TMC5130Stepper.cpp

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#include "../TMCStepper.h"
#include "TMC_MACROS.h"
 
TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, float RS, int8_t link) : TMC2160Stepper(pinCS, RS, link)
  { defaults(); }
TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link):
  TMC2160Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
  { defaults(); }
TMC5130Stepper::TMC5130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
  TMC2160Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link)
  { defaults(); }
 
void TMC5130Stepper::begin() {
  TMC2160Stepper::begin();
 
  XTARGET(0);
  XACTUAL(0);
  //while (( RAMP_STAT() & cfg.VZERO_bm) != cfg.VZERO_bm) {}
}
 
void TMC5130Stepper::defaults() {
  OUTPUT_register.sr = 1;
 
  ENC_CONST_register.sr = 65536;
 
  //MSLUT0_register.sr = ???;
  //MSLUT1_register.sr = ???;
  //MSLUT2_register.sr = ???;
  //MSLUT3_register.sr = ???;
  //MSLUT4_register.sr = ???;
  //MSLUT5_register.sr = ???;
  //MSLUT6_register.sr = ???;
  //MSLUT7_register.sr = ???;
 
  //MSLUTSEL_register.sr = ???;
 
  //MSLUTSTART_register.start_sin = 0;
  //MSLUTSTART_register.start_sin90 = 247;
 
  //PWMCONF_register.sr = 0x00050480;   // TMC2160_t::PWMCONF_t
  PWMCONF_register.pwm_ofs       = 128;
  PWMCONF_register.pwm_grad      = 4;
  PWMCONF_register.pwm_freq      = 1;
  PWMCONF_register.pwm_autoscale = true;
  PWMCONF_register.pwm_autograd  = false;
  PWMCONF_register.freewheel     = 0;
  PWMCONF_register.pwm_reg       = 0;
  PWMCONF_register.pwm_lim       = 0;
}
 
void TMC5130Stepper::push() {
  IHOLD_IRUN(IHOLD_IRUN_register.sr);
  TPOWERDOWN(TPOWERDOWN_register.sr);
  TPWMTHRS(TPWMTHRS_register.sr);
  GCONF(GCONF_register.sr);
  TCOOLTHRS(TCOOLTHRS_register.sr);
  THIGH(THIGH_register.sr);
  XDIRECT(XDIRECT_register.sr);
  VDCMIN(VDCMIN_register.sr);
  CHOPCONF(CHOPCONF_register.sr);
  COOLCONF(COOLCONF_register.sr);
  DCCTRL(DCCTRL_register.sr);
  PWMCONF(PWMCONF_register.sr);
  ENCM_CTRL(ENCM_CTRL_register.sr);
  DRV_CONF(DRV_CONF_register.sr);
  SLAVECONF(SLAVECONF_register.sr);
  TMC_OUTPUT(OUTPUT_register.sr);
  X_COMPARE(X_COMPARE_register.sr);
  RAMPMODE(RAMPMODE_register.sr);
  XACTUAL(XACTUAL_register.sr);
  VSTART(VSTART_register.sr);
  a1(A1_register.sr);
  v1(V1_register.sr);
  AMAX(AMAX_register.sr);
  VMAX(VMAX_register.sr);
  DMAX(DMAX_register.sr);
  d1(D1_register.sr);
  VSTOP(VSTOP_register.sr);
  TZEROWAIT(TZEROWAIT_register.sr);
  SW_MODE(SW_MODE_register.sr);
  ENCMODE(ENCMODE_register.sr);
  ENC_CONST(ENC_CONST_register.sr);
}

// R: IFCNT
uint8_t TMC5130Stepper::IFCNT() { return read(IFCNT_t::address); }
// W: OUTPUT
bool TMC5130Stepper::TMC_OUTPUT() { return OUTPUT_register.sr; }
void TMC5130Stepper::TMC_OUTPUT(bool input) {
  OUTPUT_register.sr = input;
  write(OUTPUT_register.address, OUTPUT_register.sr);
}

// W: X_COMPARE
uint32_t TMC5130Stepper::X_COMPARE() { return X_COMPARE_register.sr; }
void TMC5130Stepper::X_COMPARE(uint32_t input) {
  X_COMPARE_register.sr = input;
  write(X_COMPARE_register.address, X_COMPARE_register.sr);
}

// RW: RAMPMODE
uint8_t TMC5130Stepper::RAMPMODE() { return read(RAMPMODE_register.address); }
void TMC5130Stepper::RAMPMODE(uint8_t input) {
  RAMPMODE_register.sr = input;
  write(RAMPMODE_register.address, RAMPMODE_register.sr);
}

// RW: XACTUAL
int32_t TMC5130Stepper::XACTUAL() { return read(XACTUAL_register.address); }
void TMC5130Stepper::XACTUAL(int32_t input) {
  write(XACTUAL_register.address, input);
}

// R: VACTUAL
int32_t TMC5130Stepper::VACTUAL() {
  uint32_t int24 = read(VACTUAL_t::address);
  if((int24 >> 23) & 0x01) {
    int24 |= 0xFF000000;
  }
  return int24;
}

// W: VSTART
uint32_t TMC5130Stepper::VSTART() { return VSTART_register.sr; }
void TMC5130Stepper::VSTART(uint32_t input) {
  VSTART_register.sr = input;
  write(VSTART_register.address, VSTART_register.sr);
}

// W: A1
uint16_t TMC5130Stepper::a1() { return A1_register.sr; }
void TMC5130Stepper::a1(uint16_t input) {
  A1_register.sr = input;
  write(A1_register.address, A1_register.sr);
}

// W: V1
uint32_t TMC5130Stepper::v1() { return V1_register.sr; }
void TMC5130Stepper::v1(uint32_t input) {
  V1_register.sr = input;
  write(V1_register.address, V1_register.sr);
}

// W: AMAX
uint16_t TMC5130Stepper::AMAX() { return AMAX_register.sr; }
void TMC5130Stepper::AMAX(uint16_t input) {
  AMAX_register.sr = input;
  write(AMAX_register.address, AMAX_register.sr);
}

// W: VMAX
uint32_t TMC5130Stepper::VMAX() { return VMAX_register.sr; }
void TMC5130Stepper::VMAX(uint32_t input) {
  VMAX_register.sr = input;
  write(VMAX_register.address, VMAX_register.sr);
}

// W: DMAX
uint16_t TMC5130Stepper::DMAX() { return DMAX_register.sr; }
void TMC5130Stepper::DMAX(uint16_t input) {
  DMAX_register.sr = input;
  write(DMAX_register.address, DMAX_register.sr);
}

// W: D1
uint16_t TMC5130Stepper::d1() { return D1_register.sr; }
void TMC5130Stepper::d1(uint16_t input) {
  D1_register.sr = input;
  write(D1_register.address, D1_register.sr);
}

// W: VSTOP
uint32_t TMC5130Stepper::VSTOP() { return VSTOP_register.sr; }
void TMC5130Stepper::VSTOP(uint32_t input) {
  if (input == 0 && RAMPMODE() == 0) return;
  VSTOP_register.sr = input;
  write(VSTOP_register.address, VSTOP_register.sr);
}

// W: TZEROWAIT
uint16_t TMC5130Stepper::TZEROWAIT() { return TZEROWAIT_register.sr; }
void TMC5130Stepper::TZEROWAIT(uint16_t input) {
  TZEROWAIT_register.sr = input;
  write(TZEROWAIT_register.address, TZEROWAIT_register.sr);
}

// RW: XTARGET
int32_t TMC5130Stepper::XTARGET() { return read(XTARGET_t::address); }
void TMC5130Stepper::XTARGET(int32_t input) {
  write(XTARGET_t::address, input);
}

// R: XLATCH
uint32_t TMC5130Stepper::XLATCH() { return read(XLATCH_t::address); }
// RW: X_ENC
int32_t TMC5130Stepper::X_ENC() { return read(X_ENC_t::address); }
void TMC5130Stepper::X_ENC(int32_t input) {
  write(X_ENC_t::address, input);
}

// W: ENC_CONST
uint32_t TMC5130Stepper::ENC_CONST() { return ENC_CONST_register.sr; }
void TMC5130Stepper::ENC_CONST(uint32_t input) {
  ENC_CONST_register.sr = input;
  write(ENC_CONST_register.address, ENC_CONST_register.sr);
}

// R: ENC_STATUS
bool TMC5130Stepper::ENC_STATUS() { return read(ENC_STATUS_t::address); }
// R: ENC_LATCH
uint32_t TMC5130Stepper::ENC_LATCH() { return read(ENC_LATCH_t::address); }