#include <TMC2209Stepper.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 ()
uint32_t	MSCURACT ()
int16_t	cur_a ()
int16_t	cur_b ()
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 ()

Protected Member Functions
	INIT_REGISTER (TCOOLTHRS)
	INIT2209_REGISTER (SGTHRS)
	INIT2209_REGISTER (COOLCONF)
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)
int	available ()
void	preWriteCommunication ()
void	preReadCommunication ()
int16_t	serial_read ()
uint8_t	serial_write (const uint8_t data)
void	postWriteCommunication ()
void	postReadCommunication ()
void	write (uint8_t, uint32_t)
uint32_t	read (uint8_t)
uint8_t	calcCRC (uint8_t datagram[], uint8_t len)
uint64_t	_sendDatagram (uint8_t[], const uint8_t, uint16_t)
Protected Member Functions inherited from TMCStepper
	TMCStepper (float RS)
virtual	~TMCStepper ()=default
	INIT_REGISTER (IHOLD_IRUN)
	INIT_REGISTER (TPOWERDOWN)
	INIT_REGISTER (TPWMTHRS)

Additional Inherited Members
Public Attributes inherited from TMC2208Stepper
uint16_t	bytesWritten = 0
float	Rsense = 0.11
bool	CRCerror = false
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
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 = 8
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 11 of file TMC2209Stepper.h.

Constructor & Destructor Documentation

◆ TMC2209Stepper() [1/2]

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

inline

Definition at line 13 of file TMC2209Stepper.h.

Here is the call graph for this function:

◆ 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 46 of file COOLCONF.cpp.

Here is the caller graph for this function:

◆ COOLCONF() [2/2]

void TMC2209Stepper::COOLCONF ( uint16_t B )

Definition at line 47 of file COOLCONF.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ diag()

bool TMC2209Stepper::diag ( )

Definition at line 64 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ dir()

bool TMC2209Stepper::dir ( )

Definition at line 68 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ enn()

bool TMC2209Stepper::enn ( )

Definition at line 61 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ INIT2209_REGISTER() [1/2]

TMC2209Stepper::INIT2209_REGISTER ( COOLCONF )

protected

Here is the call graph for this function:

◆ INIT2209_REGISTER() [2/2]

TMC2209Stepper::INIT2209_REGISTER ( SGTHRS )

protected

Here is the call graph for this function:

◆ INIT_REGISTER()

TMC2209Stepper::INIT_REGISTER ( TCOOLTHRS )

protected

Here is the call graph for this function:

◆ IOIN()

uint32_t TMC2209Stepper::IOIN ( )

Definition at line 60 of file IOIN.cpp.

Here is the call graph for this function:

◆ ms1()

bool TMC2209Stepper::ms1 ( )

Definition at line 62 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ms2()

bool TMC2209Stepper::ms2 ( )

Definition at line 63 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ pdn_uart()

bool TMC2209Stepper::pdn_uart ( )

Definition at line 65 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ push()

void TMC2209Stepper::push ( )

TMCStepper library by @teemuatlut TMC2209Stepper.cpp Implementing methods for TMC2209 (TMC2224)

Definition at line 8 of file TMC2209Stepper.cpp.

Here is the call graph for this function:

◆ sedn() [1/2]

uint8_t TMC2209Stepper::sedn ( )

Definition at line 61 of file COOLCONF.cpp.

Here is the call graph for this function:

◆ sedn() [2/2]

void TMC2209Stepper::sedn ( uint8_t B )

Definition at line 55 of file COOLCONF.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ seimin() [1/2]

bool TMC2209Stepper::seimin ( )

Definition at line 62 of file COOLCONF.cpp.

Here is the call graph for this function:

◆ seimin() [2/2]

void TMC2209Stepper::seimin ( bool B )

Definition at line 56 of file COOLCONF.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ semax() [1/2]

uint8_t TMC2209Stepper::semax ( )

Definition at line 60 of file COOLCONF.cpp.

Here is the call graph for this function:

◆ semax() [2/2]

void TMC2209Stepper::semax ( uint8_t B )

Definition at line 54 of file COOLCONF.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ semin() [1/2]

uint8_t TMC2209Stepper::semin ( )

Definition at line 58 of file COOLCONF.cpp.

Here is the call graph for this function:

◆ semin() [2/2]

void TMC2209Stepper::semin ( uint8_t B )

Definition at line 52 of file COOLCONF.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ seup() [1/2]

uint8_t TMC2209Stepper::seup ( )

Definition at line 59 of file COOLCONF.cpp.

Here is the call graph for this function:

◆ seup() [2/2]

void TMC2209Stepper::seup ( uint8_t B )

Definition at line 53 of file COOLCONF.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ SG_RESULT()

uint16_t TMC2209Stepper::SG_RESULT ( )

Definition at line 35 of file TMC2209Stepper.cpp.

Here is the call graph for this function:

◆ SGTHRS() [1/2]

uint8_t TMC2209Stepper::SGTHRS ( )

Definition at line 22 of file TMC2209Stepper.cpp.

Here is the caller graph for this function:

◆ SGTHRS() [2/2]

void TMC2209Stepper::SGTHRS ( uint8_t B )

Definition at line 23 of file TMC2209Stepper.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ spread_en()

bool TMC2209Stepper::spread_en ( )

Definition at line 67 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ step()

bool TMC2209Stepper::step ( )

Definition at line 66 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ TCOOLTHRS() [1/2]

uint32_t TMC2209Stepper::TCOOLTHRS ( )

Definition at line 29 of file TMC2209Stepper.cpp.

Here is the caller graph for this function:

◆ TCOOLTHRS() [2/2]

void TMC2209Stepper::TCOOLTHRS ( uint32_t input )

Definition at line 30 of file TMC2209Stepper.cpp.

Here is the call graph for this function:

◆ version()

uint8_t TMC2209Stepper::version ( )

Definition at line 69 of file IOIN.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

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

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

Public Member Functions

Protected Member Functions

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()

◆ INIT2209_REGISTER() [1/2]

◆ INIT2209_REGISTER() [2/2]

◆ 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()