version();
+
+ // W: TCOOLTHRS
+ uint32_t TCOOLTHRS();
+ void TCOOLTHRS(uint32_t input);
+
+ // W: SGTHRS
+ void SGTHRS(uint8_t B);
+ uint8_t SGTHRS();
+
+ // R: SG_RESULT
+ uint16_t SG_RESULT();
+
+ // W: COOLCONF
+ void COOLCONF(uint16_t B);
+ uint16_t COOLCONF();
+ void semin(uint8_t B);
+ void seup(uint8_t B);
+ void semax(uint8_t B);
+ void sedn(uint8_t B);
+ void seimin(bool B);
+ uint8_t semin();
+ uint8_t seup();
+ uint8_t semax();
+ uint8_t sedn();
+ bool seimin();
+
+ protected:
+ INIT_REGISTER(TCOOLTHRS){.sr=0};
+ TMC2209_n::SGTHRS_t SGTHRS_register{.sr=0};
+ TMC2209_n::COOLCONF_t COOLCONF_register{{.sr=0}};
+};
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TMCStepper/TMC_MACROS.h Sat Feb 06 20:00:31 2021 +0000
@@ -0,0 +1,5 @@
+#pragma once
+
+#define DEBUG_PRINT(CFG, VAL) Serial.print(CFG); Serial.print('('); Serial.print(VAL, HEX); Serial.println(')')
+//#define WRITE_REG(R) write(R##_register.address, R##_register.sr)
+//#define READ_REG(R) read(R##_register.address)
\ No newline at end of file
--- a/main.cpp Thu Feb 04 21:35:45 2021 +0000
+++ b/main.cpp Sat Feb 06 20:00:31 2021 +0000
@@ -1,31 +1,32 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2019 ARM Limited
- * SPDX-License-Identifier: Apache-2.0
- */
-
#include "mbed.h"
#include "platform/mbed_thread.h"
+#include "TMCStepper.h"
+
+/*
+ Testprogram for TMCStepper-Library
+ TMCStepper based on https://github.com/teemuatlut/TMCStepper for Arduino
+ by https://github.com/teemuatlut
+ +++++
+ Tested with https://github.com/bigtreetech/BIGTREETECH-TMC2209-V1.2
+*/
DigitalOut ledDir(LED2);
//Virtual serial port over USB with 15200 baud 8N1
static BufferedSerial host(USBTX, USBRX,115200);
-
-// apply number of steps, direction, speed and
-// a linear acceleration/deceleration to a Stepper Motor Controller
-
-#include "TMCStepper.h"
-
+// hardware parameters:
// MOTOR Steps per Revolution ( 1/8 Microsteps, 200Steps per Rev / 1.8 degrees per FullStep)
#define MSPR 1600
// Gear Ratio
#define GR 288
#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
-#define R_SENSE 0.11f // Match to your driver
-#define MICROSTEPS 32
+#define R_SENSE 0.11f // R-Sense in OHM .Match to your driver
+#define MICROSTEPS 128 // # of microsteps
+#define RMSCURRENT 500 // RMS current of Stepper Coil in mA
+// A TMCStepper-object with UART and given address and R-Sense
//RX, TX, RS, Addr
TMC2209Stepper stepper(p14, p13, R_SENSE, DRIVER_ADDRESS);
@@ -48,9 +49,9 @@
int main()
{
printf("\r\nConnected to mbed\r\n");
- stepper.begin(); // UART: Init SW UART (if selected) with default baudrate
- stepper.toff(3); // Enables driver in software - 3, 5 ????
- stepper.rms_current(800); // Set motor RMS current in mA
+ stepper.begin(); // UART: Init SW UART (if selected) with default baudrate
+ stepper.toff(3); // Enables driver in software - 3, 5 ????
+ stepper.rms_current(RMSCURRENT); // Set motor RMS current in mA / min 500 for 24V/speed:3000
// 1110, 800
stepper.microsteps(MICROSTEPS); // Set microsteps to 1:Fullstep ... 256: 1/256th
stepper.en_spreadCycle(true); // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!!
@@ -100,6 +101,8 @@
// inverse direction
shaft = !shaft;
stepper.shaft(shaft);
+ // Read Interace-Count
+ printf("IFCNT(): %zu \r\n",stepper.IFCNT());
printf("...\r\n");
}
}
\ No newline at end of file
--- a/source/CHOPCONF.cpp Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,110 +0,0 @@
-#include "TMCStepper.h"
-#include "TMC_MACROS.h"
-
-#define SET_REG(SETTING) CHOPCONF_register.SETTING = B; write(CHOPCONF_register.address, CHOPCONF_register.sr)
-
-// CHOPCONF
-/*
-uint32_t TMC2130Stepper::CHOPCONF() {
- return read(CHOPCONF_register.address);
-}
-void TMC2130Stepper::CHOPCONF(uint32_t input) {
- CHOPCONF_register.sr = input;
- write(CHOPCONF_register.address, CHOPCONF_register.sr);
-}
-
-void TMC2130Stepper::toff( uint8_t B ) { SET_REG(toff); }
-void TMC2130Stepper::hstrt( uint8_t B ) { SET_REG(hstrt); }
-void TMC2130Stepper::hend( uint8_t B ) { SET_REG(hend); }
-//void TMC2130Stepper::fd( uint8_t B ) { SET_REG(fd); }
-void TMC2130Stepper::disfdcc( bool B ) { SET_REG(disfdcc); }
-void TMC2130Stepper::rndtf( bool B ) { SET_REG(rndtf); }
-void TMC2130Stepper::chm( bool B ) { SET_REG(chm); }
-void TMC2130Stepper::tbl( uint8_t B ) { SET_REG(tbl); }
-void TMC2130Stepper::vsense( bool B ) { SET_REG(vsense); }
-void TMC2130Stepper::vhighfs( bool B ) { SET_REG(vhighfs); }
-void TMC2130Stepper::vhighchm( bool B ) { SET_REG(vhighchm);}
-void TMC2130Stepper::sync( uint8_t B ) { SET_REG(sync); }
-void TMC2130Stepper::mres( uint8_t B ) { SET_REG(mres); }
-void TMC2130Stepper::intpol( bool B ) { SET_REG(intpol); }
-void TMC2130Stepper::dedge( bool B ) { SET_REG(dedge); }
-void TMC2130Stepper::diss2g( bool B ) { SET_REG(diss2g); }
-
-uint8_t TMC2130Stepper::toff() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.toff; }
-uint8_t TMC2130Stepper::hstrt() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.hstrt; }
-uint8_t TMC2130Stepper::hend() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.hend; }
-//uint8_t TMC2130Stepper::fd() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.fd; }
-bool TMC2130Stepper::disfdcc() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.disfdcc; }
-bool TMC2130Stepper::rndtf() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.rndtf; }
-bool TMC2130Stepper::chm() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.chm; }
-uint8_t TMC2130Stepper::tbl() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.tbl; }
-bool TMC2130Stepper::vsense() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.vsense; }
-bool TMC2130Stepper::vhighfs() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.vhighfs; }
-bool TMC2130Stepper::vhighchm() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.vhighchm;}
-uint8_t TMC2130Stepper::sync() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.sync; }
-uint8_t TMC2130Stepper::mres() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.mres; }
-bool TMC2130Stepper::intpol() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.intpol; }
-bool TMC2130Stepper::dedge() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.dedge; }
-bool TMC2130Stepper::diss2g() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.diss2g; }
-
-void TMC5160Stepper::diss2vs(bool B){ SET_REG(diss2vs); }
-void TMC5160Stepper::tpfd(uint8_t B){ SET_REG(tpfd); }
-bool TMC5160Stepper::diss2vs() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.diss2vs; }
-uint8_t TMC5160Stepper::tpfd() { CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.tpfd; }
-*/
-void TMC2208Stepper::CHOPCONF(uint32_t input) {
- CHOPCONF_register.sr = input;
- write(CHOPCONF_register.address, CHOPCONF_register.sr);
-}
-uint32_t TMC2208Stepper::CHOPCONF() {
- return read(CHOPCONF_register.address);
-}
-void TMC2208Stepper::toff ( uint8_t B ) { SET_REG(toff); }
-void TMC2208Stepper::hstrt ( uint8_t B ) { SET_REG(hstrt); }
-void TMC2208Stepper::hend ( uint8_t B ) { SET_REG(hend); }
-void TMC2208Stepper::tbl ( uint8_t B ) { SET_REG(tbl); }
-void TMC2208Stepper::vsense ( bool B ) { SET_REG(vsense); }
-void TMC2208Stepper::mres ( uint8_t B ) { SET_REG(mres); }
-void TMC2208Stepper::intpol ( bool B ) { SET_REG(intpol); }
-void TMC2208Stepper::dedge ( bool B ) { SET_REG(dedge); }
-void TMC2208Stepper::diss2g ( bool B ) { SET_REG(diss2g); }
-void TMC2208Stepper::diss2vs( bool B ) { SET_REG(diss2vs); }
-
-uint8_t TMC2208Stepper::toff() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.toff; }
-uint8_t TMC2208Stepper::hstrt() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.hstrt; }
-uint8_t TMC2208Stepper::hend() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.hend; }
-uint8_t TMC2208Stepper::tbl() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.tbl; }
-bool TMC2208Stepper::vsense() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.vsense; }
-uint8_t TMC2208Stepper::mres() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.mres; }
-bool TMC2208Stepper::intpol() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.intpol; }
-bool TMC2208Stepper::dedge() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.dedge; }
-bool TMC2208Stepper::diss2g() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.diss2g; }
-bool TMC2208Stepper::diss2vs() { TMC2208_n::CHOPCONF_t r{0}; r.sr = CHOPCONF(); return r.diss2vs; }
-/*
-#define GET_REG_2660(SETTING) return CHOPCONF_register.SETTING;
-
-uint32_t TMC2660Stepper::CHOPCONF() { return CHOPCONF_register.sr; }
-void TMC2660Stepper::CHOPCONF(uint32_t data) {
- CHOPCONF_register.sr = data;
- write(CHOPCONF_register.address, CHOPCONF_register.sr);
-}
-
-void TMC2660Stepper::toff(uint8_t B) {
- SET_REG(toff);
- if (B>0) _savedToff = B;
-}
-void TMC2660Stepper::hstrt(uint8_t B) { SET_REG(hstrt); }
-void TMC2660Stepper::hend(uint8_t B) { SET_REG(hend); }
-void TMC2660Stepper::hdec(uint8_t B) { SET_REG(hdec); }
-void TMC2660Stepper::rndtf(bool B) { SET_REG(rndtf); }
-void TMC2660Stepper::chm(bool B) { SET_REG(chm); }
-void TMC2660Stepper::tbl(uint8_t B) { SET_REG(tbl); }
-
-uint8_t TMC2660Stepper::toff() { GET_REG_2660(toff); }
-uint8_t TMC2660Stepper::hstrt() { GET_REG_2660(hstrt); }
-uint8_t TMC2660Stepper::hend() { GET_REG_2660(hend); }
-uint8_t TMC2660Stepper::hdec() { GET_REG_2660(hdec); }
-bool TMC2660Stepper::rndtf() { GET_REG_2660(rndtf); }
-bool TMC2660Stepper::chm() { GET_REG_2660(chm); }
-uint8_t TMC2660Stepper::tbl() { GET_REG_2660(tbl); }
-*/
\ No newline at end of file
--- a/source/DRV_STATUS.cpp Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,38 +0,0 @@
-#include "TMCStepper.h"
-#include "TMC_MACROS.h"
-
-#define GET_REG(NS, SETTING) NS::DRV_STATUS_t r{0}; r.sr = DRV_STATUS(); return r.SETTING
-/*
-uint32_t TMC2130Stepper::DRV_STATUS() { return read(DRV_STATUS_t::address); }
-
-uint16_t TMC2130Stepper::sg_result(){ GET_REG(TMC2130_n, sg_result); }
-bool TMC2130Stepper::fsactive() { GET_REG(TMC2130_n, fsactive); }
-uint8_t TMC2130Stepper::cs_actual() { GET_REG(TMC2130_n, cs_actual); }
-bool TMC2130Stepper::stallguard() { GET_REG(TMC2130_n, stallGuard); }
-bool TMC2130Stepper::ot() { GET_REG(TMC2130_n, ot); }
-bool TMC2130Stepper::otpw() { GET_REG(TMC2130_n, otpw); }
-bool TMC2130Stepper::s2ga() { GET_REG(TMC2130_n, s2ga); }
-bool TMC2130Stepper::s2gb() { GET_REG(TMC2130_n, s2gb); }
-bool TMC2130Stepper::ola() { GET_REG(TMC2130_n, ola); }
-bool TMC2130Stepper::olb() { GET_REG(TMC2130_n, olb); }
-bool TMC2130Stepper::stst() { GET_REG(TMC2130_n, stst); }
-*/
-uint32_t TMC2208Stepper::DRV_STATUS() {
- return read(TMC2208_n::DRV_STATUS_t::address);
-}
-
-bool TMC2208Stepper::otpw() { GET_REG(TMC2208_n, otpw); }
-bool TMC2208Stepper::ot() { GET_REG(TMC2208_n, ot); }
-bool TMC2208Stepper::s2ga() { GET_REG(TMC2208_n, s2ga); }
-bool TMC2208Stepper::s2gb() { GET_REG(TMC2208_n, s2gb); }
-bool TMC2208Stepper::s2vsa() { GET_REG(TMC2208_n, s2vsa); }
-bool TMC2208Stepper::s2vsb() { GET_REG(TMC2208_n, s2vsb); }
-bool TMC2208Stepper::ola() { GET_REG(TMC2208_n, ola); }
-bool TMC2208Stepper::olb() { GET_REG(TMC2208_n, olb); }
-bool TMC2208Stepper::t120() { GET_REG(TMC2208_n, t120); }
-bool TMC2208Stepper::t143() { GET_REG(TMC2208_n, t143); }
-bool TMC2208Stepper::t150() { GET_REG(TMC2208_n, t150); }
-bool TMC2208Stepper::t157() { GET_REG(TMC2208_n, t157); }
-uint16_t TMC2208Stepper::cs_actual() { GET_REG(TMC2208_n, cs_actual); }
-bool TMC2208Stepper::stealth() { GET_REG(TMC2208_n, stealth); }
-bool TMC2208Stepper::stst() { GET_REG(TMC2208_n, stst); }
\ No newline at end of file
--- a/source/GCONF.cpp Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,94 +0,0 @@
-#include "TMCStepper.h"
-#include "TMC_MACROS.h"
-
-#define SET_REG(SETTING) GCONF_register.SETTING = B; write(GCONF_register.address, GCONF_register.sr)
-
-// GCONF
-/*
-uint32_t TMC2130Stepper::GCONF() {
- return read(GCONF_register.address);
-}
-void TMC2130Stepper::GCONF(uint32_t input) {
- GCONF_register.sr = input;
- write(GCONF_register.address, GCONF_register.sr);
-}
-
-void TMC2130Stepper::I_scale_analog(bool B) { SET_REG(i_scale_analog); }
-void TMC2130Stepper::internal_Rsense(bool B) { SET_REG(internal_rsense); }
-void TMC2130Stepper::en_pwm_mode(bool B) { SET_REG(en_pwm_mode); }
-void TMC2130Stepper::enc_commutation(bool B) { SET_REG(enc_commutation); }
-void TMC2130Stepper::shaft(bool B) { SET_REG(shaft); }
-void TMC2130Stepper::diag0_error(bool B) { SET_REG(diag0_error); }
-void TMC2130Stepper::diag0_otpw(bool B) { SET_REG(diag0_otpw); }
-void TMC2130Stepper::diag0_stall(bool B) { SET_REG(diag0_stall); }
-void TMC2130Stepper::diag1_stall(bool B) { SET_REG(diag1_stall); }
-void TMC2130Stepper::diag1_index(bool B) { SET_REG(diag1_index); }
-void TMC2130Stepper::diag1_onstate(bool B) { SET_REG(diag1_onstate); }
-void TMC2130Stepper::diag1_steps_skipped(bool B) { SET_REG(diag1_steps_skipped); }
-void TMC2130Stepper::diag0_int_pushpull(bool B) { SET_REG(diag0_int_pushpull); }
-void TMC2130Stepper::diag1_pushpull(bool B) { SET_REG(diag1_poscomp_pushpull); }
-void TMC2130Stepper::small_hysteresis(bool B) { SET_REG(small_hysteresis); }
-void TMC2130Stepper::stop_enable(bool B) { SET_REG(stop_enable); }
-void TMC2130Stepper::direct_mode(bool B) { SET_REG(direct_mode); }
-
-bool TMC2130Stepper::I_scale_analog() { GCONF_t r{0}; r.sr = GCONF(); return r.i_scale_analog; }
-bool TMC2130Stepper::internal_Rsense() { GCONF_t r{0}; r.sr = GCONF(); return r.internal_rsense; }
-bool TMC2130Stepper::en_pwm_mode() { GCONF_t r{0}; r.sr = GCONF(); return r.en_pwm_mode; }
-bool TMC2130Stepper::enc_commutation() { GCONF_t r{0}; r.sr = GCONF(); return r.enc_commutation; }
-bool TMC2130Stepper::shaft() { GCONF_t r{0}; r.sr = GCONF(); return r.shaft; }
-bool TMC2130Stepper::diag0_error() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_error; }
-bool TMC2130Stepper::diag0_otpw() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_otpw; }
-bool TMC2130Stepper::diag0_stall() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_stall; }
-bool TMC2130Stepper::diag1_stall() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_stall; }
-bool TMC2130Stepper::diag1_index() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_index; }
-bool TMC2130Stepper::diag1_onstate() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_onstate; }
-bool TMC2130Stepper::diag1_steps_skipped() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_steps_skipped; }
-bool TMC2130Stepper::diag0_int_pushpull() { GCONF_t r{0}; r.sr = GCONF(); return r.diag0_int_pushpull; }
-bool TMC2130Stepper::diag1_pushpull() { GCONF_t r{0}; r.sr = GCONF(); return r.diag1_poscomp_pushpull;}
-bool TMC2130Stepper::small_hysteresis() { GCONF_t r{0}; r.sr = GCONF(); return r.small_hysteresis; }
-bool TMC2130Stepper::stop_enable() { GCONF_t r{0}; r.sr = GCONF(); return r.stop_enable; }
-bool TMC2130Stepper::direct_mode() { GCONF_t r{0}; r.sr = GCONF(); return r.direct_mode; }
-*/
-/*
-bit 18 not implemented:
-test_mode 0:
-Normal operation 1:
-Enable analog test output on pin DCO. IHOLD[1..0] selects the function of DCO:
-0…2: T120, DAC, VDDH Attention:
-Not for user, set to 0 for normal operation!
-*/
-/*
-void TMC5160Stepper::recalibrate(bool B) { SET_REG(recalibrate); }
-void TMC5160Stepper::faststandstill(bool B) { SET_REG(faststandstill); }
-void TMC5160Stepper::multistep_filt(bool B) { SET_REG(multistep_filt); }
-bool TMC5160Stepper::recalibrate() { GCONF_t r{0}; r.sr = GCONF(); return r.recalibrate; }
-bool TMC5160Stepper::faststandstill() { GCONF_t r{0}; r.sr = GCONF(); return r.faststandstill; }
-bool TMC5160Stepper::multistep_filt() { GCONF_t r{0}; r.sr = GCONF(); return r.multistep_filt; }
-*/
-uint32_t TMC2208Stepper::GCONF() {
- return read(GCONF_register.address);
-}
-void TMC2208Stepper::GCONF(uint32_t input) {
- GCONF_register.sr = input;
- write(GCONF_register.address, GCONF_register.sr);
-}
-
-void TMC2208Stepper::I_scale_analog(bool B) { SET_REG(i_scale_analog); }
-void TMC2208Stepper::internal_Rsense(bool B) { SET_REG(internal_rsense); }
-void TMC2208Stepper::en_spreadCycle(bool B) { SET_REG(en_spreadcycle); }
-void TMC2208Stepper::shaft(bool B) { SET_REG(shaft); }
-void TMC2208Stepper::index_otpw(bool B) { SET_REG(index_otpw); }
-void TMC2208Stepper::index_step(bool B) { SET_REG(index_step); }
-void TMC2208Stepper::pdn_disable(bool B) { SET_REG(pdn_disable); }
-void TMC2208Stepper::mstep_reg_select(bool B) { SET_REG(mstep_reg_select);}
-void TMC2208Stepper::multistep_filt(bool B) { SET_REG(multistep_filt); }
-
-bool TMC2208Stepper::I_scale_analog() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.i_scale_analog; }
-bool TMC2208Stepper::internal_Rsense() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.internal_rsense; }
-bool TMC2208Stepper::en_spreadCycle() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.en_spreadcycle; }
-bool TMC2208Stepper::shaft() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.shaft; }
-bool TMC2208Stepper::index_otpw() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.index_otpw; }
-bool TMC2208Stepper::index_step() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.index_step; }
-bool TMC2208Stepper::pdn_disable() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.pdn_disable; }
-bool TMC2208Stepper::mstep_reg_select() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.mstep_reg_select; }
-bool TMC2208Stepper::multistep_filt() { TMC2208_n::GCONF_t r{0}; r.sr = GCONF(); return r.multistep_filt; }
\ No newline at end of file
--- a/source/IHOLD_IRUN.cpp Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,20 +0,0 @@
-#include "TMCStepper.h"
-#include "TMC_MACROS.h"
-
-#define SET_REG(SETTING) IHOLD_IRUN_register.SETTING = B; write(IHOLD_IRUN_register.address, IHOLD_IRUN_register.sr);
-#define GET_REG(SETTING) return IHOLD_IRUN_register.SETTING;
-
-// IHOLD_IRUN
-uint32_t TMCStepper::IHOLD_IRUN() { return IHOLD_IRUN_register.sr; }
-void TMCStepper::IHOLD_IRUN(uint32_t input) {
- IHOLD_IRUN_register.sr = input;
- write(IHOLD_IRUN_register.address, IHOLD_IRUN_register.sr);
-}
-
-void TMCStepper::ihold(uint8_t B) { SET_REG(ihold); }
-void TMCStepper::irun(uint8_t B) { SET_REG(irun); }
-void TMCStepper::iholddelay(uint8_t B) { SET_REG(iholddelay); }
-
-uint8_t TMCStepper::ihold() { GET_REG(ihold); }
-uint8_t TMCStepper::irun() { GET_REG(irun); }
-uint8_t TMCStepper::iholddelay() { GET_REG(iholddelay); }
\ No newline at end of file
--- a/source/PWMCONF.cpp Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,80 +0,0 @@
-#include "TMCStepper.h"
-#include "TMC_MACROS.h"
-
-#define SET_REG(SETTING) PWMCONF_register.SETTING = B; write(PWMCONF_register.address, PWMCONF_register.sr)
-#define GET_REG(SETTING) return PWMCONF_register.SETTING
-
-// PWMCONF
-/*
-uint32_t TMC2130Stepper::PWMCONF() { return PWMCONF_register.sr; }
-void TMC2130Stepper::PWMCONF(uint32_t input) {
- PWMCONF_register.sr = input;
- write(PWMCONF_register.address, PWMCONF_register.sr);
-}
-
-void TMC2130Stepper::pwm_ampl( uint8_t B ) { SET_REG(pwm_ampl); }
-void TMC2130Stepper::pwm_grad( uint8_t B ) { SET_REG(pwm_grad); }
-void TMC2130Stepper::pwm_freq( uint8_t B ) { SET_REG(pwm_freq); }
-void TMC2130Stepper::pwm_autoscale( bool B ) { SET_REG(pwm_autoscale); }
-void TMC2130Stepper::pwm_symmetric( bool B ) { SET_REG(pwm_symmetric); }
-void TMC2130Stepper::freewheel( uint8_t B ) { SET_REG(freewheel); }
-
-uint8_t TMC2130Stepper::pwm_ampl() { GET_REG(pwm_ampl); }
-uint8_t TMC2130Stepper::pwm_grad() { GET_REG(pwm_grad); }
-uint8_t TMC2130Stepper::pwm_freq() { GET_REG(pwm_freq); }
-bool TMC2130Stepper::pwm_autoscale() { GET_REG(pwm_autoscale); }
-bool TMC2130Stepper::pwm_symmetric() { GET_REG(pwm_symmetric); }
-uint8_t TMC2130Stepper::freewheel() { GET_REG(freewheel); }
-
-uint32_t TMC2160Stepper::PWMCONF() {
- return PWMCONF_register.sr;
-}
-void TMC2160Stepper::PWMCONF(uint32_t input) {
- PWMCONF_register.sr = input;
- write(PWMCONF_register.address, PWMCONF_register.sr);
-}
-
-void TMC2160Stepper::pwm_ofs ( uint8_t B ) { PWMCONF_register.pwm_ofs = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2160Stepper::pwm_grad ( uint8_t B ) { PWMCONF_register.pwm_grad = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2160Stepper::pwm_freq ( uint8_t B ) { PWMCONF_register.pwm_freq = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2160Stepper::pwm_autoscale ( bool B ) { PWMCONF_register.pwm_autoscale = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2160Stepper::pwm_autograd ( bool B ) { PWMCONF_register.pwm_autograd = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2160Stepper::freewheel ( uint8_t B ) { PWMCONF_register.freewheel = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2160Stepper::pwm_reg ( uint8_t B ) { PWMCONF_register.pwm_reg = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2160Stepper::pwm_lim ( uint8_t B ) { PWMCONF_register.pwm_lim = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-
-uint8_t TMC2160Stepper::pwm_ofs() { return PWMCONF_register.pwm_ofs; }
-uint8_t TMC2160Stepper::pwm_grad() { return PWMCONF_register.pwm_grad; }
-uint8_t TMC2160Stepper::pwm_freq() { return PWMCONF_register.pwm_freq; }
-bool TMC2160Stepper::pwm_autoscale() { return PWMCONF_register.pwm_autoscale;}
-bool TMC2160Stepper::pwm_autograd() { return PWMCONF_register.pwm_autograd; }
-uint8_t TMC2160Stepper::freewheel() { return PWMCONF_register.freewheel; }
-uint8_t TMC2160Stepper::pwm_reg() { return PWMCONF_register.pwm_reg; }
-uint8_t TMC2160Stepper::pwm_lim() { return PWMCONF_register.pwm_lim; }
-*/
-uint32_t TMC2208Stepper::PWMCONF() {
- return read(PWMCONF_register.address);
-}
-void TMC2208Stepper::PWMCONF(uint32_t input) {
- PWMCONF_register.sr = input;
- write(PWMCONF_register.address, PWMCONF_register.sr);
-}
-
-void TMC2208Stepper::pwm_ofs ( uint8_t B ) { PWMCONF_register.pwm_ofs = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2208Stepper::pwm_grad ( uint8_t B ) { PWMCONF_register.pwm_grad = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2208Stepper::pwm_freq ( uint8_t B ) { PWMCONF_register.pwm_freq = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2208Stepper::pwm_autoscale ( bool B ) { PWMCONF_register.pwm_autoscale = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2208Stepper::pwm_autograd ( bool B ) { PWMCONF_register.pwm_autograd = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2208Stepper::freewheel ( uint8_t B ) { PWMCONF_register.freewheel = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2208Stepper::pwm_reg ( uint8_t B ) { PWMCONF_register.pwm_reg = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-void TMC2208Stepper::pwm_lim ( uint8_t B ) { PWMCONF_register.pwm_lim = B; write(PWMCONF_register.address, PWMCONF_register.sr); }
-
-uint8_t TMC2208Stepper::pwm_ofs() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_ofs; }
-uint8_t TMC2208Stepper::pwm_grad() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_grad; }
-uint8_t TMC2208Stepper::pwm_freq() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_freq; }
-bool TMC2208Stepper::pwm_autoscale() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_autoscale; }
-bool TMC2208Stepper::pwm_autograd() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_autograd; }
-uint8_t TMC2208Stepper::freewheel() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.freewheel; }
-uint8_t TMC2208Stepper::pwm_reg() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_reg; }
-uint8_t TMC2208Stepper::pwm_lim() { TMC2208_n::PWMCONF_t r{0}; r.sr = PWMCONF(); return r.pwm_lim; }
-
--- a/source/TMC2130_bitfields.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,235 +0,0 @@
-#pragma once
-#pragma pack(push, 1)
-
-struct GCONF_t {
- constexpr static uint8_t address = 0x00;
- union {
- uint32_t sr : 18;
- struct {
- bool i_scale_analog : 1, // 2130, 5130
- internal_rsense : 1, // 2130, 5130
- en_pwm_mode : 1,
- enc_commutation : 1, // 2130, 5130
- shaft : 1,
- diag0_error : 1,
- diag0_otpw : 1,
- diag0_stall : 1,
- diag1_stall : 1,
- diag1_index : 1,
- diag1_onstate : 1,
- diag1_steps_skipped : 1,
- diag0_int_pushpull : 1,
- diag1_pushpull : 1,
- small_hysteresis : 1,
- stop_enable : 1,
- direct_mode : 1;
- };
- struct { // TMC5160
- bool recalibrate : 1,
- faststandstill : 1,
- : 1,
- multistep_filt : 1,
- : 3,
- diag0_step : 1,
- diag1_dir : 1,
- : 4,
- diag1_poscomp_pushpull : 1;
- };
- };
-};
-
-struct IHOLD_IRUN_t {
- constexpr static uint8_t address = 0x10;
- union {
- uint32_t sr : 20;
- struct {
- uint8_t ihold : 5,
- : 3,
- irun : 5,
- : 3,
- iholddelay : 4;
- };
- };
-};
-
-struct GSTAT_t {
- constexpr static uint8_t address = 0x01;
- union {
- uint8_t sr : 3;
- struct {
- bool reset : 1,
- drv_err : 1,
- uv_cp : 1;
- };
- };
-};
-
-struct IOIN_t {
- constexpr static uint8_t address = 0x04;
- union {
- uint32_t sr;
- struct {
- bool step : 1,
- dir : 1,
- dcen_cfg4 : 1,
- dcin_cfg5 : 1,
- drv_enn_cfg6 : 1,
- dco : 1,
- : 2;
- uint16_t : 16;
- uint8_t version : 8;
- };
- };
-};
-
-struct TPOWERDOWN_t {
- constexpr static uint8_t address = 0x11;
- uint8_t sr : 8;
-};
-
-struct TPWMTHRS_t {
- constexpr static uint8_t address = 0x13;
- uint32_t sr : 20;
-};
-
-struct TCOOLTHRS_t {
- constexpr static uint8_t address = 0x14;
- uint32_t sr : 20;
-};
-
-struct THIGH_t {
- constexpr static uint8_t address = 0x15;
- uint32_t sr : 20;
-};
-
-struct XDIRECT_t {
- constexpr static uint8_t address = 0x2D;
- union {
- uint32_t sr : 25;
- struct {
- int16_t coil_A : 9;
- int8_t : 7;
- int16_t coil_B : 9;
- };
- };
-};
-
-struct VDCMIN_t {
- constexpr static uint8_t address = 0x33;
- uint32_t sr : 23;
-};
-
-struct CHOPCONF_t {
- constexpr static uint8_t address = 0x6C;
- union {
- uint32_t sr : 32;
- struct {
- uint8_t toff : 4,
- hstrt : 3,
- hend : 4,
- : 1;
- bool disfdcc : 1,
- rndtf : 1,
- chm : 1;
- uint8_t tbl : 2;
- bool vsense : 1,
- vhighfs : 1,
- vhighchm : 1;
- uint8_t sync : 4, // 2130, 5130
- mres : 4;
- bool intpol : 1,
- dedge : 1,
- diss2g : 1;
- };
- struct { // TMC5160
- uint32_t : 20;
- uint8_t tpfd : 4; // 5160
- uint16_t : 7;
- bool diss2vs : 1; // TMC5160 only
- };
- };
-};
-
-struct COOLCONF_t {
- constexpr static uint8_t address = 0x6D;
- union {
- uint32_t sr : 25;
- struct {
- uint8_t semin : 4,
- : 1,
- seup : 2,
- : 1,
- semax : 4,
- : 1,
- sedn : 2;
- bool seimin : 1;
- int8_t sgt : 7,
- : 1;
- bool sfilt : 1;
- };
- };
-};
-
-struct DCCTRL_t {
- constexpr static uint8_t address = 0x6E;
- union {
- uint32_t sr : 24;
- struct {
- uint16_t dc_time : 10,
- : 6;
- uint8_t dc_sg : 8;
- };
- };
-};
-
-namespace TMC2130_n {
- struct DRV_STATUS_t {
- constexpr static uint8_t address = 0x6F;
- union {
- uint32_t sr;
- struct {
- uint16_t sg_result : 10;
- uint8_t : 5;
- bool fsactive : 1;
- uint8_t cs_actual : 5,
- : 3;
- bool stallGuard : 1,
- ot : 1,
- otpw : 1,
- s2ga : 1,
- s2gb : 1,
- ola : 1,
- olb : 1,
- stst : 1;
- };
- };
- };
-}
-
-struct PWMCONF_t {
- constexpr static uint8_t address = 0x70;
- union {
- uint32_t sr : 22;
- struct {
- uint8_t pwm_ampl : 8,
- pwm_grad : 8,
- pwm_freq : 2;
- bool pwm_autoscale : 1,
- pwm_symmetric : 1;
- uint8_t freewheel : 2;
- };
- };
-};
-
-struct ENCM_CTRL_t {
- constexpr static uint8_t address = 0x72;
- union {
- uint8_t sr : 2;
- struct {
- bool inv : 1,
- maxspeed : 1;
- };
- };
-};
-
-#pragma pack(pop)
\ No newline at end of file
--- a/source/TMC2160_bitfields.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,54 +0,0 @@
-#pragma once
-#pragma pack(push, 1)
-
-namespace TMC2160_n {
- struct IOIN_t {
- constexpr static uint8_t address = 0x04;
- union {
- uint32_t sr;
- struct {
- bool refl_step : 1,
- refr_dir : 1,
- encb_dcen_cfg4 : 1,
- enca_dcin_cfg5 : 1,
- drv_enn : 1,
- dco_cfg6 : 1,
- : 2;
- uint16_t : 16;
- uint8_t version : 8;
- };
- };
- };
-
- struct PWMCONF_t {
- constexpr static uint8_t address = 0x70;
- union {
- uint32_t sr;
- struct {
- uint8_t pwm_ofs : 8,
- pwm_grad : 8,
- pwm_freq : 2;
- bool pwm_autoscale : 1,
- pwm_autograd : 1;
- uint8_t freewheel : 2,
- : 2,
- pwm_reg : 4,
- pwm_lim : 4;
- };
- };
- };
-
- struct PWM_SCALE_t {
- constexpr static uint8_t address = 0x71;
- union {
- uint32_t sr : 25;
- struct {
- uint8_t pwm_scale_sum : 8,
- : 8;
- uint16_t pwm_scale_auto : 9;
- };
- };
- };
-}
-
-#pragma pack(pop)
\ No newline at end of file
--- a/source/TMC2208Stepper.cpp Thu Feb 04 21:35:45 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*2);
-
- // 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
--- a/source/TMC2208_bitfields.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,181 +0,0 @@
-#pragma once
-#pragma pack(push, 1)
-
-namespace TMC2208_n {
- struct GCONF_t {
- constexpr static uint8_t address = 0x00;
- union {
- uint16_t sr : 10;
- struct {
- bool i_scale_analog : 1,
- internal_rsense : 1,
- en_spreadcycle : 1,
- shaft : 1,
- index_otpw : 1,
- index_step : 1,
- pdn_disable : 1,
- mstep_reg_select : 1,
- multistep_filt : 1,
- test_mode : 1;
- };
- };
- };
-}
-
-namespace TMC2208_n {
- struct IOIN_t {
- constexpr static uint8_t address = 0x06;
- union {
- uint32_t sr;
- struct {
- bool enn : 1,
- : 1,
- ms1 : 1,
- ms2 : 1,
- diag : 1,
- : 1,
- pdn_uart : 1,
- step : 1,
- sel_a : 1,
- dir : 1;
- uint16_t : 14;
- uint8_t version : 8;
- };
- };
- };
-}
-
-namespace TMC2224_n {
- struct IOIN_t {
- constexpr static uint8_t address = 0x06;
- union {
- uint32_t sr;
- struct {
- bool : 1,
- pdn_uart : 1,
- spread : 1,
- dir : 1,
- enn : 1,
- step : 1,
- ms1 : 1,
- ms2 : 1,
- sel_a : 1;
- uint16_t : 15;
- uint8_t version : 8;
- };
- };
- };
-}
-
-struct FACTORY_CONF_t {
- constexpr static uint8_t address = 0x07;
- union {
- uint16_t sr;
- struct {
- uint8_t fclktrim : 5,
- : 3,
- ottrim : 2;
- };
- };
-};
-
-namespace TMC2208_n {
- struct VACTUAL_t {
- constexpr static uint8_t address = 0x22;
- uint32_t sr;
- };
-}
-
-struct MSCURACT_t {
- constexpr static uint8_t address = 0x6B;
- union {
- uint32_t sr : 25;
- struct {
- int16_t cur_a : 9,
- : 7,
- cur_b : 9;
- };
- };
-};
-
-namespace TMC2208_n {
- struct CHOPCONF_t {
- constexpr static uint8_t address = 0x6C;
- union {
- uint32_t sr;
- struct {
- uint8_t toff : 4,
- hstrt : 3,
- hend : 4,
- : 4,
- tbl : 2;
- bool vsense : 1;
- uint8_t : 6,
- mres : 4;
- bool intpol : 1,
- dedge : 1,
- diss2g : 1,
- diss2vs : 1;
- };
- };
- };
-
- struct PWMCONF_t {
- constexpr static uint8_t address = 0x70;
- union {
- uint32_t sr;
- struct {
- uint8_t pwm_ofs : 8,
- pwm_grad : 8,
- pwm_freq : 2;
- bool pwm_autoscale : 1,
- pwm_autograd : 1;
- uint8_t freewheel : 2,
- : 2,
- pwm_reg : 4,
- pwm_lim : 4;
- };
- };
- };
-
- struct DRV_STATUS_t {
- constexpr static uint8_t address = 0x6F;
- union {
- uint32_t sr;
- struct {
- bool otpw : 1,
- ot : 1,
- s2ga : 1,
- s2gb : 1,
- s2vsa : 1,
- s2vsb : 1,
- ola : 1,
- olb : 1,
- t120 : 1,
- t143 : 1,
- t150 : 1,
- t157 : 1;
- uint8_t : 4,
- cs_actual : 5,
- : 3,
- : 6;
- bool stealth : 1,
- stst : 1;
- };
- };
- };
-
- struct PWM_SCALE_t {
- constexpr static uint8_t address = 0x71;
- union {
- uint32_t sr;
- struct {
- uint8_t pwm_scale_sum : 8,
- : 8;
- int16_t pwm_scale_auto : 9;
- };
- };
- };
-}
-
-#pragma pack(pop)
\ No newline at end of file
--- a/source/TMC2209Stepper.cpp Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,45 +0,0 @@
-#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);
-}
\ No newline at end of file
--- a/source/TMC2209_bitfields.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,54 +0,0 @@
-#pragma once
-#pragma pack(push, 1)
-
-namespace TMC2209_n {
- struct IOIN_t {
- constexpr static uint8_t address = 0x06;
- union {
- uint32_t sr;
- struct {
- bool enn : 1,
- : 1,
- ms1 : 1,
- ms2 : 1,
- diag : 1,
- : 1,
- pdn_uart : 1,
- step : 1,
- spread_en : 1,
- dir : 1;
- uint16_t : 14;
- uint8_t version : 8;
- };
- };
- };
-
- struct SGTHRS_t {
- constexpr static uint8_t address = 0x40;
- uint8_t sr : 8;
- };
-
- struct SG_RESULT_t {
- constexpr static uint8_t address = 0x41;
- uint16_t sr : 10;
- };
-
- struct COOLCONF_t {
- constexpr static uint8_t address = 0x42;
- union {
- uint16_t sr;
- struct {
- uint8_t semin : 4,
- : 1,
- seup : 2,
- : 1,
- semax : 4,
- : 1,
- sedn : 2;
- bool seimin : 1;
- };
- };
- };
-}
-
-#pragma pack(pop)
\ No newline at end of file
--- a/source/TMC2660_bitfields.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,153 +0,0 @@
-#pragma once
-#pragma pack(push, 1)
-/*
-struct DRVCTRL_1_t {
- constexpr static uint8_t address = 0b00;
- union {
- uint32_t sr;
- struct {
- uint8_t cb : 8;
- bool phb : 1;
- uint8_t ca : 8;
- bool pha : 1;
- };
- };
-};
-
-struct DRVCTRL_0_t {
- constexpr static uint8_t address = 0b00;
- union {
- uint32_t sr;
- struct {
- uint8_t mres : 4;
- uint8_t : 4;
- bool dedge : 1;
- bool intpol : 1;
- };
- };
-};
-
-namespace TMC2660_n {
- struct CHOPCONF_t {
- constexpr static uint8_t address = 0b100;
- union {
- uint32_t sr;
- struct {
- uint8_t toff : 4;
- uint8_t hstrt : 3;
- uint8_t hend : 4;
- uint8_t hdec : 2;
- bool rndtf : 1;
- bool chm : 1;
- uint8_t tbl : 2;
- };
- };
- };
-}
-
-struct SMARTEN_t {
- constexpr static uint8_t address = 0b101;
- union {
- uint32_t sr;
- struct {
- uint8_t semin : 4,
- : 1,
- seup : 2,
- : 1,
- semax : 4,
- : 1,
- sedn : 2;
- bool seimin : 1;
- };
- };
-};
-
-struct SGCSCONF_t {
- constexpr static uint8_t address = 0b110;
- union {
- uint32_t sr;
- struct {
- uint8_t cs : 5;
- uint8_t : 3;
- uint8_t sgt : 7;
- uint8_t : 1;
- bool sfilt : 1;
- };
- };
-};
-
-struct DRVCONF_t {
- constexpr static uint8_t address = 0b111;
- union {
- uint32_t sr;
- struct {
- uint8_t : 4;
- uint8_t rdsel : 2;
- bool vsense : 1;
- bool sdoff : 1;
- uint8_t ts2g : 2;
- bool diss2g : 1;
- uint8_t : 1;
- uint8_t slpl : 2;
- uint8_t slph : 2;
- bool tst : 1;
- };
- };
-};
-
-struct READ_RDSEL00_t {
- union {
- uint32_t sr;
- struct {
- bool sg_value : 1,
- ot : 1,
- otpw : 1,
- s2ga : 1,
- s2gb : 1,
- ola : 1,
- olb : 1,
- stst : 1;
- uint8_t : 2;
- uint16_t mstep : 10;
- };
- };
-};
-
-struct READ_RDSEL01_t {
- union {
- uint32_t sr;
- struct {
- bool sg_value : 1,
- ot : 1,
- otpw : 1,
- s2ga : 1,
- s2gb : 1,
- ola : 1,
- olb : 1,
- stst : 1;
- uint8_t : 2;
- uint16_t sg_result : 10;
- };
- };
-};
-
-struct READ_RDSEL10_t {
- union {
- uint32_t sr;
- struct {
- bool sg_value : 1,
- ot : 1,
- otpw : 1,
- s2ga : 1,
- s2gb : 1,
- ola : 1,
- olb : 1,
- stst : 1;
- uint8_t : 2;
- uint8_t se : 5;
- uint8_t sg_result : 5;
- };
- };
-};
-*/
-#pragma pack(pop)
\ No newline at end of file
--- a/source/TMC5130_bitfields.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,238 +0,0 @@
-#pragma once
-#pragma pack(push, 1)
-
-struct SLAVECONF_t {
- constexpr static uint8_t address = 0x03;
- union {
- uint16_t sr : 12;
- struct {
- uint8_t slaveaddr : 8;
- uint8_t senddelay : 4;
- };
- };
-};
-
-namespace TMC5130_n {
- struct IOIN_t {
- constexpr static uint8_t address = 0x04;
- union {
- uint32_t sr;
- struct {
- bool refl_step : 1,
- refr_dir : 1,
- encb_dcen_cfg4 : 1,
- enca_dcin_cfg5 : 1,
- drv_enn_cfg6 : 1,
- enc_n_dco : 1,
- sd_mode : 1,
- swcomp_in : 1;
- uint16_t : 16;
- uint8_t version : 8;
- };
- };
- };
-}
-
-struct OUTPUT_t {
- constexpr static uint8_t address = 0x04;
- bool sr : 1;
-};
-
-struct X_COMPARE_t {
- constexpr static uint8_t address = 0x05;
- uint32_t sr;
-};
-
-struct RAMPMODE_t {
- constexpr static uint8_t address = 0x20;
- uint8_t sr : 2;
-};
-
-struct XACTUAL_t {
- constexpr static uint8_t address = 0x21;
- uint32_t sr;
-};
-
-struct VSTART_t {
- constexpr static uint8_t address = 0x23;
- uint32_t sr : 18;
-};
-
-struct A1_t {
- constexpr static uint8_t address = 0x24;
- uint16_t sr : 16;
-};
-
-struct V1_t {
- constexpr static uint8_t address = 0x25;
- uint32_t sr : 20;
-};
-
-struct AMAX_t {
- constexpr static uint8_t address = 0x26;
- uint16_t sr : 16;
-};
-
-struct VMAX_t {
- constexpr static uint8_t address = 0x27;
- uint32_t sr : 23;
-};
-
-struct DMAX_t {
- constexpr static uint8_t address = 0x28;
- uint16_t sr : 16;
-};
-
-struct D1_t {
- constexpr static uint8_t address = 0x2A;
- uint16_t sr : 16;
-};
-
-struct VSTOP_t {
- constexpr static uint8_t address = 0x2B;
- uint32_t sr : 18;
-};
-
-struct TZEROWAIT_t {
- constexpr static uint8_t address = 0x2C;
- uint16_t sr : 16;
-};
-
-struct SW_MODE_t {
- constexpr static uint8_t address = 0x34;
- union {
- uint16_t sr : 12;
- struct {
- bool stop_l_enable : 1,
- stop_r_enable : 1,
- pol_stop_l : 1,
- pol_stop_r : 1,
- swap_lr : 1,
- latch_l_active : 1,
- latch_l_inactive : 1,
- latch_r_active : 1,
- latch_r_inactive : 1,
- en_latch_encoder : 1,
- sg_stop : 1,
- en_softstop : 1;
- };
- };
-};
-
-struct RAMP_STAT_t {
- constexpr static uint8_t address = 0x35;
- union {
- uint16_t sr : 14;
- struct {
- bool status_stop_l : 1,
- status_stop_r : 1,
- status_latch_l : 1,
- status_latch_r : 1,
- event_stop_l : 1,
- event_stop_r : 1,
- event_stop_sg : 1,
- event_pos_reached : 1,
- velocity_reached : 1,
- position_reached : 1,
- vzero : 1,
- t_zerowait_active : 1,
- second_move : 1,
- status_sg : 1;
- };
- };
-};
-
-struct ENCMODE_t {
- constexpr static uint8_t address = 0x38;
- union {
- uint16_t sr : 11;
- struct {
- bool pol_a : 1,
- pol_b : 1,
- pol_n : 1,
- ignore_ab : 1,
- clr_cont : 1,
- clr_once : 1,
- pos_edge : 1,
- neg_edge : 1,
- clr_enc_x : 1,
- latch_x_act : 1,
- enc_sel_decimal : 1;
- };
- };
-};
-
-struct ENC_CONST_t {
- constexpr static uint8_t address = 0x3A;
- uint32_t sr;
-};
-
-struct MSLUT0_t {
- constexpr static uint8_t address = 0x60;
- uint32_t sr;
-};
-
-struct MSLUT1_t {
- constexpr static uint8_t address = 0x61;
- uint32_t sr;
-};
-
-struct MSLUT2_t {
- constexpr static uint8_t address = 0x62;
- uint32_t sr;
-};
-
-struct MSLUT3_t {
- constexpr static uint8_t address = 0x63;
- uint32_t sr;
-};
-
-struct MSLUT4_t {
- constexpr static uint8_t address = 0x64;
- uint32_t sr;
-};
-
-struct MSLUT5_t {
- constexpr static uint8_t address = 0x65;
- uint32_t sr;
-};
-
-struct MSLUT6_t {
- constexpr static uint8_t address = 0x66;
- uint32_t sr;
-};
-
-struct MSLUT7_t {
- constexpr static uint8_t address = 0x67;
- uint32_t sr;
-};
-
-struct MSLUTSEL_t {
- constexpr static uint8_t address = 0x68;
- union {
- uint32_t sr;
- struct {
- uint8_t w0 : 2,
- w1 : 2,
- w2 : 2,
- w3 : 2,
- x1 : 8,
- x2 : 8,
- x3 : 8;
- };
- };
-};
-
-struct MSLUTSTART_t {
- constexpr static uint8_t address = 0x69;
- union {
- uint32_t sr : 24;
- struct {
- uint8_t start_sin : 8,
- : 8,
- start_sin90 : 8;
- };
- };
-};
-
-#pragma pack(pop)
\ No newline at end of file
--- a/source/TMC5160_bitfields.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,61 +0,0 @@
-#pragma once
-#pragma pack(push, 1)
-
-struct SHORT_CONF_t {
- constexpr static uint8_t address = 0x09;
- union {
- uint32_t sr : 19;
- struct {
- uint8_t s2vs_level : 4,
- : 4,
- s2g_level : 4,
- : 4,
- shortfilter : 2;
- bool shortdelay : 1;
- };
- };
-};
-
-struct DRV_CONF_t {
- constexpr static uint8_t address = 0x0A;
- union {
- uint32_t sr : 22;
- struct {
- uint8_t bbmtime : 5,
- : 3,
- bbmclks : 4,
- : 4,
- otselect : 2,
- drvstrength : 2,
- filt_isense : 2;
- };
- };
-};
-
-struct GLOBAL_SCALER_t {
- constexpr static uint8_t address = 0x0B;
- uint8_t sr;
-};
-
-struct OFFSET_READ_t {
- constexpr static uint8_t address = 0x0C;
-};
-
-struct ENC_DEVIATION_t {
- constexpr static uint8_t address = 0x3D;
- uint32_t sr : 20;
-};
-
-struct PWM_AUTO_t {
- constexpr static uint8_t address = 0x72;
- union {
- uint32_t sr : 24;
- struct {
- uint8_t pwm_ofs_auto : 8,
- : 8,
- pwm_grad_auto : 8;
- };
- };
-};
-
-#pragma pack(pop)
\ No newline at end of file
--- a/source/TMCStepper.cpp Thu Feb 04 21:35:45 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
--- a/source/TMC_MACROS.h Thu Feb 04 21:35:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,5 +0,0 @@
-#pragma once
-
-#define DEBUG_PRINT(CFG, VAL) Serial.print(CFG); Serial.print('('); Serial.print(VAL, HEX); Serial.println(')')
-//#define WRITE_REG(R) write(R##_register.address, R##_register.sr)
-//#define READ_REG(R) read(R##_register.address)
\ No newline at end of file