Library for Trinamic TMC2209 stepper modules to drive bipolar stepper motors. Ported and adapted from https://github.com/teemuatlut/TMCStepper
GCONF.cpp
- Committer:
- charly
- Date:
- 2021-12-02
- Revision:
- 2:b34e91b54373
- Parent:
- 0:f4343071c8b1
File content as of revision 2:b34e91b54373:
#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; }