Library for Trinamic TMC2209 stepper modules to drive bipolar stepper motors. Ported and adapted from https://github.com/teemuatlut/TMCStepper
TMC2209_bitfields.h@0:f4343071c8b1, 2021-03-18 (annotated)
- Committer:
- charly
- Date:
- Thu Mar 18 20:50:27 2021 +0000
- Revision:
- 0:f4343071c8b1
First version of TMCStepper for Trinamic TMC2209-modules.; Software ported and adapted from https://github.com/teemuatlut/TMCStepper
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
charly | 0:f4343071c8b1 | 1 | #pragma once |
charly | 0:f4343071c8b1 | 2 | #pragma pack(push, 1) |
charly | 0:f4343071c8b1 | 3 | |
charly | 0:f4343071c8b1 | 4 | namespace TMC2209_n { |
charly | 0:f4343071c8b1 | 5 | struct IOIN_t { |
charly | 0:f4343071c8b1 | 6 | constexpr static uint8_t address = 0x06; |
charly | 0:f4343071c8b1 | 7 | union { |
charly | 0:f4343071c8b1 | 8 | uint32_t sr; |
charly | 0:f4343071c8b1 | 9 | struct { |
charly | 0:f4343071c8b1 | 10 | bool enn : 1, |
charly | 0:f4343071c8b1 | 11 | : 1, |
charly | 0:f4343071c8b1 | 12 | ms1 : 1, |
charly | 0:f4343071c8b1 | 13 | ms2 : 1, |
charly | 0:f4343071c8b1 | 14 | diag : 1, |
charly | 0:f4343071c8b1 | 15 | : 1, |
charly | 0:f4343071c8b1 | 16 | pdn_uart : 1, |
charly | 0:f4343071c8b1 | 17 | step : 1, |
charly | 0:f4343071c8b1 | 18 | spread_en : 1, |
charly | 0:f4343071c8b1 | 19 | dir : 1; |
charly | 0:f4343071c8b1 | 20 | uint16_t : 14; |
charly | 0:f4343071c8b1 | 21 | uint8_t version : 8; |
charly | 0:f4343071c8b1 | 22 | }; |
charly | 0:f4343071c8b1 | 23 | }; |
charly | 0:f4343071c8b1 | 24 | }; |
charly | 0:f4343071c8b1 | 25 | |
charly | 0:f4343071c8b1 | 26 | struct SGTHRS_t { |
charly | 0:f4343071c8b1 | 27 | constexpr static uint8_t address = 0x40; |
charly | 0:f4343071c8b1 | 28 | uint8_t sr : 8; |
charly | 0:f4343071c8b1 | 29 | }; |
charly | 0:f4343071c8b1 | 30 | |
charly | 0:f4343071c8b1 | 31 | struct SG_RESULT_t { |
charly | 0:f4343071c8b1 | 32 | constexpr static uint8_t address = 0x41; |
charly | 0:f4343071c8b1 | 33 | uint16_t sr : 10; |
charly | 0:f4343071c8b1 | 34 | }; |
charly | 0:f4343071c8b1 | 35 | |
charly | 0:f4343071c8b1 | 36 | struct COOLCONF_t { |
charly | 0:f4343071c8b1 | 37 | constexpr static uint8_t address = 0x42; |
charly | 0:f4343071c8b1 | 38 | union { |
charly | 0:f4343071c8b1 | 39 | uint16_t sr; |
charly | 0:f4343071c8b1 | 40 | struct { |
charly | 0:f4343071c8b1 | 41 | uint8_t semin : 4, |
charly | 0:f4343071c8b1 | 42 | : 1, |
charly | 0:f4343071c8b1 | 43 | seup : 2, |
charly | 0:f4343071c8b1 | 44 | : 1, |
charly | 0:f4343071c8b1 | 45 | semax : 4, |
charly | 0:f4343071c8b1 | 46 | : 1, |
charly | 0:f4343071c8b1 | 47 | sedn : 2; |
charly | 0:f4343071c8b1 | 48 | bool seimin : 1; |
charly | 0:f4343071c8b1 | 49 | }; |
charly | 0:f4343071c8b1 | 50 | }; |
charly | 0:f4343071c8b1 | 51 | }; |
charly | 0:f4343071c8b1 | 52 | |
charly | 0:f4343071c8b1 | 53 | } //namespace |
charly | 0:f4343071c8b1 | 54 | ////////////////////////////////////////////////////// |
charly | 0:f4343071c8b1 | 55 | struct SLAVECONF_t { |
charly | 0:f4343071c8b1 | 56 | constexpr static uint8_t address = 0x03; |
charly | 0:f4343071c8b1 | 57 | union { |
charly | 0:f4343071c8b1 | 58 | uint16_t sr : 12; |
charly | 0:f4343071c8b1 | 59 | struct { |
charly | 0:f4343071c8b1 | 60 | uint8_t slaveaddr : 8; |
charly | 0:f4343071c8b1 | 61 | uint8_t senddelay : 4; |
charly | 0:f4343071c8b1 | 62 | }; |
charly | 0:f4343071c8b1 | 63 | }; |
charly | 0:f4343071c8b1 | 64 | }; |
charly | 0:f4343071c8b1 | 65 | |
charly | 0:f4343071c8b1 | 66 | struct PWM_AUTO_t { |
charly | 0:f4343071c8b1 | 67 | constexpr static uint8_t address = 0x72; |
charly | 0:f4343071c8b1 | 68 | union { |
charly | 0:f4343071c8b1 | 69 | uint32_t sr : 24; |
charly | 0:f4343071c8b1 | 70 | struct { |
charly | 0:f4343071c8b1 | 71 | uint8_t pwm_ofs_auto : 8, |
charly | 0:f4343071c8b1 | 72 | : 8, |
charly | 0:f4343071c8b1 | 73 | pwm_grad_auto : 8; |
charly | 0:f4343071c8b1 | 74 | }; |
charly | 0:f4343071c8b1 | 75 | }; |
charly | 0:f4343071c8b1 | 76 | }; |
charly | 0:f4343071c8b1 | 77 | |
charly | 0:f4343071c8b1 | 78 | struct GCONF_t { |
charly | 0:f4343071c8b1 | 79 | constexpr static uint8_t address = 0x00; |
charly | 0:f4343071c8b1 | 80 | union { |
charly | 0:f4343071c8b1 | 81 | uint32_t sr : 18; |
charly | 0:f4343071c8b1 | 82 | struct { |
charly | 0:f4343071c8b1 | 83 | bool i_scale_analog : 1, // 2130, 5130 |
charly | 0:f4343071c8b1 | 84 | internal_rsense : 1, // 2130, 5130 |
charly | 0:f4343071c8b1 | 85 | en_pwm_mode : 1, |
charly | 0:f4343071c8b1 | 86 | enc_commutation : 1, // 2130, 5130 |
charly | 0:f4343071c8b1 | 87 | shaft : 1, |
charly | 0:f4343071c8b1 | 88 | diag0_error : 1, |
charly | 0:f4343071c8b1 | 89 | diag0_otpw : 1, |
charly | 0:f4343071c8b1 | 90 | diag0_stall : 1, |
charly | 0:f4343071c8b1 | 91 | diag1_stall : 1, |
charly | 0:f4343071c8b1 | 92 | diag1_index : 1, |
charly | 0:f4343071c8b1 | 93 | diag1_onstate : 1, |
charly | 0:f4343071c8b1 | 94 | diag1_steps_skipped : 1, |
charly | 0:f4343071c8b1 | 95 | diag0_int_pushpull : 1, |
charly | 0:f4343071c8b1 | 96 | diag1_pushpull : 1, |
charly | 0:f4343071c8b1 | 97 | small_hysteresis : 1, |
charly | 0:f4343071c8b1 | 98 | stop_enable : 1, |
charly | 0:f4343071c8b1 | 99 | direct_mode : 1; |
charly | 0:f4343071c8b1 | 100 | }; |
charly | 0:f4343071c8b1 | 101 | struct { // TMC5160 |
charly | 0:f4343071c8b1 | 102 | bool recalibrate : 1, |
charly | 0:f4343071c8b1 | 103 | faststandstill : 1, |
charly | 0:f4343071c8b1 | 104 | : 1, |
charly | 0:f4343071c8b1 | 105 | multistep_filt : 1, |
charly | 0:f4343071c8b1 | 106 | : 3, |
charly | 0:f4343071c8b1 | 107 | diag0_step : 1, |
charly | 0:f4343071c8b1 | 108 | diag1_dir : 1, |
charly | 0:f4343071c8b1 | 109 | : 4, |
charly | 0:f4343071c8b1 | 110 | diag1_poscomp_pushpull : 1; |
charly | 0:f4343071c8b1 | 111 | }; |
charly | 0:f4343071c8b1 | 112 | }; |
charly | 0:f4343071c8b1 | 113 | }; |
charly | 0:f4343071c8b1 | 114 | |
charly | 0:f4343071c8b1 | 115 | struct IHOLD_IRUN_t { |
charly | 0:f4343071c8b1 | 116 | constexpr static uint8_t address = 0x10; |
charly | 0:f4343071c8b1 | 117 | union { |
charly | 0:f4343071c8b1 | 118 | uint32_t sr : 20; |
charly | 0:f4343071c8b1 | 119 | struct { |
charly | 0:f4343071c8b1 | 120 | uint8_t ihold : 5, |
charly | 0:f4343071c8b1 | 121 | : 3, |
charly | 0:f4343071c8b1 | 122 | irun : 5, |
charly | 0:f4343071c8b1 | 123 | : 3, |
charly | 0:f4343071c8b1 | 124 | iholddelay : 4; |
charly | 0:f4343071c8b1 | 125 | }; |
charly | 0:f4343071c8b1 | 126 | }; |
charly | 0:f4343071c8b1 | 127 | }; |
charly | 0:f4343071c8b1 | 128 | |
charly | 0:f4343071c8b1 | 129 | struct GSTAT_t { |
charly | 0:f4343071c8b1 | 130 | constexpr static uint8_t address = 0x01; |
charly | 0:f4343071c8b1 | 131 | union { |
charly | 0:f4343071c8b1 | 132 | uint8_t sr : 3; |
charly | 0:f4343071c8b1 | 133 | struct { |
charly | 0:f4343071c8b1 | 134 | bool reset : 1, |
charly | 0:f4343071c8b1 | 135 | drv_err : 1, |
charly | 0:f4343071c8b1 | 136 | uv_cp : 1; |
charly | 0:f4343071c8b1 | 137 | }; |
charly | 0:f4343071c8b1 | 138 | }; |
charly | 0:f4343071c8b1 | 139 | }; |
charly | 0:f4343071c8b1 | 140 | |
charly | 0:f4343071c8b1 | 141 | struct TPOWERDOWN_t { |
charly | 0:f4343071c8b1 | 142 | constexpr static uint8_t address = 0x11; |
charly | 0:f4343071c8b1 | 143 | uint8_t sr : 8; |
charly | 0:f4343071c8b1 | 144 | }; |
charly | 0:f4343071c8b1 | 145 | |
charly | 0:f4343071c8b1 | 146 | struct TPWMTHRS_t { |
charly | 0:f4343071c8b1 | 147 | constexpr static uint8_t address = 0x13; |
charly | 0:f4343071c8b1 | 148 | uint32_t sr : 20; |
charly | 0:f4343071c8b1 | 149 | }; |
charly | 0:f4343071c8b1 | 150 | |
charly | 0:f4343071c8b1 | 151 | struct TCOOLTHRS_t { |
charly | 0:f4343071c8b1 | 152 | constexpr static uint8_t address = 0x14; |
charly | 0:f4343071c8b1 | 153 | uint32_t sr : 20; |
charly | 0:f4343071c8b1 | 154 | }; |
charly | 0:f4343071c8b1 | 155 | |
charly | 0:f4343071c8b1 | 156 | struct THIGH_t { |
charly | 0:f4343071c8b1 | 157 | constexpr static uint8_t address = 0x15; |
charly | 0:f4343071c8b1 | 158 | uint32_t sr : 20; |
charly | 0:f4343071c8b1 | 159 | }; |
charly | 0:f4343071c8b1 | 160 | |
charly | 0:f4343071c8b1 | 161 | struct XDIRECT_t { |
charly | 0:f4343071c8b1 | 162 | constexpr static uint8_t address = 0x2D; |
charly | 0:f4343071c8b1 | 163 | union { |
charly | 0:f4343071c8b1 | 164 | uint32_t sr : 25; |
charly | 0:f4343071c8b1 | 165 | struct { |
charly | 0:f4343071c8b1 | 166 | int16_t coil_A : 9; |
charly | 0:f4343071c8b1 | 167 | int8_t : 7; |
charly | 0:f4343071c8b1 | 168 | int16_t coil_B : 9; |
charly | 0:f4343071c8b1 | 169 | }; |
charly | 0:f4343071c8b1 | 170 | }; |
charly | 0:f4343071c8b1 | 171 | }; |
charly | 0:f4343071c8b1 | 172 | |
charly | 0:f4343071c8b1 | 173 | struct VDCMIN_t { |
charly | 0:f4343071c8b1 | 174 | constexpr static uint8_t address = 0x33; |
charly | 0:f4343071c8b1 | 175 | uint32_t sr : 23; |
charly | 0:f4343071c8b1 | 176 | }; |
charly | 0:f4343071c8b1 | 177 | |
charly | 0:f4343071c8b1 | 178 | struct CHOPCONF_t { |
charly | 0:f4343071c8b1 | 179 | constexpr static uint8_t address = 0x6C; |
charly | 0:f4343071c8b1 | 180 | union { |
charly | 0:f4343071c8b1 | 181 | uint32_t sr : 32; |
charly | 0:f4343071c8b1 | 182 | struct { |
charly | 0:f4343071c8b1 | 183 | uint8_t toff : 4, |
charly | 0:f4343071c8b1 | 184 | hstrt : 3, |
charly | 0:f4343071c8b1 | 185 | hend : 4, |
charly | 0:f4343071c8b1 | 186 | : 1; |
charly | 0:f4343071c8b1 | 187 | bool disfdcc : 1, |
charly | 0:f4343071c8b1 | 188 | rndtf : 1, |
charly | 0:f4343071c8b1 | 189 | chm : 1; |
charly | 0:f4343071c8b1 | 190 | uint8_t tbl : 2; |
charly | 0:f4343071c8b1 | 191 | bool vsense : 1, |
charly | 0:f4343071c8b1 | 192 | vhighfs : 1, |
charly | 0:f4343071c8b1 | 193 | vhighchm : 1; |
charly | 0:f4343071c8b1 | 194 | uint8_t sync : 4, // 2130, 5130 |
charly | 0:f4343071c8b1 | 195 | mres : 4; |
charly | 0:f4343071c8b1 | 196 | bool intpol : 1, |
charly | 0:f4343071c8b1 | 197 | dedge : 1, |
charly | 0:f4343071c8b1 | 198 | diss2g : 1; |
charly | 0:f4343071c8b1 | 199 | }; |
charly | 0:f4343071c8b1 | 200 | struct { // TMC5160 |
charly | 0:f4343071c8b1 | 201 | uint32_t : 20; |
charly | 0:f4343071c8b1 | 202 | uint8_t tpfd : 4; // 5160 |
charly | 0:f4343071c8b1 | 203 | uint16_t : 7; |
charly | 0:f4343071c8b1 | 204 | bool diss2vs : 1; // TMC5160 only |
charly | 0:f4343071c8b1 | 205 | }; |
charly | 0:f4343071c8b1 | 206 | }; |
charly | 0:f4343071c8b1 | 207 | }; |
charly | 0:f4343071c8b1 | 208 | |
charly | 0:f4343071c8b1 | 209 | struct DCCTRL_t { |
charly | 0:f4343071c8b1 | 210 | constexpr static uint8_t address = 0x6E; |
charly | 0:f4343071c8b1 | 211 | union { |
charly | 0:f4343071c8b1 | 212 | uint32_t sr : 24; |
charly | 0:f4343071c8b1 | 213 | struct { |
charly | 0:f4343071c8b1 | 214 | uint16_t dc_time : 10, |
charly | 0:f4343071c8b1 | 215 | : 6; |
charly | 0:f4343071c8b1 | 216 | uint8_t dc_sg : 8; |
charly | 0:f4343071c8b1 | 217 | }; |
charly | 0:f4343071c8b1 | 218 | }; |
charly | 0:f4343071c8b1 | 219 | }; |
charly | 0:f4343071c8b1 | 220 | |
charly | 0:f4343071c8b1 | 221 | struct PWMCONF_t { |
charly | 0:f4343071c8b1 | 222 | constexpr static uint8_t address = 0x70; |
charly | 0:f4343071c8b1 | 223 | union { |
charly | 0:f4343071c8b1 | 224 | uint32_t sr : 22; |
charly | 0:f4343071c8b1 | 225 | struct { |
charly | 0:f4343071c8b1 | 226 | uint8_t pwm_ampl : 8, |
charly | 0:f4343071c8b1 | 227 | pwm_grad : 8, |
charly | 0:f4343071c8b1 | 228 | pwm_freq : 2; |
charly | 0:f4343071c8b1 | 229 | bool pwm_autoscale : 1, |
charly | 0:f4343071c8b1 | 230 | pwm_symmetric : 1; |
charly | 0:f4343071c8b1 | 231 | uint8_t freewheel : 2; |
charly | 0:f4343071c8b1 | 232 | }; |
charly | 0:f4343071c8b1 | 233 | }; |
charly | 0:f4343071c8b1 | 234 | }; |
charly | 0:f4343071c8b1 | 235 | |
charly | 0:f4343071c8b1 | 236 | struct ENCM_CTRL_t { |
charly | 0:f4343071c8b1 | 237 | constexpr static uint8_t address = 0x72; |
charly | 0:f4343071c8b1 | 238 | union { |
charly | 0:f4343071c8b1 | 239 | uint8_t sr : 2; |
charly | 0:f4343071c8b1 | 240 | struct { |
charly | 0:f4343071c8b1 | 241 | bool inv : 1, |
charly | 0:f4343071c8b1 | 242 | maxspeed : 1; |
charly | 0:f4343071c8b1 | 243 | }; |
charly | 0:f4343071c8b1 | 244 | }; |
charly | 0:f4343071c8b1 | 245 | }; |
charly | 0:f4343071c8b1 | 246 | |
charly | 0:f4343071c8b1 | 247 | #pragma pack(pop) |