Library for Trinamic TMC2209 stepper modules to drive bipolar stepper motors. Ported and adapted from https://github.com/teemuatlut/TMCStepper
TMC2209Stepper.cpp
- Committer:
- charly
- Date:
- 2021-12-02
- Revision:
- 2:b34e91b54373
- Parent:
- 0:f4343071c8b1
File content as of revision 2:b34e91b54373:
#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); SGTHRS(SGTHRS_register.sr); COOLCONF(COOLCONF_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); }