TMC5160Stepper.cpp

Go to the documentation of this file.

#include "../TMCStepper.h"
#include "TMC_MACROS.h"
 
TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, int8_t link) : TMC5130Stepper(pinCS, RS, link)
  { defaults(); }
TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
  TMC5130Stepper(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)
  { defaults(); }
TMC5160Stepper::TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :
  TMC5130Stepper(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link)
  { defaults(); }
 
void TMC5160Stepper::defaults() {
  SHORT_CONF_register.s2vs_level = 6;
  SHORT_CONF_register.s2g_level = 6;
  SHORT_CONF_register.shortfilter = 0b01;
  SHORT_CONF_register.shortdelay = 0;
 
  DRV_CONF_register.bbmtime = 0;
  DRV_CONF_register.bbmclks = 4;
  DRV_CONF_register.otselect = 0b00;
  DRV_CONF_register.drvstrength = 0b10;
  DRV_CONF_register.filt_isense = 0b00;
 
  TPOWERDOWN_register.sr = 10;
 
  VSTOP_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;
 
  //CHOPCONF_register.sr = 0x10410150;
  CHOPCONF_register.toff     = 0;
  CHOPCONF_register.hstrt    = 5;
  CHOPCONF_register.hend     = 2;
  CHOPCONF_register.disfdcc  = false;
  CHOPCONF_register.rndtf    = false;
  CHOPCONF_register.chm      = false;
  CHOPCONF_register.tbl      = 2;
  CHOPCONF_register.vsense   = false;
  CHOPCONF_register.vhighfs  = false;
  CHOPCONF_register.vhighchm = false;
  CHOPCONF_register.sync     = 4;
  CHOPCONF_register.mres     = 0;
  CHOPCONF_register.intpol   = true;
  CHOPCONF_register.dedge    = false;
  CHOPCONF_register.diss2g   = false;
 
  //PWMCONF_register.sr = 0xC40C001E;
  PWMCONF_register.pwm_ofs       = 30;
  PWMCONF_register.pwm_grad      = 0;
  PWMCONF_register.pwm_freq      = 0;
  PWMCONF_register.pwm_autoscale = true;
  PWMCONF_register.pwm_autograd  = true;
  PWMCONF_register.freewheel     = 0;
  PWMCONF_register.pwm_reg       = 4;
  PWMCONF_register.pwm_lim       = 12;
}
 
void TMC5160Stepper::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);
  SHORT_CONF(SHORT_CONF_register.sr);
  DRV_CONF(DRV_CONF_register.sr);
  GLOBAL_SCALER(GLOBAL_SCALER_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);
  ENC_DEVIATION(ENC_DEVIATION_register.sr);
}
 
// R+WC: ENC_STATUS
uint8_t TMC5160Stepper::ENC_STATUS() { return read(ENC_STATUS_t::address); }
void TMC5160Stepper::ENC_STATUS(uint8_t input) {
  write(ENC_STATUS_t::address, input & 0x3);
}
 
// W: ENC_DEVIATION
uint32_t TMC5160Stepper::ENC_DEVIATION() { return ENC_DEVIATION_register.sr; }
void TMC5160Stepper::ENC_DEVIATION(uint32_t input) {
  ENC_DEVIATION_register.sr = input;
  write(ENC_DEVIATION_register.address, ENC_DEVIATION_register.sr);
}
 
// R: PWM_AUTO
uint32_t TMC5160Stepper::PWM_AUTO() {
  return read(PWM_AUTO_t::address);
}
uint8_t TMC5160Stepper::pwm_ofs_auto()  { PWM_AUTO_t r{}; r.sr = PWM_AUTO(); return r.pwm_ofs_auto; }
uint8_t TMC5160Stepper::pwm_grad_auto() { PWM_AUTO_t r{}; r.sr = PWM_AUTO(); return r.pwm_grad_auto; }