Library for Trinamic TMC2209 stepper modules to drive bipolar stepper motors. Ported and adapted from https://github.com/teemuatlut/TMCStepper
Diff: GCONF.cpp
- Revision:
- 0:f4343071c8b1
diff -r 000000000000 -r f4343071c8b1 GCONF.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GCONF.cpp Thu Mar 18 20:50:27 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