Diff: TMC2209Stepper.cpp

Revision:

0:f4343071c8b1

Child:

2:b34e91b54373

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TMC2209Stepper.cpp	Thu Mar 18 20:50:27 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