Karl Zweimüller / TMCStepper

Library for Trinamic TMC2209 stepper modules to drive bipolar stepper motors. Ported and adapted from https://github.com/teemuatlut/TMCStepper

Dependents:   TMC2209-Test2

TMC2208Stepper.cpp@2:b34e91b54373, 2021-12-02 (annotated)

Committer:
charly
Date:
Thu Dec 02 20:29:39 2021 +0000
Revision:
2:b34e91b54373
Parent:
1:5ba0c258c4ed 
Changes from Original Project for TMC2209 integrated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charly 0:f4343071c8b1 1 #include "TMCStepper.h"
charly 0:f4343071c8b1 2 #include "TMC_MACROS.h"
charly 0:f4343071c8b1 3 //#include "SERIAL_SWITCH.h"
charly 0:f4343071c8b1 4
charly 0:f4343071c8b1 5 // Protected
charly 0:f4343071c8b1 6 // addr needed for TMC2209
charly 0:f4343071c8b1 7 TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr) :
charly 0:f4343071c8b1 8 TMCStepper(RS),
charly 0:f4343071c8b1 9 slave_address(addr)
charly 0:f4343071c8b1 10 {
charly 0:f4343071c8b1 11 HWSerial = SerialPort;
charly 0:f4343071c8b1 12 defaults();
charly 0:f4343071c8b1 13 }
charly 0:f4343071c8b1 14
charly 0:f4343071c8b1 15 TMC2208Stepper::TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2) :
charly 0:f4343071c8b1 16 TMC2208Stepper(SerialPort, RS)
charly 0:f4343071c8b1 17 {
charly 0:f4343071c8b1 18 // SSwitch *SMulObj = new SSwitch(mul_pin1, mul_pin2, addr);
charly 0:f4343071c8b1 19 // sswitch = SMulObj;
charly 0:f4343071c8b1 20 }
charly 0:f4343071c8b1 21
charly 0:f4343071c8b1 22 #if SW_CAPABLE_PLATFORM
charly 0:f4343071c8b1 23 // Protected
charly 0:f4343071c8b1 24 // addr needed for TMC2209
charly 0:f4343071c8b1 25 TMC2208Stepper::TMC2208Stepper(PinName SW_RX_pin, PinName SW_TX_pin, float RS, uint8_t addr) :
charly 0:f4343071c8b1 26 TMCStepper(RS),
charly 0:f4343071c8b1 27 RXTX_pin(SW_RX_pin == SW_TX_pin ? SW_RX_pin : 0),
charly 0:f4343071c8b1 28 slave_address(addr)
charly 0:f4343071c8b1 29 {
charly 0:f4343071c8b1 30 BufferedSerial *SWSerialObj = new BufferedSerial(SW_TX_pin, SW_RX_pin);
charly 0:f4343071c8b1 31 SWSerial = SWSerialObj;
charly 0:f4343071c8b1 32 defaults();
charly 0:f4343071c8b1 33 }
charly 0:f4343071c8b1 34
charly 0:f4343071c8b1 35 void TMC2208Stepper::beginSerial(uint32_t baudrate) {
charly 0:f4343071c8b1 36 if (SWSerial != nullptr)
charly 0:f4343071c8b1 37 {
charly 0:f4343071c8b1 38 //SWSerial->begin(baudrate);
charly 0:f4343071c8b1 39 //SWSerial->end();
charly 0:f4343071c8b1 40 SWSerial->set_baud(baudrate);
charly 0:f4343071c8b1 41 SWSerial->set_format(
charly 0:f4343071c8b1 42 /* bits */ 8,
charly 0:f4343071c8b1 43 /* parity */ BufferedSerial::None,
charly 0:f4343071c8b1 44 /* stop bit */ 1
charly 0:f4343071c8b1 45 );
charly 1:5ba0c258c4ed 46 SWSerial->set_blocking(false); //set to non-blocking read
charly 0:f4343071c8b1 47 }
charly 0:f4343071c8b1 48 // #if defined(ARDUINO_ARCH_AVR)
charly 0:f4343071c8b1 49 // if (RXTX_pin > 0) {
charly 0:f4343071c8b1 50 // digitalWrite(RXTX_pin, HIGH);
charly 0:f4343071c8b1 51 // pinMode(RXTX_pin, OUTPUT);
charly 0:f4343071c8b1 52 // }
charly 0:f4343071c8b1 53 // #endif
charly 0:f4343071c8b1 54 }
charly 0:f4343071c8b1 55 #endif
charly 0:f4343071c8b1 56
charly 0:f4343071c8b1 57 void TMC2208Stepper::begin() {
charly 0:f4343071c8b1 58 #if SW_CAPABLE_PLATFORM
charly 0:f4343071c8b1 59 beginSerial(115200);
charly 0:f4343071c8b1 60 //beginSerial(9600);
charly 0:f4343071c8b1 61 #endif
charly 0:f4343071c8b1 62 pdn_disable(true);
charly 0:f4343071c8b1 63 mstep_reg_select(true);
charly 0:f4343071c8b1 64 //Wait to initialize
charly 0:f4343071c8b1 65 wait_us(replyDelay*1000);
charly 0:f4343071c8b1 66
charly 0:f4343071c8b1 67 }
charly 0:f4343071c8b1 68
charly 0:f4343071c8b1 69 void TMC2208Stepper::defaults() {
charly 0:f4343071c8b1 70 GCONF_register.i_scale_analog = 1;
charly 0:f4343071c8b1 71 GCONF_register.internal_rsense = 0; // OTP
charly 0:f4343071c8b1 72 GCONF_register.en_spreadcycle = 0; // OTP
charly 0:f4343071c8b1 73 GCONF_register.multistep_filt = 1; // OTP
charly 0:f4343071c8b1 74 IHOLD_IRUN_register.iholddelay = 1; // OTP
charly 0:f4343071c8b1 75 TPOWERDOWN_register.sr = 20;
charly 0:f4343071c8b1 76 CHOPCONF_register.sr = 0x10000053;
charly 0:f4343071c8b1 77 PWMCONF_register.sr = 0xC10D0024;
charly 0:f4343071c8b1 78 //MSLUT0_register.sr = ???;
charly 0:f4343071c8b1 79 //MSLUT1_register.sr = ???;
charly 0:f4343071c8b1 80 //MSLUT2_register.sr = ???;
charly 0:f4343071c8b1 81 //MSLUT3_register.sr = ???;
charly 0:f4343071c8b1 82 //MSLUT4_register.sr = ???;
charly 0:f4343071c8b1 83 //MSLUT5_register.sr = ???;
charly 0:f4343071c8b1 84 //MSLUT6_register.sr = ???;
charly 0:f4343071c8b1 85 //MSLUT7_register.sr = ???;
charly 0:f4343071c8b1 86 //MSLUTSTART_register.start_sin90 = 247;
charly 0:f4343071c8b1 87 }
charly 0:f4343071c8b1 88
charly 0:f4343071c8b1 89 void TMC2208Stepper::push() {
charly 0:f4343071c8b1 90 GCONF(GCONF_register.sr);
charly 0:f4343071c8b1 91 IHOLD_IRUN(IHOLD_IRUN_register.sr);
charly 0:f4343071c8b1 92 SLAVECONF(SLAVECONF_register.sr);
charly 0:f4343071c8b1 93 TPOWERDOWN(TPOWERDOWN_register.sr);
charly 0:f4343071c8b1 94 TPWMTHRS(TPWMTHRS_register.sr);
charly 0:f4343071c8b1 95 VACTUAL(VACTUAL_register.sr);
charly 0:f4343071c8b1 96 CHOPCONF(CHOPCONF_register.sr);
charly 0:f4343071c8b1 97 PWMCONF(PWMCONF_register.sr);
charly 0:f4343071c8b1 98 }
charly 0:f4343071c8b1 99
charly 0:f4343071c8b1 100 bool TMC2208Stepper::isEnabled() { return !enn() && toff(); }
charly 0:f4343071c8b1 101
charly 0:f4343071c8b1 102 uint8_t TMC2208Stepper::calcCRC(uint8_t datagram[], uint8_t len) {
charly 0:f4343071c8b1 103 uint8_t crc = 0;
charly 0:f4343071c8b1 104 for (uint8_t i = 0; i < len; i++) {
charly 0:f4343071c8b1 105 uint8_t currentByte = datagram[i];
charly 0:f4343071c8b1 106 for (uint8_t j = 0; j < 8; j++) {
charly 0:f4343071c8b1 107 if ((crc >> 7) ^ (currentByte & 0x01)) {
charly 0:f4343071c8b1 108 crc = (crc << 1) ^ 0x07;
charly 0:f4343071c8b1 109 } else {
charly 0:f4343071c8b1 110 crc = (crc << 1);
charly 0:f4343071c8b1 111 }
charly 0:f4343071c8b1 112 crc &= 0xff;
charly 0:f4343071c8b1 113 currentByte = currentByte >> 1;
charly 0:f4343071c8b1 114 }
charly 0:f4343071c8b1 115 }
charly 0:f4343071c8b1 116 return crc;
charly 0:f4343071c8b1 117 }
charly 0:f4343071c8b1 118
charly 0:f4343071c8b1 119 __attribute__((weak))
charly 0:f4343071c8b1 120 int TMC2208Stepper::available() {
charly 0:f4343071c8b1 121 int out = 0;
charly 0:f4343071c8b1 122 #if SW_CAPABLE_PLATFORM
charly 0:f4343071c8b1 123 if (SWSerial != nullptr) {
charly 0:f4343071c8b1 124 // out = SWSerial->available();
charly 0:f4343071c8b1 125 out = 1;
charly 0:f4343071c8b1 126 } else
charly 0:f4343071c8b1 127 #endif
charly 0:f4343071c8b1 128 if (HWSerial != nullptr) {
charly 0:f4343071c8b1 129 // out = HWSerial->available();
charly 0:f4343071c8b1 130 out = 1;
charly 0:f4343071c8b1 131 }
charly 0:f4343071c8b1 132
charly 0:f4343071c8b1 133 return out;
charly 0:f4343071c8b1 134 }
charly 0:f4343071c8b1 135
charly 0:f4343071c8b1 136 __attribute__((weak))
charly 0:f4343071c8b1 137 void TMC2208Stepper::preWriteCommunication() {
charly 0:f4343071c8b1 138 if (HWSerial != nullptr) {
charly 0:f4343071c8b1 139 // if (sswitch != nullptr)
charly 0:f4343071c8b1 140 // sswitch->active();
charly 0:f4343071c8b1 141 }
charly 0:f4343071c8b1 142 }
charly 0:f4343071c8b1 143
charly 0:f4343071c8b1 144 __attribute__((weak))
charly 0:f4343071c8b1 145 void TMC2208Stepper::preReadCommunication() {
charly 0:f4343071c8b1 146 #if SW_CAPABLE_PLATFORM
charly 0:f4343071c8b1 147 if (SWSerial != nullptr) {
charly 0:f4343071c8b1 148 // SWSerial->listen();
charly 0:f4343071c8b1 149 } else
charly 0:f4343071c8b1 150 #endif
charly 0:f4343071c8b1 151 if (HWSerial != nullptr) {
charly 0:f4343071c8b1 152 // if (sswitch != nullptr)
charly 0:f4343071c8b1 153 // sswitch->active();
charly 0:f4343071c8b1 154 }
charly 0:f4343071c8b1 155 }
charly 0:f4343071c8b1 156
charly 0:f4343071c8b1 157 __attribute__((weak))
charly 0:f4343071c8b1 158 int16_t TMC2208Stepper::serial_read() {
charly 0:f4343071c8b1 159 int16_t out = 0;
charly 0:f4343071c8b1 160 int16_t count = 0;
charly 0:f4343071c8b1 161
charly 0:f4343071c8b1 162 #if SW_CAPABLE_PLATFORM
charly 0:f4343071c8b1 163 if (SWSerial != nullptr) {
charly 0:f4343071c8b1 164 // out = SWSerial->read();
charly 0:f4343071c8b1 165 count = SWSerial->read(&out, 1); // read one character
charly 0:f4343071c8b1 166 // if (SWSerial->readable()) {
charly 0:f4343071c8b1 167 // SWSerial->read(&out, 1); // read one character
charly 0:f4343071c8b1 168 // }
charly 0:f4343071c8b1 169
charly 0:f4343071c8b1 170 } else
charly 0:f4343071c8b1 171 #endif
charly 0:f4343071c8b1 172 if (HWSerial != nullptr) {
charly 0:f4343071c8b1 173 // out = HWSerial->read();
charly 0:f4343071c8b1 174 HWSerial->read(&out, 1); // read one character
charly 0:f4343071c8b1 175 }
charly 0:f4343071c8b1 176 if (count >= 1) {
charly 0:f4343071c8b1 177 // printf("<%02X|",out);
charly 0:f4343071c8b1 178 return out;
charly 0:f4343071c8b1 179 } else {
charly 0:f4343071c8b1 180 return -1;
charly 0:f4343071c8b1 181 }
charly 0:f4343071c8b1 182 }
charly 0:f4343071c8b1 183
charly 0:f4343071c8b1 184 __attribute__((weak))
charly 0:f4343071c8b1 185 uint8_t TMC2208Stepper::serial_write(const uint8_t data) {
charly 0:f4343071c8b1 186 int out = 0;
charly 0:f4343071c8b1 187 #if SW_CAPABLE_PLATFORM
charly 0:f4343071c8b1 188 if (SWSerial != nullptr) {
charly 0:f4343071c8b1 189 // printf(">%02X|",data);
charly 0:f4343071c8b1 190 return SWSerial->write(&data,1);
charly 0:f4343071c8b1 191 } else
charly 0:f4343071c8b1 192 #endif
charly 0:f4343071c8b1 193 if (HWSerial != nullptr) {
charly 0:f4343071c8b1 194 return HWSerial->write(&data,1);
charly 0:f4343071c8b1 195 }
charly 0:f4343071c8b1 196
charly 0:f4343071c8b1 197 return out;
charly 0:f4343071c8b1 198 }
charly 0:f4343071c8b1 199
charly 0:f4343071c8b1 200 __attribute__((weak))
charly 0:f4343071c8b1 201 void TMC2208Stepper::postWriteCommunication() {}
charly 0:f4343071c8b1 202
charly 0:f4343071c8b1 203 __attribute__((weak))
charly 0:f4343071c8b1 204 void TMC2208Stepper::postReadCommunication() {
charly 0:f4343071c8b1 205 #if SW_CAPABLE_PLATFORM
charly 0:f4343071c8b1 206 // if (SWSerial != nullptr) {
charly 0:f4343071c8b1 207 // SWSerial->end();
charly 0:f4343071c8b1 208 // }
charly 0:f4343071c8b1 209 #endif
charly 0:f4343071c8b1 210 }
charly 0:f4343071c8b1 211
charly 0:f4343071c8b1 212 void TMC2208Stepper::write(uint8_t addr, uint32_t regVal) {
charly 0:f4343071c8b1 213 uint8_t len = 7;
charly 0:f4343071c8b1 214 addr |= TMC_WRITE;
charly 0:f4343071c8b1 215 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};
charly 0:f4343071c8b1 216
charly 0:f4343071c8b1 217 datagram[len] = calcCRC(datagram, len);
charly 0:f4343071c8b1 218
charly 0:f4343071c8b1 219 preWriteCommunication();
charly 0:f4343071c8b1 220
charly 0:f4343071c8b1 221 for(uint8_t i=0; i<=len; i++) {
charly 0:f4343071c8b1 222 bytesWritten += serial_write(datagram[i]);
charly 0:f4343071c8b1 223 }
charly 0:f4343071c8b1 224 postWriteCommunication();
charly 0:f4343071c8b1 225
charly 0:f4343071c8b1 226 //delay(replyDelay);
charly 0:f4343071c8b1 227 wait_us(replyDelay*1000);
charly 0:f4343071c8b1 228 }
charly 0:f4343071c8b1 229
charly 0:f4343071c8b1 230 uint64_t TMC2208Stepper::_sendDatagram(uint8_t datagram[], const uint8_t len, uint16_t timeout) {
charly 0:f4343071c8b1 231
charly 0:f4343071c8b1 232 // while (available() > 0) serial_read(); // Flush
charly 0:f4343071c8b1 233 SWSerial->sync();
charly 0:f4343071c8b1 234 /* uint8_t dummy;
charly 0:f4343071c8b1 235 while (SWSerial->readable()) {
charly 0:f4343071c8b1 236 SWSerial->read(&dummy, 1); // read one character
charly 0:f4343071c8b1 237 }
charly 0:f4343071c8b1 238 */
charly 0:f4343071c8b1 239 /* uint8_t dummy;
charly 0:f4343071c8b1 240 while (SWSerial->read(&dummy, 1) >= 0) {
charly 0:f4343071c8b1 241 ;
charly 0:f4343071c8b1 242 }
charly 0:f4343071c8b1 243 */
charly 0:f4343071c8b1 244
charly 0:f4343071c8b1 245 #if defined(ARDUINO_ARCH_AVR)
charly 0:f4343071c8b1 246 if (RXTX_pin > 0) {
charly 0:f4343071c8b1 247 digitalWrite(RXTX_pin, HIGH);
charly 0:f4343071c8b1 248 pinMode(RXTX_pin, OUTPUT);
charly 0:f4343071c8b1 249 }
charly 0:f4343071c8b1 250 #endif
charly 0:f4343071c8b1 251
charly 0:f4343071c8b1 252 for(int i=0; i<=len; i++) serial_write(datagram[i]);
charly 0:f4343071c8b1 253
charly 0:f4343071c8b1 254 #if defined(ARDUINO_ARCH_AVR)
charly 0:f4343071c8b1 255 if (RXTX_pin > 0) {
charly 0:f4343071c8b1 256 pinMode(RXTX_pin, INPUT_PULLUP);
charly 0:f4343071c8b1 257 }
charly 0:f4343071c8b1 258 #endif
charly 0:f4343071c8b1 259
charly 0:f4343071c8b1 260 //delay(this->replyDelay);
charly 0:f4343071c8b1 261 wait_us(this->replyDelay*1000);
charly 0:f4343071c8b1 262
charly 0:f4343071c8b1 263 // scan for the rx frame and read it
charly 0:f4343071c8b1 264
charly 0:f4343071c8b1 265 // uint32_t ms = millis();
charly 0:f4343071c8b1 266 uint32_t sync_target = (static_cast<uint32_t>(datagram[0])<<16) | 0xFF00 | datagram[2];
charly 0:f4343071c8b1 267 uint32_t sync = 0;
charly 1:5ba0c258c4ed 268
charly 1:5ba0c258c4ed 269 // 64-bit time doesn't wrap for half a billion years, at least
charly 1:5ba0c258c4ed 270 uint64_t start_ms, now;
charly 1:5ba0c258c4ed 271 start_ms = Kernel::get_ms_count();
charly 0:f4343071c8b1 272
charly 0:f4343071c8b1 273
charly 0:f4343071c8b1 274 do {
charly 0:f4343071c8b1 275 /* uint32_t ms2 = millis();
charly 0:f4343071c8b1 276 if (ms2 != ms) {
charly 0:f4343071c8b1 277 // 1ms tick
charly 0:f4343071c8b1 278 ms = ms2;
charly 0:f4343071c8b1 279 timeout--;
charly 0:f4343071c8b1 280 }
charly 0:f4343071c8b1 281 if (!timeout) return 0;
charly 0:f4343071c8b1 282 */
charly 1:5ba0c258c4ed 283 // 64-bit time doesn't wrap for half a billion years, at least
charly 1:5ba0c258c4ed 284 now = Kernel::get_ms_count();
charly 1:5ba0c258c4ed 285 if (now - start_ms > timeout) return 0;
charly 1:5ba0c258c4ed 286
charly 0:f4343071c8b1 287 int16_t res = serial_read();
charly 0:f4343071c8b1 288 if (res < 0) continue;
charly 0:f4343071c8b1 289
charly 0:f4343071c8b1 290 sync <<= 8;
charly 0:f4343071c8b1 291 sync |= res & 0xFF;
charly 0:f4343071c8b1 292 sync &= 0xFFFFFF;
charly 0:f4343071c8b1 293
charly 0:f4343071c8b1 294 } while (sync != sync_target);
charly 0:f4343071c8b1 295
charly 0:f4343071c8b1 296 uint64_t out = sync;
charly 0:f4343071c8b1 297 // ms = millis();
charly 0:f4343071c8b1 298 // timeout = this->abort_window;
charly 1:5ba0c258c4ed 299
charly 1:5ba0c258c4ed 300 start_ms = Kernel::get_ms_count();
charly 1:5ba0c258c4ed 301
charly 0:f4343071c8b1 302 for(uint8_t i=0; i<5;) {
charly 0:f4343071c8b1 303 /* uint32_t ms2 = millis();
charly 0:f4343071c8b1 304 if (ms2 != ms) {
charly 0:f4343071c8b1 305 // 1ms tick
charly 0:f4343071c8b1 306 ms = ms2;
charly 0:f4343071c8b1 307 timeout--;
charly 0:f4343071c8b1 308 }
charly 0:f4343071c8b1 309 if (!timeout) return 0;
charly 0:f4343071c8b1 310 */
charly 1:5ba0c258c4ed 311 now = Kernel::get_ms_count();
charly 1:5ba0c258c4ed 312 if (now - start_ms > timeout) return 0;
charly 1:5ba0c258c4ed 313
charly 0:f4343071c8b1 314 int16_t res = serial_read();
charly 0:f4343071c8b1 315 if (res < 0) continue;
charly 0:f4343071c8b1 316
charly 0:f4343071c8b1 317 out <<= 8;
charly 0:f4343071c8b1 318 out |= res & 0xFF;
charly 0:f4343071c8b1 319
charly 0:f4343071c8b1 320 i++;
charly 0:f4343071c8b1 321 }
charly 0:f4343071c8b1 322
charly 0:f4343071c8b1 323 #if defined(ARDUINO_ARCH_AVR)
charly 0:f4343071c8b1 324 if (RXTX_pin > 0) {
charly 0:f4343071c8b1 325 digitalWrite(RXTX_pin, HIGH);
charly 0:f4343071c8b1 326 pinMode(RXTX_pin, OUTPUT);
charly 0:f4343071c8b1 327 }
charly 0:f4343071c8b1 328 #endif
charly 0:f4343071c8b1 329
charly 0:f4343071c8b1 330 // while (available() > 0) serial_read(); // Flush
charly 0:f4343071c8b1 331 SWSerial->sync();
charly 0:f4343071c8b1 332
charly 0:f4343071c8b1 333 return out;
charly 0:f4343071c8b1 334
charly 0:f4343071c8b1 335
charly 0:f4343071c8b1 336 }
charly 0:f4343071c8b1 337
charly 0:f4343071c8b1 338 uint32_t TMC2208Stepper::read(uint8_t addr) {
charly 0:f4343071c8b1 339 constexpr uint8_t len = 3;
charly 0:f4343071c8b1 340 addr |= TMC_READ;
charly 0:f4343071c8b1 341 uint8_t datagram[] = {TMC2208_SYNC, slave_address, addr, 0x00};
charly 0:f4343071c8b1 342 datagram[len] = calcCRC(datagram, len);
charly 0:f4343071c8b1 343 uint64_t out = 0x00000000UL;
charly 0:f4343071c8b1 344
charly 0:f4343071c8b1 345 for (uint8_t i = 0; i < max_retries; i++) {
charly 0:f4343071c8b1 346 preReadCommunication();
charly 0:f4343071c8b1 347 out = _sendDatagram(datagram, len, abort_window);
charly 0:f4343071c8b1 348 postReadCommunication();
charly 0:f4343071c8b1 349
charly 0:f4343071c8b1 350 // delay(replyDelay);
charly 0:f4343071c8b1 351 // wait_us(replyDelay*1000);
charly 0:f4343071c8b1 352
charly 0:f4343071c8b1 353 CRCerror = false;
charly 0:f4343071c8b1 354 uint8_t out_datagram[] = {
charly 0:f4343071c8b1 355 static_cast<uint8_t>(out>>56),
charly 0:f4343071c8b1 356 static_cast<uint8_t>(out>>48),
charly 0:f4343071c8b1 357 static_cast<uint8_t>(out>>40),
charly 0:f4343071c8b1 358 static_cast<uint8_t>(out>>32),
charly 0:f4343071c8b1 359 static_cast<uint8_t>(out>>24),
charly 0:f4343071c8b1 360 static_cast<uint8_t>(out>>16),
charly 0:f4343071c8b1 361 static_cast<uint8_t>(out>> 8),
charly 0:f4343071c8b1 362 static_cast<uint8_t>(out>> 0)
charly 0:f4343071c8b1 363 };
charly 0:f4343071c8b1 364 uint8_t crc = calcCRC(out_datagram, 7);
charly 0:f4343071c8b1 365 if ((crc != static_cast<uint8_t>(out)) || crc == 0 ) {
charly 0:f4343071c8b1 366 CRCerror = true;
charly 0:f4343071c8b1 367 out = 0;
charly 0:f4343071c8b1 368 } else {
charly 0:f4343071c8b1 369 break;
charly 0:f4343071c8b1 370 }
charly 0:f4343071c8b1 371 }
charly 0:f4343071c8b1 372
charly 0:f4343071c8b1 373 return out>>8;
charly 0:f4343071c8b1 374 }
charly 0:f4343071c8b1 375
charly 0:f4343071c8b1 376 uint8_t TMC2208Stepper::IFCNT() {
charly 0:f4343071c8b1 377 return read(IFCNT_t::address);
charly 0:f4343071c8b1 378 }
charly 0:f4343071c8b1 379
charly 0:f4343071c8b1 380 void TMC2208Stepper::SLAVECONF(uint16_t input) {
charly 0:f4343071c8b1 381 SLAVECONF_register.sr = input&0xF00;
charly 0:f4343071c8b1 382 write(SLAVECONF_register.address, SLAVECONF_register.sr);
charly 0:f4343071c8b1 383 }
charly 0:f4343071c8b1 384 uint16_t TMC2208Stepper::SLAVECONF() {
charly 0:f4343071c8b1 385 return SLAVECONF_register.sr;
charly 0:f4343071c8b1 386 }
charly 0:f4343071c8b1 387 void TMC2208Stepper::senddelay(uint8_t B) { SLAVECONF_register.senddelay = B; write(SLAVECONF_register.address, SLAVECONF_register.sr); }
charly 0:f4343071c8b1 388 uint8_t TMC2208Stepper::senddelay() { return SLAVECONF_register.senddelay; }
charly 0:f4343071c8b1 389
charly 0:f4343071c8b1 390 void TMC2208Stepper::OTP_PROG(uint16_t input) {
charly 0:f4343071c8b1 391 write(OTP_PROG_t::address, input);
charly 0:f4343071c8b1 392 }
charly 0:f4343071c8b1 393
charly 0:f4343071c8b1 394 uint32_t TMC2208Stepper::OTP_READ() {
charly 0:f4343071c8b1 395 return read(OTP_READ_t::address);
charly 0:f4343071c8b1 396 }
charly 0:f4343071c8b1 397
charly 0:f4343071c8b1 398 uint32_t TMC2208Stepper::IOIN() {
charly 0:f4343071c8b1 399 return read(TMC2208_n::IOIN_t::address);
charly 0:f4343071c8b1 400 }
charly 0:f4343071c8b1 401 bool TMC2208Stepper::enn() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn; }
charly 0:f4343071c8b1 402 bool TMC2208Stepper::ms1() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1; }
charly 0:f4343071c8b1 403 bool TMC2208Stepper::ms2() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2; }
charly 0:f4343071c8b1 404 bool TMC2208Stepper::diag() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.diag; }
charly 0:f4343071c8b1 405 bool TMC2208Stepper::pdn_uart() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; }
charly 0:f4343071c8b1 406 bool TMC2208Stepper::step() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.step; }
charly 0:f4343071c8b1 407 bool TMC2208Stepper::sel_a() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.sel_a; }
charly 0:f4343071c8b1 408 bool TMC2208Stepper::dir() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir; }
charly 0:f4343071c8b1 409 uint8_t TMC2208Stepper::version() { TMC2208_n::IOIN_t r{0}; r.sr = IOIN(); return r.version; }
charly 0:f4343071c8b1 410
charly 0:f4343071c8b1 411 /*
charly 0:f4343071c8b1 412 uint32_t TMC2224Stepper::IOIN() {
charly 0:f4343071c8b1 413 return read(TMC2224_n::IOIN_t::address);
charly 0:f4343071c8b1 414 }
charly 0:f4343071c8b1 415 bool TMC2224Stepper::enn() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.enn; }
charly 0:f4343071c8b1 416 bool TMC2224Stepper::ms1() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms1; }
charly 0:f4343071c8b1 417 bool TMC2224Stepper::ms2() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.ms2; }
charly 0:f4343071c8b1 418 bool TMC2224Stepper::pdn_uart() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.pdn_uart; }
charly 0:f4343071c8b1 419 bool TMC2224Stepper::spread() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.spread; }
charly 0:f4343071c8b1 420 bool TMC2224Stepper::step() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.step; }
charly 0:f4343071c8b1 421 bool TMC2224Stepper::sel_a() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.sel_a; }
charly 0:f4343071c8b1 422 bool TMC2224Stepper::dir() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.dir; }
charly 0:f4343071c8b1 423 uint8_t TMC2224Stepper::version() { TMC2224_n::IOIN_t r{0}; r.sr = IOIN(); return r.version; }
charly 0:f4343071c8b1 424 */
charly 0:f4343071c8b1 425 uint16_t TMC2208Stepper::FACTORY_CONF() {
charly 0:f4343071c8b1 426 return read(FACTORY_CONF_register.address);
charly 0:f4343071c8b1 427 }
charly 0:f4343071c8b1 428 void TMC2208Stepper::FACTORY_CONF(uint16_t input) {
charly 0:f4343071c8b1 429 FACTORY_CONF_register.sr = input;
charly 0:f4343071c8b1 430 write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr);
charly 0:f4343071c8b1 431 }
charly 0:f4343071c8b1 432 void TMC2208Stepper::fclktrim(uint8_t B){ FACTORY_CONF_register.fclktrim = B; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); }
charly 0:f4343071c8b1 433 void TMC2208Stepper::ottrim(uint8_t B) { FACTORY_CONF_register.ottrim = B; write(FACTORY_CONF_register.address, FACTORY_CONF_register.sr); }
charly 0:f4343071c8b1 434 uint8_t TMC2208Stepper::fclktrim() { FACTORY_CONF_t r{0}; r.sr = FACTORY_CONF(); return r.fclktrim; }
charly 0:f4343071c8b1 435 uint8_t TMC2208Stepper::ottrim() { FACTORY_CONF_t r{0}; r.sr = FACTORY_CONF(); return r.ottrim; }
charly 0:f4343071c8b1 436
charly 0:f4343071c8b1 437 void TMC2208Stepper::VACTUAL(uint32_t input) {
charly 0:f4343071c8b1 438 VACTUAL_register.sr = input;
charly 0:f4343071c8b1 439 write(VACTUAL_register.address, VACTUAL_register.sr);
charly 0:f4343071c8b1 440 }
charly 0:f4343071c8b1 441 uint32_t TMC2208Stepper::VACTUAL() {
charly 0:f4343071c8b1 442 return VACTUAL_register.sr;
charly 0:f4343071c8b1 443 }
charly 0:f4343071c8b1 444
charly 0:f4343071c8b1 445 uint32_t TMC2208Stepper::PWM_SCALE() {
charly 0:f4343071c8b1 446 return read(TMC2208_n::PWM_SCALE_t::address);
charly 0:f4343071c8b1 447 }
charly 0:f4343071c8b1 448 uint8_t TMC2208Stepper::pwm_scale_sum() {
charly 0:f4343071c8b1 449 TMC2208_n::PWM_SCALE_t r{0};
charly 0:f4343071c8b1 450 r.sr = PWM_SCALE();
charly 0:f4343071c8b1 451 return r.pwm_scale_sum;
charly 0:f4343071c8b1 452 }
charly 0:f4343071c8b1 453
charly 0:f4343071c8b1 454 int16_t TMC2208Stepper::pwm_scale_auto() {
charly 0:f4343071c8b1 455 TMC2208_n::PWM_SCALE_t r{0};
charly 0:f4343071c8b1 456 r.sr = PWM_SCALE();
charly 0:f4343071c8b1 457 return r.pwm_scale_auto;
charly 0:f4343071c8b1 458 // Not two's complement? 9nth bit determines sign
charly 0:f4343071c8b1 459 /*
charly 0:f4343071c8b1 460 uint32_t d = PWM_SCALE();
charly 0:f4343071c8b1 461 int16_t response = (d>>PWM_SCALE_AUTO_bp)&0xFF;
charly 0:f4343071c8b1 462 if (((d&PWM_SCALE_AUTO_bm) >> 24) & 0x1) return -response;
charly 0:f4343071c8b1 463 else return response;
charly 0:f4343071c8b1 464 */
charly 0:f4343071c8b1 465 }
charly 0:f4343071c8b1 466
charly 0:f4343071c8b1 467 // R: PWM_AUTO
charly 0:f4343071c8b1 468 uint32_t TMC2208Stepper::PWM_AUTO() {
charly 0:f4343071c8b1 469 return read(PWM_AUTO_t::address);
charly 0:f4343071c8b1 470 }
charly 0:f4343071c8b1 471 uint8_t TMC2208Stepper::pwm_ofs_auto() { PWM_AUTO_t r{0}; r.sr = PWM_AUTO(); return r.pwm_ofs_auto; }
charly 0:f4343071c8b1 472 uint8_t TMC2208Stepper::pwm_grad_auto() { PWM_AUTO_t r{0}; r.sr = PWM_AUTO(); return r.pwm_grad_auto; }