TMCStepper
TMCStepper.h
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1 #pragma once
2 
3 //#define TMCDEBUG
4 
5 #pragma GCC diagnostic push
6 #pragma GCC diagnostic ignored "-Wunused-function"
7 #pragma GCC diagnostic ignored "-Wunused-variable"
8 
9 #if defined(ARDUINO) && ARDUINO >= 100
10  #include <Arduino.h>
11 #endif
12 
13 #include <Stream.h>
14 #include <SPI.h>
15 
16 #if (__cplusplus == 201703L) && defined(__has_include)
17  #define SW_CAPABLE_PLATFORM __has_include(<SoftwareSerial.h>)
18 #else
19  #define SW_CAPABLE_PLATFORM defined(__AVR__) || defined(TARGET_LPC1768) || defined(ARDUINO_ARCH_STM32)
20 #endif
21 
22 #if SW_CAPABLE_PLATFORM
23  #include <SoftwareSerial.h>
24 #endif
25 
26 #include "source/SERIAL_SWITCH.h"
27 #include "source/SW_SPI.h"
28 
29 #pragma GCC diagnostic pop
30 
31 #include "source/TMC2130_bitfields.h"
32 #include "source/TMC2160_bitfields.h"
33 #include "source/TMC5130_bitfields.h"
34 #include "source/TMC5160_bitfields.h"
35 #include "source/TMC2208_bitfields.h"
36 #include "source/TMC2209_bitfields.h"
37 #include "source/TMC2660_bitfields.h"
38 
39 #define INIT_REGISTER(REG) REG##_t REG##_register = REG##_t
40 #define INIT2130_REGISTER(REG) TMC2130_n::REG##_t REG##_register = TMC2130_n::REG##_t
41 #define INIT2160_REGISTER(REG) TMC2160_n::REG##_t REG##_register = TMC2160_n::REG##_t
42 #define INIT5130_REGISTER(REG) TMC5130_n::REG##_t REG##_register = TMC5130_n::REG##_t
43 #define INIT5160_REGISTER(REG) TMC5160_n::REG##_t REG##_register = TMC5160_n::REG##_t
44 #define INIT2660_REGISTER(REG) TMC2660_n::REG##_t REG##_register = TMC2660_n::REG##_t
45 #define INIT2208_REGISTER(REG) TMC2208_n::REG##_t REG##_register = TMC2208_n::REG##_t
46 #define INIT2224_REGISTER(REG) TMC2224_n::REG##_t REG##_register = TMC2224_n::REG##_t
47 #define SET_ALIAS(TYPE, DRIVER, NEW, ARG, OLD) TYPE (DRIVER::*NEW)(ARG) = &DRIVER::OLD
48 
49 #define TMCSTEPPER_VERSION 0x000602 // v0.6.2
50 
51 class TMCStepper {
52  public:
53  uint16_t cs2rms(uint8_t CS);
54  void rms_current(uint16_t mA);
55  void rms_current(uint16_t mA, float mult);
56  uint16_t rms_current();
57  void hold_multiplier(float val) { holdMultiplier = val; }
58  float hold_multiplier() { return holdMultiplier; }
59  uint8_t test_connection();
60 
61  // Helper functions
62  void microsteps(uint16_t ms);
63  uint16_t microsteps();
64  void blank_time(uint8_t value);
65  uint8_t blank_time();
66  void hysteresis_end(int8_t value);
67  int8_t hysteresis_end();
68  void hysteresis_start(uint8_t value);
69  uint8_t hysteresis_start();
70 
71  // R+WC: GSTAT
72  void GSTAT( uint8_t input);
73  uint8_t GSTAT();
74  bool reset();
75  bool drv_err();
76  bool uv_cp();
77 
78  // W: IHOLD_IRUN
79  void IHOLD_IRUN( uint32_t input);
80  uint32_t IHOLD_IRUN();
81  void ihold( uint8_t B);
82  void irun( uint8_t B);
83  void iholddelay( uint8_t B);
84  uint8_t ihold();
85  uint8_t irun();
86  uint8_t iholddelay();
87 
88  // W: TPOWERDOWN
89  uint8_t TPOWERDOWN();
90  void TPOWERDOWN( uint8_t input);
91 
92  // R: TSTEP
93  uint32_t TSTEP();
94 
95  // W: TPWMTHRS
96  uint32_t TPWMTHRS();
97  void TPWMTHRS( uint32_t input);
98 
99  // R: MSCNT
100  uint16_t MSCNT();
101 
102  // R: MSCURACT
103  uint32_t MSCURACT();
104  int16_t cur_a();
105  int16_t cur_b();
106 
107  protected:
108  TMCStepper(float RS) : Rsense(RS) {};
109  INIT_REGISTER(IHOLD_IRUN){{.sr=0}}; // 32b
110  INIT_REGISTER(TPOWERDOWN){.sr=0}; // 8b
111  INIT_REGISTER(TPWMTHRS){.sr=0}; // 32b
112 
113  static constexpr uint8_t TMC_READ = 0x00,
114  TMC_WRITE = 0x80;
115 
116  struct TSTEP_t { constexpr static uint8_t address = 0x12; };
117  struct MSCNT_t { constexpr static uint8_t address = 0x6A; };
118 
119  virtual void write(uint8_t, uint32_t) = 0;
120  virtual uint32_t read(uint8_t) = 0;
121  virtual void vsense(bool) = 0;
122  virtual bool vsense(void) = 0;
123  virtual uint32_t DRV_STATUS() = 0;
124  virtual void hend(uint8_t) = 0;
125  virtual uint8_t hend() = 0;
126  virtual void hstrt(uint8_t) = 0;
127  virtual uint8_t hstrt() = 0;
128  virtual void mres(uint8_t) = 0;
129  virtual uint8_t mres() = 0;
130  virtual void tbl(uint8_t) = 0;
131  virtual uint8_t tbl() = 0;
132 
133  const float Rsense;
134  float holdMultiplier = 0.5;
135 };
136 
137 class TMC2130Stepper : public TMCStepper {
138  public:
139  TMC2130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
140  TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
141  TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
142  void begin();
143  void defaults();
144  void setSPISpeed(uint32_t speed);
145  void switchCSpin(bool state);
146  bool isEnabled();
147  void push();
148 
149  // Helper functions
150  void sg_current_decrease(uint8_t value);
151  uint8_t sg_current_decrease();
152 
153  // RW: GCONF
154  uint32_t GCONF();
155  void GCONF( uint32_t value);
156  void I_scale_analog( bool B);
157  void internal_Rsense( bool B);
158  void en_pwm_mode( bool B);
159  void enc_commutation( bool B);
160  void shaft( bool B);
161  void diag0_error( bool B);
162  void diag0_otpw( bool B);
163  void diag0_stall( bool B);
164  void diag1_stall( bool B);
165  void diag1_index( bool B);
166  void diag1_onstate( bool B);
167  void diag1_steps_skipped( bool B);
168  void diag0_int_pushpull( bool B);
169  void diag1_pushpull( bool B);
170  void small_hysteresis( bool B);
171  void stop_enable( bool B);
172  void direct_mode( bool B);
173  bool I_scale_analog();
174  bool internal_Rsense();
175  bool en_pwm_mode();
176  bool enc_commutation();
177  bool shaft();
178  bool diag0_error();
179  bool diag0_otpw();
180  bool diag0_stall();
181  bool diag1_stall();
182  bool diag1_index();
183  bool diag1_onstate();
184  bool diag1_steps_skipped();
185  bool diag0_int_pushpull();
186  bool diag1_pushpull();
187  bool small_hysteresis();
188  bool stop_enable();
189  bool direct_mode();
190 
191  // R: IOIN
192  uint32_t IOIN();
193  bool step();
194  bool dir();
195  bool dcen_cfg4();
196  bool dcin_cfg5();
197  bool drv_enn_cfg6();
198  bool dco();
199  uint8_t version();
200 
201  // W: TCOOLTHRS
202  uint32_t TCOOLTHRS();
203  void TCOOLTHRS( uint32_t input);
204 
205  // W: THIGH
206  uint32_t THIGH();
207  void THIGH( uint32_t input);
208 
209  // RW: XDRIRECT
210  uint32_t XDIRECT();
211  void XDIRECT( uint32_t input);
212  void coil_A( int16_t B);
213  void coil_B( int16_t B);
214  int16_t coil_A();
215  int16_t coil_B();
216 
217  // W: VDCMIN
218  uint32_t VDCMIN();
219  void VDCMIN( uint32_t input);
220 
221  // RW: CHOPCONF
222  uint32_t CHOPCONF();
223  void CHOPCONF( uint32_t value);
224  void toff( uint8_t B);
225  void hstrt( uint8_t B);
226  void hend( uint8_t B);
227  //void fd( uint8_t B);
228  void disfdcc( bool B);
229  void rndtf( bool B);
230  void chm( bool B);
231  void tbl( uint8_t B);
232  void vsense( bool B);
233  void vhighfs( bool B);
234  void vhighchm( bool B);
235  void sync( uint8_t B);
236  void mres( uint8_t B);
237  void intpol( bool B);
238  void dedge( bool B);
239  void diss2g( bool B);
240  uint8_t toff();
241  uint8_t hstrt();
242  uint8_t hend();
243  //uint8_t fd();
244  bool disfdcc();
245  bool rndtf();
246  bool chm();
247  uint8_t tbl();
248  bool vsense();
249  bool vhighfs();
250  bool vhighchm();
251  uint8_t sync();
252  uint8_t mres();
253  bool intpol();
254  bool dedge();
255  bool diss2g();
256 
257  // W: COOLCONF
258  void COOLCONF(uint32_t value);
259  uint32_t COOLCONF();
260  void semin( uint8_t B);
261  void seup( uint8_t B);
262  void semax( uint8_t B);
263  void sedn( uint8_t B);
264  void seimin( bool B);
265  void sgt( int8_t B);
266  void sfilt( bool B);
267  uint8_t semin();
268  uint8_t seup();
269  uint8_t semax();
270  uint8_t sedn();
271  bool seimin();
272  int8_t sgt();
273  bool sfilt();
274 
275  // W: DCCTRL
276  void DCCTRL(uint32_t input);
277  void dc_time(uint16_t input);
278  void dc_sg(uint8_t input);
279  uint32_t DCCTRL();
280  uint16_t dc_time();
281  uint8_t dc_sg();
282 
283  // R: DRV_STATUS
284  uint32_t DRV_STATUS();
285  uint16_t sg_result();
286  bool fsactive();
287  uint8_t cs_actual();
288  bool stallguard();
289  bool ot();
290  bool otpw();
291  bool s2ga();
292  bool s2gb();
293  bool ola();
294  bool olb();
295  bool stst();
296 
297  // W: PWMCONF
298  void PWMCONF( uint32_t value);
299  uint32_t PWMCONF();
300  void pwm_ampl( uint8_t B);
301  void pwm_grad( uint8_t B);
302  void pwm_freq( uint8_t B);
303  void pwm_autoscale( bool B);
304  void pwm_symmetric( bool B);
305  void freewheel( uint8_t B);
306  uint8_t pwm_ampl();
307  uint8_t pwm_grad();
308  uint8_t pwm_freq();
309  bool pwm_autoscale();
310  bool pwm_symmetric();
311  uint8_t freewheel();
312 
313  // R: PWM_SCALE
314  uint8_t PWM_SCALE();
315 
316  // W: ENCM_CTRL
317  uint8_t ENCM_CTRL();
318  void ENCM_CTRL( uint8_t input);
319  void inv( bool B);
320  void maxspeed( bool B);
321  bool inv();
322  bool maxspeed();
323 
324  // R: LOST_STEPS
325  uint32_t LOST_STEPS();
326 
327  // Function aliases
328 
329  uint8_t status_response;
330 
331  protected:
332  void write(uint8_t addressByte, uint32_t config);
333  uint32_t read(uint8_t addressByte);
334 
335  INIT_REGISTER(GCONF){{.sr=0}}; // 32b
336  INIT_REGISTER(TCOOLTHRS){.sr=0}; // 32b
337  INIT_REGISTER(THIGH){.sr=0}; // 32b
338  INIT_REGISTER(XDIRECT){{.sr=0}}; // 32b
339  INIT_REGISTER(VDCMIN){.sr=0}; // 32b
340  INIT_REGISTER(CHOPCONF){{.sr=0}}; // 32b
341  INIT_REGISTER(COOLCONF){{.sr=0}}; // 32b
342  INIT_REGISTER(DCCTRL){{.sr = 0}}; // 32b
343  INIT_REGISTER(PWMCONF){{.sr=0}}; // 32b
344  INIT_REGISTER(ENCM_CTRL){{.sr=0}};// 8b
345 
346  struct IOINT_t { constexpr static uint8_t address = 0x04; };
347  struct PWM_SCALE_t { constexpr static uint8_t address = 0x71; };
348  struct LOST_STEPS_t { constexpr static uint8_t address = 0x73; };
349  struct DRV_STATUS_t { constexpr static uint8_t address = 0X6F; };
350 
351  static uint32_t spi_speed; // Default 2MHz
352  const uint16_t _pinCS;
353  SW_SPIClass * TMC_SW_SPI = nullptr;
354  static constexpr float default_RS = 0.11;
355 
356  int8_t link_index;
357  static int8_t chain_length;
358 };
359 
360 class TMC2160Stepper : public TMC2130Stepper {
361  public:
362  TMC2160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
363  TMC2160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
364  TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
365  void begin();
366  void defaults();
367  void push();
368 
369  uint16_t cs2rms(uint8_t CS);
370  void rms_current(uint16_t mA);
371  void rms_current(uint16_t mA, float mult);
372  uint16_t rms_current();
373 
374  // IOIN
375  uint32_t IOIN();
376  bool refl_step();
377  bool refr_dir();
378  bool encb_dcen_cfg4();
379  bool enca_dcin_cfg5();
380  bool drv_enn();
381  bool dco_cfg6();
382  uint8_t version();
383 
384  // W: OTP_PROG
385  // R: OTP_READ
386  // RW: FACTORY_CONF
387 
388  // W: SHORT_CONF
389  void SHORT_CONF(uint32_t);
390  void s2vs_level(uint8_t);
391  void s2g_level(uint8_t);
392  void shortfilter(uint8_t);
393  void shortdelay(bool);
394  uint32_t SHORT_CONF();
395  uint8_t s2vs_level();
396  uint8_t s2g_level();
397  uint8_t shortfilter();
398  bool shortdelay();
399 
400  // W: DRV_CONF
401  void DRV_CONF(uint32_t);
402  void bbmtime(uint8_t);
403  void bbmclks(uint8_t);
404  void otselect(uint8_t);
405  void drvstrength(uint8_t);
406  void filt_isense(uint8_t);
407  uint32_t DRV_CONF();
408  uint8_t bbmtime();
409  uint8_t bbmclks();
410  uint8_t otselect();
411  uint8_t drvstrength();
412  uint8_t filt_isense();
413 
414  // W: GLOBAL_SCALER
415  void GLOBAL_SCALER(uint8_t);
416  uint8_t GLOBAL_SCALER();
417 
418  // R: OFFSET_READ
419  uint16_t OFFSET_READ();
420 
421  // W: PWMCONF
422  void PWMCONF(uint32_t input);
423  void pwm_ofs(uint8_t B);
424  void pwm_grad(uint8_t B);
425  void pwm_freq(uint8_t B);
426  void pwm_autoscale(bool B);
427  void pwm_autograd(bool B);
428  void freewheel(uint8_t B);
429  void pwm_reg(uint8_t B);
430  void pwm_lim(uint8_t B);
431  uint32_t PWMCONF();
432  uint8_t pwm_ofs();
433  uint8_t pwm_grad();
434  uint8_t pwm_freq();
435  bool pwm_autoscale();
436  bool pwm_autograd();
437  uint8_t freewheel();
438  uint8_t pwm_reg();
439  uint8_t pwm_lim();
440 
441  // R: PWM_SCALE
442  uint32_t PWM_SCALE();
443  uint8_t pwm_scale_sum();
444  uint16_t pwm_scale_auto();
445 
446  protected:
447  using TMC2130Stepper::ENCM_CTRL;
448  using TMC2130Stepper::pwm_ampl;
449  using TMC2130Stepper::pwm_symmetric;
450 
451  INIT_REGISTER(SHORT_CONF){{.sr=0}};
452  INIT_REGISTER(DRV_CONF){{.sr=0}};
453  INIT_REGISTER(GLOBAL_SCALER){.sr=0};
454  INIT2160_REGISTER(PWMCONF){{.sr=0}};
455 
456  static constexpr float default_RS = 0.075;
457 };
458 
459 class TMC5130Stepper : public TMC2160Stepper {
460  public:
461  TMC5130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
462  TMC5130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
463  TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
464 
465  void begin();
466  void defaults();
467  void push();
468 
469  void rms_current(uint16_t mA) { TMC2130Stepper::rms_current(mA); }
470  void rms_current(uint16_t mA, float mult) { TMC2130Stepper::rms_current(mA, mult); }
471  uint16_t rms_current() { return TMC2130Stepper::rms_current(); }
472 
473  // R: IFCNT
474  uint8_t IFCNT();
475  // W: SLAVECONF
476  uint16_t SLAVECONF();
477  void SLAVECONF(uint16_t input);
478  // R: IOIN
479  uint32_t IOIN();
480  bool refl_step();
481  bool refr_dir();
482  bool encb_dcen_cfg4();
483  bool enca_dcin_cfg5();
484  bool drv_enn_cfg6();
485  bool enc_n_dco();
486  bool sd_mode();
487  bool swcomp_in();
488  uint8_t version();
489 
490  // RW: GCONF
491  void diag1_poscomp_pushpull(bool B) { diag1_pushpull(B); }
492  bool diag1_poscomp_pushpull() { return diag1_pushpull(); }
493 
494  // RW: SW_MODE
495  uint32_t SW_MODE();
496  void SW_MODE(uint32_t input);
497 
498  void stop_l_enable(bool B);
499  void stop_r_enable(bool B);
500  void pol_stop_l(bool B);
501  void pol_stop_r(bool B);
502  void swap_lr(bool B);
503  void latch_l_active(bool B);
504  void latch_l_inactive(bool B);
505  void latch_r_active(bool B);
506  void latch_r_inactive(bool B);
507  void en_latch_encoder(bool B);
508  void sg_stop(bool B);
509  void en_softstop(bool B);
510 
511  bool stop_r_enable();
512  bool pol_stop_l();
513  bool pol_stop_r();
514  bool swap_lr();
515  bool latch_l_active();
516  bool latch_l_inactive();
517  bool latch_r_active();
518  bool latch_r_inactive();
519  bool en_latch_encoder();
520  bool sg_stop();
521  bool en_softstop();
522 
523  // R+C: RAMP_STAT
524  uint32_t RAMP_STAT();
525  bool status_stop_l();
526  bool status_stop_r();
527  bool status_latch_l();
528  bool status_latch_r();
529  bool event_stop_l();
530  bool event_stop_r();
531  bool event_stop_sg();
532  bool event_pos_reached();
533  bool velocity_reached();
534  bool position_reached();
535  bool vzero();
536  bool t_zerowait_active();
537  bool second_move();
538  bool status_sg();
539 
540  // RW: ENCMODE
541  uint32_t ENCMODE();
542  void ENCMODE(uint32_t input);
543  void pol_a(bool B);
544  void pol_b(bool B);
545  void pol_n(bool B);
546  void ignore_ab(bool B);
547  void clr_cont(bool B);
548  void clr_once(bool B);
549  void pos_edge(bool B);
550  void neg_edge(bool B);
551  void clr_enc_x(bool B);
552  void latch_x_act(bool B);
553  void enc_sel_decimal(bool B);
554  bool pol_a();
555  bool pol_b();
556  bool pol_n();
557  bool ignore_ab();
558  bool clr_cont();
559  bool clr_once();
560  bool pos_edge();
561  bool neg_edge();
562  bool clr_enc_x();
563  bool latch_x_act();
564  bool enc_sel_decimal();
565 
566  // W: OUTPUT
567  bool TMC_OUTPUT();
568  void TMC_OUTPUT(bool input);
569  // W: X_COMPARE
570  uint32_t X_COMPARE();
571  void X_COMPARE(uint32_t input);
572  // RW: RAMPMODE
573  uint8_t RAMPMODE();
574  void RAMPMODE(uint8_t input);
575  // RW: XACTUAL
576  int32_t XACTUAL();
577  void XACTUAL(int32_t input);
578  // R: VACTUAL
579  int32_t VACTUAL();
580  // W: VSTART
581  uint32_t VSTART();
582  void VSTART(uint32_t input);
583  // W: A1
584  uint16_t A1();
585  void A1(uint16_t input);
586  // W: V1
587  uint32_t V1();
588  void V1(uint32_t input);
589  // W: AMAX
590  uint16_t AMAX();
591  void AMAX(uint16_t input);
592  // W: VMAX
593  uint32_t VMAX();
594  void VMAX(uint32_t input);
595  // W: DMAX
596  uint16_t DMAX();
597  void DMAX(uint16_t input);
598  // W: D1
599  uint16_t D1();
600  void D1(uint16_t input);
601  // W: VSTOP
602  uint32_t VSTOP();
603  void VSTOP(uint32_t input);
604  // W: TZEROWAIT
605  uint16_t TZEROWAIT();
606  void TZEROWAIT(uint16_t input);
607  // RW: XTARGET
608  int32_t XTARGET();
609  void XTARGET(int32_t input);
610  // R: XLATCH
611  uint32_t XLATCH();
612  // RW: X_ENC
613  int32_t X_ENC();
614  void X_ENC(int32_t input);
615  // W: ENC_CONST
616  uint32_t ENC_CONST();
617  void ENC_CONST(uint32_t input);
618  // R: ENC_STATUS
619  bool ENC_STATUS();
620  // R: ENC_LATCH
621  uint32_t ENC_LATCH();
622 
623  using TMC2130Stepper::ENCM_CTRL;
624 
625  using TMC2130Stepper::PWMCONF;
626  using TMC2130Stepper::pwm_ampl;
627  using TMC2130Stepper::pwm_grad;
628  using TMC2130Stepper::pwm_freq;
629  using TMC2130Stepper::pwm_autoscale;
630  using TMC2130Stepper::pwm_symmetric;
631  using TMC2130Stepper::freewheel;
632 
633  using TMC2130Stepper::PWM_SCALE;
634 
635  protected:
636  INIT_REGISTER(SLAVECONF){{.sr=0}};
637  INIT_REGISTER(OUTPUT){.sr=0};
638  INIT_REGISTER(X_COMPARE){.sr=0};
639  INIT_REGISTER(RAMPMODE){.sr=0};
640  INIT_REGISTER(XACTUAL){.sr=0};
641  INIT_REGISTER(VSTART){.sr=0};
642  INIT_REGISTER(A1){.sr=0};
643  INIT_REGISTER(V1){.sr=0};
644  INIT_REGISTER(AMAX){.sr=0};
645  INIT_REGISTER(VMAX){.sr=0};
646  INIT_REGISTER(DMAX){.sr=0};
647  INIT_REGISTER(D1){.sr=0};
648  INIT_REGISTER(VSTOP){.sr=0};
649  INIT_REGISTER(TZEROWAIT){.sr=0};
650  INIT_REGISTER(SW_MODE){{.sr=0}};
651  INIT_REGISTER(ENCMODE){{.sr=0}};
652  INIT_REGISTER(ENC_CONST){.sr=0};
653 
654  struct IFCNT_t { constexpr static uint8_t address = 0x02; }; // R
655  struct VACTUAL_t { constexpr static uint8_t address = 0x22; }; // R
656  struct XTARGET_t { constexpr static uint8_t address = 0x2D; }; // RW
657  struct XLATCH_t { constexpr static uint8_t address = 0x36; }; // R
658  struct X_ENC_t { constexpr static uint8_t address = 0x39; }; // RW
659  struct ENC_STATUS_t { constexpr static uint8_t address = 0x3B; }; // R+C
660  struct ENC_LATCH_t { constexpr static uint8_t address = 0x3C; }; // R
661 
662  /*
663  INIT_REGISTER(MSLUT0){0};
664  INIT_REGISTER(MSLUT1){0};
665  INIT_REGISTER(MSLUT2){0};
666  INIT_REGISTER(MSLUT3){0};
667  INIT_REGISTER(MSLUT4){0};
668  INIT_REGISTER(MSLUT5){0};
669  INIT_REGISTER(MSLUT6){0};
670  INIT_REGISTER(MSLUT7){0};
671  INIT_REGISTER(MSLUTSEL){0};
672  INIT_REGISTER(MSLUTSTART){0};
673  INIT_REGISTER(MSCNT){0};
674  INIT_REGISTER(MSCURACT){0};
675  */
676 
677  static constexpr float default_RS = 0.15;
678 
679  protected:
680  using TMC2160Stepper::SHORT_CONF;
681  using TMC2160Stepper::s2vs_level;
682  using TMC2160Stepper::s2g_level;
683  using TMC2160Stepper::shortfilter;
684  using TMC2160Stepper::shortdelay;
685  using TMC2160Stepper::DRV_CONF;
686  using TMC2160Stepper::bbmtime;
687  using TMC2160Stepper::bbmclks;
688  using TMC2160Stepper::otselect;
689  using TMC2160Stepper::drvstrength;
690  using TMC2160Stepper::filt_isense;
691  using TMC2160Stepper::GLOBAL_SCALER;
692  using TMC2160Stepper::OFFSET_READ;
693 
694  using TMC2160Stepper::pwm_ofs;
695  using TMC2160Stepper::pwm_autograd;
696  using TMC2160Stepper::pwm_reg;
697  using TMC2160Stepper::pwm_lim;
698 
699  using TMC2160Stepper::pwm_scale_sum;
700  using TMC2160Stepper::pwm_scale_auto;
701 };
702 
703 class TMC5160Stepper : public TMC5130Stepper {
704  public:
705  TMC5160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
706  TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
707  TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
708 
709  void rms_current(uint16_t mA) { TMC2160Stepper::rms_current(mA); }
710  void rms_current(uint16_t mA, float mult) { TMC2160Stepper::rms_current(mA, mult); }
711  uint16_t rms_current() { return TMC2160Stepper::rms_current(); }
712  void defaults();
713  void push();
714 
715  // RW: GCONF
716  void recalibrate(bool);
717  void faststandstill(bool);
718  void multistep_filt(bool);
719  bool recalibrate();
720  bool faststandstill();
721  bool multistep_filt();
722 
723  // R: IOIN
724  bool drv_enn() { return drv_enn_cfg6(); }
725  bool enc_n_dco_cfg6() { return enc_n_dco(); }
726 
727  // W: SHORT_CONF
728  using TMC2160Stepper::SHORT_CONF;
729  using TMC2160Stepper::s2vs_level;
730  using TMC2160Stepper::s2g_level;
731  using TMC2160Stepper::shortfilter;
732  using TMC2160Stepper::shortdelay;
733 
734  // W: DRV_CONF
735  using TMC2160Stepper::DRV_CONF;
736  using TMC2160Stepper::bbmtime;
737  using TMC2160Stepper::bbmclks;
738  using TMC2160Stepper::otselect;
739  using TMC2160Stepper::drvstrength;
740  using TMC2160Stepper::filt_isense;
741 
742  // W: GLOBAL_SCALER
743  using TMC2160Stepper::GLOBAL_SCALER;
744 
745  // R: OFFSET_READ
746  using TMC2160Stepper::OFFSET_READ;
747 
748  // R+WC: ENC_STATUS
749  void ENC_STATUS(uint8_t);
750  uint8_t ENC_STATUS();
751 
752  // W: ENC_DEVIATION
753  void ENC_DEVIATION(uint32_t);
754  uint32_t ENC_DEVIATION();
755 
756  // R: PWM_AUTO
757  uint32_t PWM_AUTO();
758  uint8_t pwm_ofs_auto();
759  uint8_t pwm_grad_auto();
760 
761  // RW: CHOPCONF
762  void diss2vs(bool);
763  void tpfd(uint8_t);
764  bool diss2vs();
765  uint8_t tpfd();
766 
767  // W: PWM_CONF
768  using TMC2160Stepper::PWMCONF;
769  using TMC2160Stepper::pwm_ofs;
770  using TMC2160Stepper::pwm_grad;
771  using TMC2160Stepper::pwm_freq;
772  using TMC2160Stepper::pwm_autoscale;
773  using TMC2160Stepper::pwm_autograd;
774  using TMC2160Stepper::freewheel;
775  using TMC2160Stepper::pwm_reg;
776  using TMC2160Stepper::pwm_lim;
777 
778  using TMC2160Stepper::PWM_SCALE;
779  using TMC2160Stepper::pwm_scale_sum;
780  using TMC2160Stepper::pwm_scale_auto;
781 
782  protected:
783  using TMC5130Stepper::I_scale_analog;
784  using TMC5130Stepper::internal_Rsense;
785  using TMC5130Stepper::enc_commutation;
786  using TMC5130Stepper::drv_enn_cfg6;
787  using TMC5130Stepper::enc_n_dco;
788  using TMC5130Stepper::ENCM_CTRL;
789  using TMC5130Stepper::vsense;
790  using TMC5130Stepper::rndtf;
791 
792  INIT_REGISTER(ENC_DEVIATION){.sr=0};
793 
794  static constexpr float default_RS = 0.075;
795 };
796 
797 class TMC5161Stepper : public TMC5160Stepper {
798  public:
799  TMC5161Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1) : TMC5160Stepper(pinCS, RS, link_index) {}
800  TMC5161Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1) :
801  TMC5160Stepper(pinCS, pinMOSI, pinMISO, pinSCK, link_index) {}
802  TMC5161Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1) :
803  TMC5160Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link_index) {}
804 };
805 
806 class TMC2208Stepper : public TMCStepper {
807  public:
808  TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2);
809  TMC2208Stepper(Stream * SerialPort, float RS) :
810  TMC2208Stepper(SerialPort, RS, TMC2208_SLAVE_ADDR)
811  {}
812  #if SW_CAPABLE_PLATFORM
813  TMC2208Stepper(uint16_t SW_RX_pin, uint16_t SW_TX_pin, float RS) :
814  TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, TMC2208_SLAVE_ADDR)
815  {}
816  TMC2208Stepper(uint16_t SW_RX_pin, uint16_t SW_TX_pin, float RS, bool) :
817  TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, TMC2208_SLAVE_ADDR)
818  {}
819  #else
820  TMC2208Stepper(uint16_t, uint16_t, float) = delete; // Your platform does not currently support Software Serial
821  #endif
822  void defaults();
823  void push();
824  void begin();
825  #if SW_CAPABLE_PLATFORM
826  void beginSerial(uint32_t baudrate);
827  #else
828  void beginSerial(uint32_t) = delete; // Your platform does not currently support Software Serial
829  #endif
830  bool isEnabled();
831 
832  // RW: GCONF
833  void GCONF(uint32_t input);
834  void I_scale_analog(bool B);
835  void internal_Rsense(bool B);
836  void en_spreadCycle(bool B);
837  void shaft(bool B);
838  void index_otpw(bool B);
839  void index_step(bool B);
840  void pdn_disable(bool B);
841  void mstep_reg_select(bool B);
842  void multistep_filt(bool B);
843  uint32_t GCONF();
844  bool I_scale_analog();
845  bool internal_Rsense();
846  bool en_spreadCycle();
847  bool shaft();
848  bool index_otpw();
849  bool index_step();
850  bool pdn_disable();
851  bool mstep_reg_select();
852  bool multistep_filt();
853 
854  // R: IFCNT
855  uint8_t IFCNT();
856 
857  // W: SLAVECONF
858  void SLAVECONF(uint16_t input);
859  uint16_t SLAVECONF();
860  void senddelay(uint8_t B);
861  uint8_t senddelay();
862 
863  // W: OTP_PROG
864  void OTP_PROG(uint16_t input);
865 
866  // R: OTP_READ
867  uint32_t OTP_READ();
868 
869  // R: IOIN
870  uint32_t IOIN();
871  bool enn();
872  bool ms1();
873  bool ms2();
874  bool diag();
875  bool pdn_uart();
876  bool step();
877  bool sel_a();
878  bool dir();
879  uint8_t version();
880 
881  // RW: FACTORY_CONF
882  void FACTORY_CONF(uint16_t input);
883  uint16_t FACTORY_CONF();
884  void fclktrim(uint8_t B);
885  void ottrim(uint8_t B);
886  uint8_t fclktrim();
887  uint8_t ottrim();
888 
889  // W: VACTUAL
890  void VACTUAL(uint32_t input);
891  uint32_t VACTUAL();
892 
893  // RW: CHOPCONF
894  void CHOPCONF(uint32_t input);
895  void toff(uint8_t B);
896  void hstrt(uint8_t B);
897  void hend(uint8_t B);
898  void tbl(uint8_t B);
899  void vsense(bool B);
900  void mres(uint8_t B);
901  void intpol(bool B);
902  void dedge(bool B);
903  void diss2g(bool B);
904  void diss2vs(bool B);
905  uint32_t CHOPCONF();
906  uint8_t toff();
907  uint8_t hstrt();
908  uint8_t hend();
909  uint8_t tbl();
910  bool vsense();
911  uint8_t mres();
912  bool intpol();
913  bool dedge();
914  bool diss2g();
915  bool diss2vs();
916 
917  // R: DRV_STATUS
918  uint32_t DRV_STATUS();
919  bool otpw();
920  bool ot();
921  bool s2ga();
922  bool s2gb();
923  bool s2vsa();
924  bool s2vsb();
925  bool ola();
926  bool olb();
927  bool t120();
928  bool t143();
929  bool t150();
930  bool t157();
931  uint16_t cs_actual();
932  bool stealth();
933  bool stst();
934 
935  // RW: PWMCONF
936  void PWMCONF(uint32_t input);
937  void pwm_ofs(uint8_t B);
938  void pwm_grad(uint8_t B);
939  void pwm_freq(uint8_t B);
940  void pwm_autoscale(bool B);
941  void pwm_autograd(bool B);
942  void freewheel(uint8_t B);
943  void pwm_reg(uint8_t B);
944  void pwm_lim(uint8_t B);
945  uint32_t PWMCONF();
946  uint8_t pwm_ofs();
947  uint8_t pwm_grad();
948  uint8_t pwm_freq();
949  bool pwm_autoscale();
950  bool pwm_autograd();
951  uint8_t freewheel();
952  uint8_t pwm_reg();
953  uint8_t pwm_lim();
954 
955  // R: PWM_SCALE
956  uint32_t PWM_SCALE();
957  uint8_t pwm_scale_sum();
958  int16_t pwm_scale_auto();
959 
960  // R: PWM_AUTO (0x72)
961  uint32_t PWM_AUTO();
962  uint8_t pwm_ofs_auto();
963  uint8_t pwm_grad_auto();
964 
965  uint16_t bytesWritten = 0;
966  float Rsense = 0.11;
967  bool CRCerror = false;
968  protected:
969  INIT2208_REGISTER(GCONF) {{.sr=0}};
970  INIT_REGISTER(SLAVECONF) {{.sr=0}};
971  INIT_REGISTER(FACTORY_CONF) {{.sr=0}};
972  INIT2208_REGISTER(VACTUAL) {.sr=0};
973  INIT2208_REGISTER(CHOPCONF) {{.sr=0}};
974  INIT2208_REGISTER(PWMCONF) {{.sr=0}};
975 
976  struct IFCNT_t { constexpr static uint8_t address = 0x02; };
977  struct OTP_PROG_t { constexpr static uint8_t address = 0x04; };
978  struct OTP_READ_t { constexpr static uint8_t address = 0x05; };
979 
980  TMC2208Stepper(Stream * SerialPort, float RS, uint8_t addr);
981  #if SW_CAPABLE_PLATFORM
982  TMC2208Stepper(uint16_t SW_RX_pin, uint16_t SW_TX_pin, float RS, uint8_t addr);
983  #endif
984 
985  Stream * HWSerial = nullptr;
986  #if SW_CAPABLE_PLATFORM
987  SoftwareSerial * SWSerial = nullptr;
988  const uint16_t RXTX_pin = 0; // Half duplex
989  #endif
990 
991  SSwitch *sswitch = nullptr;
992 
993  template<class SERIAL_TYPE> int16_t serial_read(SERIAL_TYPE &serPtr) __attribute__((weak));
994  template<class SERIAL_TYPE> uint8_t serial_write(SERIAL_TYPE &serPtr, const uint8_t data) __attribute__((weak));
995  void write(uint8_t, uint32_t);
996  uint32_t read(uint8_t);
997  const uint8_t slave_address;
998  uint8_t calcCRC(uint8_t datagram[], uint8_t len);
999  static constexpr uint8_t TMC2208_SYNC = 0x05,
1000  TMC2208_SLAVE_ADDR = 0x00;
1001  static constexpr uint8_t replyDelay = 2;
1002  static constexpr uint8_t abort_window = 5;
1003  static constexpr uint8_t max_retries = 2;
1004 
1005  template<typename SERIAL_TYPE>
1006  uint64_t _sendDatagram(SERIAL_TYPE &, uint8_t [], const uint8_t, uint16_t);
1007 };
1008 
1009 class TMC2209Stepper : public TMC2208Stepper {
1010  public:
1011  TMC2209Stepper(Stream * SerialPort, float RS, uint8_t addr) :
1012  TMC2208Stepper(SerialPort, RS, addr) {}
1013 
1014  #if SW_CAPABLE_PLATFORM
1015  TMC2209Stepper(uint16_t SW_RX_pin, uint16_t SW_TX_pin, float RS, uint8_t addr) :
1016  TMC2208Stepper(SW_RX_pin, SW_TX_pin, RS, addr) {}
1017  #else
1018  TMC2209Stepper(uint16_t, uint16_t, float, uint8_t) = delete; // Your platform does not currently support Software Serial
1019  #endif
1020  void push();
1021 
1022  // R: IOIN
1023  uint32_t IOIN();
1024  bool enn();
1025  bool ms1();
1026  bool ms2();
1027  bool diag();
1028  bool pdn_uart();
1029  bool step();
1030  bool spread_en();
1031  bool dir();
1032  uint8_t version();
1033 
1034  // W: TCOOLTHRS
1035  uint32_t TCOOLTHRS();
1036  void TCOOLTHRS(uint32_t input);
1037 
1038  // W: SGTHRS
1039  void SGTHRS(uint8_t B);
1040  uint8_t SGTHRS();
1041 
1042  // R: SG_RESULT
1043  uint16_t SG_RESULT();
1044 
1045  // W: COOLCONF
1046  void COOLCONF(uint16_t B);
1047  uint16_t COOLCONF();
1048  void semin(uint8_t B);
1049  void seup(uint8_t B);
1050  void semax(uint8_t B);
1051  void sedn(uint8_t B);
1052  void seimin(bool B);
1053  uint8_t semin();
1054  uint8_t seup();
1055  uint8_t semax();
1056  uint8_t sedn();
1057  bool seimin();
1058 
1059  protected:
1060  INIT_REGISTER(TCOOLTHRS){.sr=0};
1061  TMC2209_n::SGTHRS_t SGTHRS_register{.sr=0};
1062  TMC2209_n::COOLCONF_t COOLCONF_register{{.sr=0}};
1063 };
1064 
1065 class TMC2224Stepper : public TMC2208Stepper {
1066  public:
1067  uint32_t IOIN();
1068  bool enn();
1069  bool ms1();
1070  bool ms2();
1071  bool pdn_uart();
1072  bool spread();
1073  bool step();
1074  bool sel_a();
1075  bool dir();
1076  uint8_t version();
1077 };
1078 
1079 class TMC2660Stepper {
1080  public:
1081  TMC2660Stepper(uint16_t pinCS, float RS = default_RS);
1082  TMC2660Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK);
1083  TMC2660Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK);
1084  void write(uint8_t addressByte, uint32_t config);
1085  uint32_t read();
1086  void switchCSpin(bool state);
1087  void begin();
1088  bool isEnabled();
1089  uint8_t test_connection();
1090  uint16_t cs2rms(uint8_t CS);
1091  uint16_t rms_current();
1092  void rms_current(uint16_t mA);
1093  //uint16_t getMilliamps() {return val_mA;}
1094  void push();
1095  uint8_t savedToff() { return _savedToff; }
1096 
1097  // Helper functions
1098  void microsteps(uint16_t ms);
1099  uint16_t microsteps();
1100  void blank_time(uint8_t value);
1101  uint8_t blank_time();
1102  void hysteresis_end(int8_t value);
1103  int8_t hysteresis_end();
1104  void hysteresis_start(uint8_t value);
1105  uint8_t hysteresis_start();
1106 
1107  // W: DRVCONF
1108  void DRVCONF(uint32_t);
1109  void tst(bool);
1110  void slph(uint8_t);
1111  void slpl(uint8_t);
1112  void diss2g(bool);
1113  void ts2g(uint8_t);
1114  void sdoff(bool);
1115  void vsense(bool);
1116  void rdsel(uint8_t);
1117  uint32_t DRVCONF();
1118  bool tst();
1119  uint8_t slph();
1120  uint8_t slpl();
1121  bool diss2g();
1122  uint8_t ts2g();
1123  bool sdoff();
1124  bool vsense();
1125  uint8_t rdsel();
1126 
1127  // W: DRVCTRL
1128  void DRVCTRL(uint32_t);
1129  void pha(bool B);
1130  void ca(uint8_t B);
1131  void phb(bool B);
1132  void cb(uint8_t B);
1133  bool pha();
1134  uint8_t ca();
1135  bool phb();
1136  uint8_t cb();
1137  void intpol(bool);
1138  void dedge(bool);
1139  void mres(uint8_t);
1140  uint32_t DRVCTRL();
1141  bool intpol();
1142  bool dedge();
1143  uint8_t mres();
1144 
1145  // W: CHOPCONF
1146  void CHOPCONF(uint32_t);
1147  void tbl(uint8_t);
1148  void chm(bool);
1149  void rndtf(bool);
1150  void hdec(uint8_t);
1151  void hend(uint8_t);
1152  void hstrt(uint8_t);
1153  void toff(uint8_t);
1154  uint32_t CHOPCONF();
1155  uint8_t tbl();
1156  bool chm();
1157  bool rndtf();
1158  uint8_t hdec();
1159  uint8_t hend();
1160  uint8_t hstrt();
1161  uint8_t toff();
1162 
1163  // R: DRVSTATUS
1164  uint32_t DRV_STATUS() { return DRVSTATUS(); }
1165  uint32_t DRVSTATUS();
1166  uint16_t mstep();
1167  uint8_t se();
1168  bool stst();
1169  bool olb();
1170  bool ola();
1171  bool s2gb();
1172  bool s2ga();
1173  bool otpw();
1174  bool ot();
1175  bool sg();
1176  uint16_t sg_result();
1177 
1178  // W: SGCSCONF
1179  uint32_t SGCSCONF();
1180  void sfilt(bool);
1181  void sgt(uint8_t);
1182  void cs(uint8_t);
1183  void SGCSCONF(uint32_t);
1184  bool sfilt();
1185  uint8_t sgt();
1186  uint8_t cs();
1187 
1188  // W: SMARTEN
1189  void SMARTEN(uint32_t);
1190  void seimin(bool B);
1191  void sedn(uint8_t B);
1192  void semax(uint8_t B);
1193  void seup(uint8_t B);
1194  void semin(uint8_t B);
1195  uint32_t SMARTEN();
1196  bool seimin();
1197  uint8_t sedn();
1198  uint8_t semax();
1199  uint8_t seup();
1200  uint8_t semin();
1201  /*
1202  // Alias
1203  SET_ALIAS(void, polarity_A, bool, pha);
1204  SET_ALIAS(void, current_A, uint8_t, ca);
1205  SET_ALIAS(void, polarity_B, bool, phb);
1206  SET_ALIAS(void, current_b, uint8_t, cb);
1207  SET_ALIAS(void, interpolate, bool, intpol);
1208  SET_ALIAS(void, double_edge_step, bool, dedge);
1209  SET_ALIAS(void, microsteps, uint8_t, mres);
1210  SET_ALIAS(void, blank_time, uint8_t, tbl);
1211  SET_ALIAS(void, chopper_mode, bool, chm);
1212  SET_ALIAS(void, random_off_time, bool, rndtf);
1213  SET_ALIAS(void, hysteresis_decrement, uint8_t, hdec);
1214  SET_ALIAS(void, hysteresis_low, uint8_t, hend);
1215  SET_ALIAS(void, hysteresis_start, uint8_t, hstrt);
1216  SET_ALIAS(void, off_time, uint8_t, toff);
1217  */
1218 
1219  uint8_t status_response;
1220 
1221  private:
1222  INIT_REGISTER(DRVCTRL_1){{.sr=0}};
1223  INIT_REGISTER(DRVCTRL_0){{.sr=0}};
1224  INIT2660_REGISTER(CHOPCONF){{.sr=0}};
1225  INIT_REGISTER(SMARTEN){{.sr=0}};
1226  INIT_REGISTER(SGCSCONF){{.sr=0}};
1227  INIT_REGISTER(DRVCONF){{.sr=0}};
1228  INIT_REGISTER(READ_RDSEL00){{.sr=0}};
1229  INIT_REGISTER(READ_RDSEL01){{.sr=0}};
1230  INIT_REGISTER(READ_RDSEL10){{.sr=0}};
1231 
1232  const uint16_t _pinCS;
1233  const float Rsense;
1234  static constexpr float default_RS = 0.1;
1235  float holdMultiplier = 0.5;
1236  uint32_t spi_speed = 16000000/8; // Default 2MHz
1237  uint8_t _savedToff = 0;
1238  SW_SPIClass * TMC_SW_SPI = nullptr;
1239 };
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Definition: SERIAL_SWITCH.h:6
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Definition: CHOPCONF.cpp:36
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Definition: TMCStepper.h:351
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Definition: SW_SPI.h:6
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Definition: DRV_STATUS.cpp:16
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