#include <TMCStepper.h>

Inheritance diagram for TMC2209Stepper:

Collaboration diagram for TMC2209Stepper:

Public Member Functions
	TMC2209Stepper (Stream *SerialPort, float RS, uint8_t addr)

	TMC2209Stepper (uint16_t, uint16_t, float, uint8_t)=delete

void	push ()

uint32_t	IOIN ()

bool	enn ()

bool	ms1 ()

bool	ms2 ()

bool	diag ()

bool	pdn_uart ()

bool	step ()

bool	spread_en ()

bool	dir ()

uint8_t	version ()

uint32_t	TCOOLTHRS ()

void	TCOOLTHRS (uint32_t input)

void	SGTHRS (uint8_t B)

uint8_t	SGTHRS ()

uint16_t	SG_RESULT ()

void	COOLCONF (uint16_t B)

uint16_t	COOLCONF ()

void	semin (uint8_t B)

void	seup (uint8_t B)

void	semax (uint8_t B)

void	sedn (uint8_t B)

void	seimin (bool B)

uint8_t	semin ()

uint8_t	seup ()

uint8_t	semax ()

uint8_t	sedn ()

bool	seimin ()

Public Member Functions inherited from TMC2208Stepper
	TMC2208Stepper (Stream *SerialPort, float RS, uint8_t addr, uint16_t mul_pin1, uint16_t mul_pin2)

	TMC2208Stepper (Stream *SerialPort, float RS)

	TMC2208Stepper (uint16_t, uint16_t, float)=delete

void	defaults ()

void	push ()

void	begin ()

void	beginSerial (uint32_t)=delete

bool	isEnabled ()

void	GCONF (uint32_t input)

void	I_scale_analog (bool B)

void	internal_Rsense (bool B)

void	en_spreadCycle (bool B)

void	shaft (bool B)

void	index_otpw (bool B)

void	index_step (bool B)

void	pdn_disable (bool B)

void	mstep_reg_select (bool B)

void	multistep_filt (bool B)

uint32_t	GCONF ()

bool	I_scale_analog ()

bool	internal_Rsense ()

bool	en_spreadCycle ()

bool	shaft ()

bool	index_otpw ()

bool	index_step ()

bool	pdn_disable ()

bool	mstep_reg_select ()

bool	multistep_filt ()

uint8_t	IFCNT ()

void	SLAVECONF (uint16_t input)

uint16_t	SLAVECONF ()

void	senddelay (uint8_t B)

uint8_t	senddelay ()

void	OTP_PROG (uint16_t input)

uint32_t	OTP_READ ()

uint32_t	IOIN ()

bool	enn ()

bool	ms1 ()

bool	ms2 ()

bool	diag ()

bool	pdn_uart ()

bool	step ()

bool	sel_a ()

bool	dir ()

uint8_t	version ()

void	FACTORY_CONF (uint16_t input)

uint16_t	FACTORY_CONF ()

void	fclktrim (uint8_t B)

void	ottrim (uint8_t B)

uint8_t	fclktrim ()

uint8_t	ottrim ()

void	VACTUAL (uint32_t input)

uint32_t	VACTUAL ()

void	CHOPCONF (uint32_t input)

void	toff (uint8_t B)

void	hstrt (uint8_t B)

void	hend (uint8_t B)

void	tbl (uint8_t B)

void	vsense (bool B)

void	mres (uint8_t B)

void	intpol (bool B)

void	dedge (bool B)

void	diss2g (bool B)

void	diss2vs (bool B)

uint32_t	CHOPCONF ()

uint8_t	toff ()

uint8_t	hstrt ()

uint8_t	hend ()

uint8_t	tbl ()

bool	vsense ()

uint8_t	mres ()

bool	intpol ()

bool	dedge ()

bool	diss2g ()

bool	diss2vs ()

uint32_t	DRV_STATUS ()

bool	otpw ()

bool	ot ()

bool	s2ga ()

bool	s2gb ()

bool	s2vsa ()

bool	s2vsb ()

bool	ola ()

bool	olb ()

bool	t120 ()

bool	t143 ()

bool	t150 ()

bool	t157 ()

uint16_t	cs_actual ()

bool	stealth ()

bool	stst ()

void	PWMCONF (uint32_t input)

void	pwm_ofs (uint8_t B)

void	pwm_grad (uint8_t B)

void	pwm_freq (uint8_t B)

void	pwm_autoscale (bool B)

void	pwm_autograd (bool B)

void	freewheel (uint8_t B)

void	pwm_reg (uint8_t B)

void	pwm_lim (uint8_t B)

uint32_t	PWMCONF ()

uint8_t	pwm_ofs ()

uint8_t	pwm_grad ()

uint8_t	pwm_freq ()

bool	pwm_autoscale ()

bool	pwm_autograd ()

uint8_t	freewheel ()

uint8_t	pwm_reg ()

uint8_t	pwm_lim ()

uint32_t	PWM_SCALE ()

uint8_t	pwm_scale_sum ()

int16_t	pwm_scale_auto ()

uint32_t	PWM_AUTO ()

uint8_t	pwm_ofs_auto ()

uint8_t	pwm_grad_auto ()

Public Member Functions inherited from TMCStepper
uint16_t	cs2rms (uint8_t CS)

void	rms_current (uint16_t mA)

void	rms_current (uint16_t mA, float mult)

uint16_t	rms_current ()

void	hold_multiplier (float val)

float	hold_multiplier ()

uint8_t	test_connection ()

void	microsteps (uint16_t ms)

uint16_t	microsteps ()

void	blank_time (uint8_t value)

uint8_t	blank_time ()

void	hysteresis_end (int8_t value)

int8_t	hysteresis_end ()

void	hysteresis_start (uint8_t value)

uint8_t	hysteresis_start ()

void	GSTAT (uint8_t input)

uint8_t	GSTAT ()

bool	reset ()

bool	drv_err ()

bool	uv_cp ()

void	IHOLD_IRUN (uint32_t input)

uint32_t	IHOLD_IRUN ()

void	ihold (uint8_t B)

void	irun (uint8_t B)

void	iholddelay (uint8_t B)

uint8_t	ihold ()

uint8_t	irun ()

uint8_t	iholddelay ()

uint8_t	TPOWERDOWN ()

void	TPOWERDOWN (uint8_t input)

uint32_t	TSTEP ()

uint32_t	TPWMTHRS ()

void	TPWMTHRS (uint32_t input)

uint16_t	MSCNT ()

uint32_t	MSCURACT ()

int16_t	cur_a ()

int16_t	cur_b ()

Protected Member Functions
	INIT_REGISTER (TCOOLTHRS)

Protected Member Functions inherited from TMC2208Stepper
	INIT2208_REGISTER (GCONF)

	INIT_REGISTER (SLAVECONF)

	INIT_REGISTER (FACTORY_CONF)

	INIT2208_REGISTER (VACTUAL)

	INIT2208_REGISTER (CHOPCONF)

	INIT2208_REGISTER (PWMCONF)

	TMC2208Stepper (Stream *SerialPort, float RS, uint8_t addr)

template<class SERIAL_TYPE >
int16_t	serial_read (SERIAL_TYPE &serPtr) __attribute__((weak))

template<class SERIAL_TYPE >
uint8_t	serial_write (SERIAL_TYPE &serPtr, const uint8_t data) __attribute__((weak))

void	write (uint8_t, uint32_t)

uint32_t	read (uint8_t)

uint8_t	calcCRC (uint8_t datagram[], uint8_t len)

template<typename SERIAL_TYPE >
uint64_t	_sendDatagram (SERIAL_TYPE &, uint8_t[], const uint8_t, uint16_t)

Protected Member Functions inherited from TMCStepper
	TMCStepper (float RS)

	INIT_REGISTER (IHOLD_IRUN)

	INIT_REGISTER (TPOWERDOWN)

	INIT_REGISTER (TPWMTHRS)

Protected Attributes
TMC2209_n::SGTHRS_t	SGTHRS_register {.sr=0}

TMC2209_n::COOLCONF_t	COOLCONF_register {{.sr=0}}

Protected Attributes inherited from TMC2208Stepper
Stream *	HWSerial = nullptr

SSwitch *	sswitch = nullptr

const uint8_t	slave_address

Protected Attributes inherited from TMCStepper
const float	Rsense

float	holdMultiplier = 0.5

Additional Inherited Members
Public Attributes inherited from TMC2208Stepper
uint16_t	bytesWritten = 0

float	Rsense = 0.11

bool	CRCerror = false

Static Protected Attributes inherited from TMC2208Stepper
static constexpr uint8_t	TMC2208_SYNC = 0x05

static constexpr uint8_t	TMC2208_SLAVE_ADDR = 0x00

static constexpr uint8_t	replyDelay = 2

static constexpr uint8_t	abort_window = 5

static constexpr uint8_t	max_retries = 2

Static Protected Attributes inherited from TMCStepper
static constexpr uint8_t	TMC_READ = 0x00

static constexpr uint8_t	TMC_WRITE = 0x80

Detailed Description

Definition at line 1009 of file TMCStepper.h.

Constructor & Destructor Documentation

◆ TMC2209Stepper() [1/2]

TMC2209Stepper::TMC2209Stepper	(	Stream *	SerialPort,
		float	RS,
		uint8_t	addr
	)

inline

Definition at line 1011 of file TMCStepper.h.

◆ TMC2209Stepper() [2/2]

TMC2209Stepper::TMC2209Stepper	(	uint16_t	,
		uint16_t	,
		float	,
		uint8_t
	)

delete

Member Function Documentation

◆ COOLCONF() [1/2]

uint16_t TMC2209Stepper::COOLCONF ( )

Definition at line 36 of file COOLCONF.cpp.

◆ COOLCONF() [2/2]

void TMC2209Stepper::COOLCONF ( uint16_t B )

Definition at line 37 of file COOLCONF.cpp.

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◆ diag()

bool TMC2209Stepper::diag ( )

Definition at line 9 of file TMC2209Stepper.cpp.

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◆ dir()

bool TMC2209Stepper::dir ( )

Definition at line 13 of file TMC2209Stepper.cpp.

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◆ enn()

bool TMC2209Stepper::enn ( )

Definition at line 6 of file TMC2209Stepper.cpp.

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◆ INIT_REGISTER()

TMC2209Stepper::INIT_REGISTER ( TCOOLTHRS )

inlineprotected

Definition at line 1060 of file TMCStepper.h.

◆ IOIN()

uint32_t TMC2209Stepper::IOIN ( )

Definition at line 3 of file TMC2209Stepper.cpp.

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◆ ms1()

bool TMC2209Stepper::ms1 ( )

Definition at line 7 of file TMC2209Stepper.cpp.

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◆ ms2()

bool TMC2209Stepper::ms2 ( )

Definition at line 8 of file TMC2209Stepper.cpp.

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◆ pdn_uart()

bool TMC2209Stepper::pdn_uart ( )

Definition at line 10 of file TMC2209Stepper.cpp.

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◆ push()

void TMC2209Stepper::push ( )

Definition at line 16 of file TMC2209Stepper.cpp.

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◆ sedn() [1/2]

uint8_t TMC2209Stepper::sedn ( )

Definition at line 51 of file COOLCONF.cpp.

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◆ sedn() [2/2]

void TMC2209Stepper::sedn ( uint8_t B )

Definition at line 45 of file COOLCONF.cpp.

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◆ seimin() [1/2]

bool TMC2209Stepper::seimin ( )

Definition at line 52 of file COOLCONF.cpp.

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◆ seimin() [2/2]

void TMC2209Stepper::seimin ( bool B )

Definition at line 46 of file COOLCONF.cpp.

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◆ semax() [1/2]

uint8_t TMC2209Stepper::semax ( )

Definition at line 50 of file COOLCONF.cpp.

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◆ semax() [2/2]

void TMC2209Stepper::semax ( uint8_t B )

Definition at line 44 of file COOLCONF.cpp.

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◆ semin() [1/2]

uint8_t TMC2209Stepper::semin ( )

Definition at line 48 of file COOLCONF.cpp.

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◆ semin() [2/2]

void TMC2209Stepper::semin ( uint8_t B )

Definition at line 42 of file COOLCONF.cpp.

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◆ seup() [1/2]

uint8_t TMC2209Stepper::seup ( )

Definition at line 49 of file COOLCONF.cpp.

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◆ seup() [2/2]

void TMC2209Stepper::seup ( uint8_t B )

Definition at line 43 of file COOLCONF.cpp.

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◆ SG_RESULT()

uint16_t TMC2209Stepper::SG_RESULT ( )

Definition at line 43 of file TMC2209Stepper.cpp.

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◆ SGTHRS() [1/2]

uint8_t TMC2209Stepper::SGTHRS ( )

Definition at line 32 of file TMC2209Stepper.cpp.

◆ SGTHRS() [2/2]

void TMC2209Stepper::SGTHRS ( uint8_t B )

Definition at line 28 of file TMC2209Stepper.cpp.

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◆ spread_en()

bool TMC2209Stepper::spread_en ( )

Definition at line 12 of file TMC2209Stepper.cpp.

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◆ step()

bool TMC2209Stepper::step ( )

Definition at line 11 of file TMC2209Stepper.cpp.

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◆ TCOOLTHRS() [1/2]

uint32_t TMC2209Stepper::TCOOLTHRS ( )

Definition at line 37 of file TMC2209Stepper.cpp.

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◆ TCOOLTHRS() [2/2]

void TMC2209Stepper::TCOOLTHRS ( uint32_t input )

Definition at line 38 of file TMC2209Stepper.cpp.

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◆ version()

uint8_t TMC2209Stepper::version ( )

Definition at line 14 of file TMC2209Stepper.cpp.

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Member Data Documentation

◆ COOLCONF_register

TMC2209_n::COOLCONF_t TMC2209Stepper::COOLCONF_register {{.sr=0}}

protected

Definition at line 1062 of file TMCStepper.h.

◆ SGTHRS_register

TMC2209_n::SGTHRS_t TMC2209Stepper::SGTHRS_register {.sr=0}

protected

Definition at line 1061 of file TMCStepper.h.

The documentation for this class was generated from the following files:

src/TMCStepper.h
src/source/COOLCONF.cpp
src/source/TMC2209Stepper.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TMC2209Stepper() [1/2]

◆ TMC2209Stepper() [2/2]

Member Function Documentation

◆ COOLCONF() [1/2]

◆ COOLCONF() [2/2]

◆ diag()

◆ dir()

◆ enn()

◆ INIT_REGISTER()

◆ IOIN()

◆ ms1()

◆ ms2()

◆ pdn_uart()

◆ push()

◆ sedn() [1/2]

◆ sedn() [2/2]

◆ seimin() [1/2]

◆ seimin() [2/2]

◆ semax() [1/2]

◆ semax() [2/2]

◆ semin() [1/2]

◆ semin() [2/2]

◆ seup() [1/2]

◆ seup() [2/2]

◆ SG_RESULT()

◆ SGTHRS() [1/2]

◆ SGTHRS() [2/2]

◆ spread_en()

◆ step()

◆ TCOOLTHRS() [1/2]

◆ TCOOLTHRS() [2/2]

◆ version()

Member Data Documentation

◆ COOLCONF_register

◆ SGTHRS_register