TMC2240Stepper.h

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#pragma once
 
#define INIT2240_REGISTER(REG) TMC2240_n::REG##_t REG##_register{}

class TMC2240Stepper {
    public:
        TMC2240Stepper(uint16_t pinCS, int8_t link_index = -1);
        TMC2240Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);

        uint32_t Rref = 12000;
        void begin();
        void defaults();
        void setSPISpeed(uint32_t speed);
        void switchCSpin(bool state);
        bool isEnabled();
        void push();
 
        // RW: GCONF
        void GCONF(uint32_t input);
        void fast_standstill(bool B);
        void en_pwm_mode(bool B);
        void multistep_filt(bool B);
        void shaft(bool B);
        void diag0_error(bool B);
        void diag0_otpw(bool B);
        void diag0_stall(bool B);
        void diag1_stall(bool B);
        void diag1_index(bool B);
        void diag1_onstate(bool B);
        void diag0_pushpull(bool B);
        void diag1_pushpull(bool B);
        void small_hysteresis(bool B);
        void stop_enable(bool B);
        void direct_mode(bool B);
        uint32_t GCONF();
        bool fast_standstill();
        bool en_pwm_mode();
        bool multistep_filt();
        bool shaft();
        bool diag0_error();
        bool diag0_otpw();
        bool diag0_stall();
        bool diag1_stall();
        bool diag1_index();
        bool diag1_onstate();
        bool diag0_pushpull();
        bool diag1_pushpull();
        bool small_hysteresis();
        bool stop_enable();
        bool direct_mode();
 
        // R+WC: GSTAT
        void    GSTAT(uint8_t input);
        uint8_t GSTAT();
        bool    reset();
        bool    drv_err();
        bool    uv_cp();
        bool    register_reset();
        bool    vm_uvlo();
        // R: IFCNT
 
        uint8_t IFCNT();
 
        // W: NODECONF
        void NODECONF(uint16_t input);
        uint16_t NODECONF();
        // Alias for parity with others
        uint16_t SLAVECONF() { return NODECONF(); }
        void SLAVECONF(uint16_t input) { NODECONF(input); }
 
        void senddelay(uint8_t B);
        uint8_t senddelay();
        void nodeaddr(uint8_t B);
        uint8_t nodeaddr();
        void slaveaddr(uint8_t B) { nodeaddr(B); }
        uint8_t slaveaddr() { return nodeaddr(); }
 
        // R: IOIN
        uint32_t IOIN();
        bool step();
        bool dir();
        bool encb();
        bool enca();
        bool drv_enn();
        bool encn();
        bool uart_en();
        bool comp_a();
        bool comp_b();
        bool comp_a1_a2();
        bool comp_b1_b2();
        bool output();
        bool ext_res_det();
        bool ext_clk();
        bool adc_err();
        uint8_t silicon_rv();
        uint8_t version();
 
        // W: DRV_CONF
        void DRV_CONF(uint32_t input);
        void current_range(uint8_t);
        uint8_t current_range();
        void slope_control(uint8_t);
        uint8_t slope_control();
        uint32_t DRV_CONF();
 
        void GLOBAL_SCALER(uint8_t input);
        uint8_t GLOBAL_SCALER();
 
        // W: IHOLD_IRUN
        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);
        void    irundelay(uint8_t B);
        uint8_t ihold();
        uint8_t irun();
        uint8_t iholddelay();
        uint8_t irundelay();
 
        // W: TCOOLTHRS
        uint32_t TCOOLTHRS();
        void TCOOLTHRS( uint32_t input);
 
        // W: THIGH
        uint32_t THIGH();
        void THIGH( uint32_t input);
 
        // RW: CHOPCONF
        void CHOPCONF(uint32_t input);
        void toff(uint8_t B);
        void hstrt(uint8_t B);
        void hend(uint8_t B);
        void fd3(bool B);
        void disfdcc(bool B);
        void chm(bool B);
        void TBL(uint8_t B);
        void vhighfs(bool B);
        void vhighchm(bool B);
        void tpfd(uint8_t 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();
        bool fd3();
        bool disfdcc();
        bool chm();
        uint8_t TBL();
        bool vhighfs();
        bool vhighchm();
        uint8_t tpfd();
        uint8_t mres();
        bool intpol();
        bool dedge();
        bool diss2g();
        bool diss2vs();
 
        // RW: COOLCONF
        void COOLCONF(uint32_t B);
        uint32_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);
        void sgt(int8_t  B);
        void sfilt(bool B);
        uint8_t semin();
        uint8_t seup();
        uint8_t semax();
        uint8_t sedn();
        bool seimin();
        int8_t sgt();
        bool sfilt();
 
        // RW: PWMCONF
        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_meas_sd_enable(bool B);
        void pwm_dis_reg_stst(bool 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();
        bool pwm_meas_sd_enable();
        bool pwm_dis_reg_stst();
        uint8_t pwm_reg();
        uint8_t pwm_lim();
 
        // R: PWM_SCALE
        uint32_t PWM_SCALE();
        uint8_t pwm_scale_sum();
        int16_t pwm_scale_auto();
 
        // R: PWM_AUTO
        uint32_t PWM_AUTO();
        uint8_t pwm_ofs_auto();
        uint8_t pwm_grad_auto();
 
        // R: MSCURACT
        uint32_t MSCURACT();
        int16_t cur_a();
        int16_t cur_b();
 
        uint32_t DRV_STATUS();
        uint32_t SG_RESULT();
        bool s2vsa();
        bool s2vsb();
        bool stealth();
        bool fsactive();
        uint16_t CS_ACTUAL();
        bool stallguard();
        bool ot();
        bool otpw();
        bool s2ga();
        bool s2gb();
        bool ola();
        bool olb();
        bool stst();
 
        uint16_t bytesWritten = 0;
        bool CRCerror = false;
 
        void microsteps(uint16_t ms);
        uint16_t microsteps();
 
        uint8_t test_connection();
        uint16_t MSCNT();
 
        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 hysteresis_end(int8_t value);
        int8_t hysteresis_end();
        void hysteresis_start(uint8_t value);
        uint8_t hysteresis_start();
 
        uint8_t TPOWERDOWN();
        void TPOWERDOWN(uint8_t input);
 
        // RW: TPWMTHRS
        uint32_t TPWMTHRS();
        void TPWMTHRS(                      uint32_t input);
 
        // R: TSTEP
        uint32_t TSTEP();

        uint32_t SG4_THRS();
        void SG4_THRS(uint32_t input);
        uint8_t sg4_thrs();
        void sg4_thrs(uint8_t B);
        bool sg4_filt_en();
        void sg4_filt_en(bool B);
        uint8_t sg4_angle_offset();
        void sg4_angle_offset(uint8_t B);

        uint32_t SG4_RESULT();
        uint16_t sg4_result();
 
        // RW: ADC_VSUPPLY_AIN
        uint32_t ADC_VSUPPLY_AIN();
 
        // RW: ADC_TEMP
        uint32_t ADC_TEMP();
 
        // RW: OTW_OV_VTH
        uint32_t OTW_OV_VTH();
        void OTW_OV_VTH(uint32_t input);
        float get_ain_voltage();       // AIN × 305.2 µV
        float get_vsupply_voltage();   // VSUPPLY × 9.732 mV
        float get_chip_temperature();  // (ADC_TEMP - 2038) / 7.7
        float get_overtemp_prewarn_celsius();
        void set_overtemp_prewarn_celsius(float tempC);
        float get_overvoltage_threshold_voltage();
        void set_overvoltage_threshold_voltage(float volts);
 
        uint8_t status_response;
 
    protected:
        INIT2240_REGISTER(GCONF);           // 4
        INIT2240_REGISTER(GSTAT);           // 1
        INIT2240_REGISTER(NODECONF);        // 2
        INIT2240_REGISTER(DRV_CONF);        // 1
        INIT2240_REGISTER(GLOBAL_SCALER);   // 1
        INIT2240_REGISTER(IHOLD_IRUN);      // 4
        INIT2240_REGISTER(TPOWERDOWN);      // 1
        INIT2240_REGISTER(TPWMTHRS);        // 4
        INIT2240_REGISTER(TCOOLTHRS);       // 4
        INIT2240_REGISTER(THIGH);           // 4
        INIT2240_REGISTER(CHOPCONF);        // 4
        INIT2240_REGISTER(COOLCONF);        // 4
        INIT2240_REGISTER(PWMCONF);         // 4
        INIT2240_REGISTER(SG4_THRS);        // 4
        INIT2240_REGISTER(OTW_OV_VTH);      // 4
                                            // (46 Bytes)
        /*
        INIT2240_REGISTER(MSLUT0);      // 4
        INIT2240_REGISTER(MSLUT1);      // 4
        INIT2240_REGISTER(MSLUT2);      // 4
        INIT2240_REGISTER(MSLUT3);      // 4
        INIT2240_REGISTER(MSLUT4);      // 4
        INIT2240_REGISTER(MSLUT5);      // 4
        INIT2240_REGISTER(MSLUT6);      // 4
        INIT2240_REGISTER(MSLUT7);      // 4
        INIT2240_REGISTER(MSLUTSEL);    // 4
        INIT2240_REGISTER(MSLUTSTART);  // 4
        */
 
        struct IFCNT_t { constexpr static uint8_t address = 0x02; };
        struct TSTEP_t { constexpr static uint8_t address = 0x12; };
        struct MSCNT_t { constexpr static uint8_t address = 0x6A; };
 
        float       calc_IFS_current_RMS();
        uint32_t    set_globalscaler(float current, float IFS_current_RMS);
 
        void beginTransaction();
        void endTransaction();
        uint8_t transfer(const uint8_t data);
        void transferEmptyBytes(const uint8_t n);
        void write(uint8_t addressByte, uint32_t config);
        uint32_t read(uint8_t addressByte);
 
        static constexpr uint8_t TMC_READ = 0x00, TMC_WRITE = 0x80;
 
        SSwitch *sswitch = nullptr;
 
        static constexpr uint8_t TMC2240_SYNC = 0x05;
        static constexpr uint8_t replyDelay = 2;
        static constexpr uint8_t abort_window = 5;
        static constexpr uint8_t max_retries = 2;
 
        uint64_t _sendDatagram(uint8_t [], const uint8_t, uint16_t);
        float holdMultiplier = 0.5;
 
        static uint32_t spi_speed; // Default 2MHz
        const uint16_t _pinCS;
        SW_SPIClass * TMC_SW_SPI = nullptr;
        static constexpr float default_RS = 0.11;
 
        int8_t link_index;
        static int8_t chain_length;
};