149 lines
3.0 KiB
C++
149 lines
3.0 KiB
C++
#include "TMC2130_Basics.h"
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TMC2130_Basics::TMC2130_Basics(uint8_t csPin)
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{
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_csPin = csPin;
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_status = 0;
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_debug = "";
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}
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// initialize the driver with its CS/SS pin
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void TMC2130_Basics::init() {
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pinMode(_csPin, OUTPUT);
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digitalWrite(_csPin, HIGH);
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init_SPI();
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read_STAT();
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}
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// initialize SPI
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void TMC2130_Basics::init_SPI() {
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SPI.setDataMode(FB_TMC_SPI_DATA_MODE);
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SPI.setBitOrder(FB_TMC_SPI_BIT_ORDER);
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//SPI.setClockDivider(FB_TMC_SPI_CLOCK_DIVIDER);/**
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SPI.setClockDivider(SPI_CLOCK_DIV4);
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SPI.begin();
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}
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// read status
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uint8_t TMC2130_Basics::read_STAT()
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{
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//init_SPI();
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digitalWrite(_csPin, LOW);
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// read address
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_status = SPI.transfer(0x00);
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// flush 4 bytes
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for (int i = 0; i < 4; i++) {
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SPI.transfer(0x00);
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}
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digitalWrite(_csPin, HIGH);
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return _status;
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}
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// read a register
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uint8_t TMC2130_Basics::read_REG(uint8_t address, uint32_t *data)
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{
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init_SPI();
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digitalWrite(_csPin, LOW);
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// read address
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_status = SPI.transfer(address&~FB_TMC_WRITE);
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// flush 4 bytes
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for (int i = 0; i < 4; i++) {
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SPI.transfer(0x00);
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}
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digitalWrite(_csPin, HIGH);
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// restart transmission
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digitalWrite(_csPin, LOW);
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// read address
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_status = SPI.transfer(address&~FB_TMC_WRITE);
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// retrieve data
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*data = SPI.transfer(0x00) & 0xFF;
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*data <<= 8;
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*data |= SPI.transfer(0x00) & 0xFF;
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*data <<= 8;
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*data |= SPI.transfer(0x00) & 0xFF;
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*data <<= 8;
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*data |= SPI.transfer(0x00) & 0xFF;
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digitalWrite(_csPin, HIGH);
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return _status;
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}
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// write to a register
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uint8_t TMC2130_Basics::write_REG(uint8_t address, uint32_t data)
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{
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digitalWrite(_csPin, LOW);
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// write address
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_status = SPI.transfer(address | FB_TMC_WRITE);
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// write data
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SPI.transfer((data >> 24UL) & 0xFF);
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SPI.transfer((data >> 16UL) & 0xFF);
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SPI.transfer((data >> 8UL) & 0xFF);
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SPI.transfer((data >> 0UL) & 0xFF);
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digitalWrite(_csPin, HIGH);
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return _status;
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}
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// alter a register using a bitmask
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uint8_t TMC2130_Basics::alter_REG(uint8_t address, uint32_t data, uint32_t mask)
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{
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uint32_t oldData, newData;
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read_REG(address, &oldData);
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newData = (oldData&~mask) | (data&mask);
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write_REG(address, newData);
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return _status;
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}
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// check the stallguard status
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boolean TMC2130_Basics::isStallguard()
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{
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return _status & FB_TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
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}
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// check the standstill status
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boolean TMC2130_Basics::isStandstill()
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{
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return _status & FB_TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
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}
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// set single bits in the GCONF register
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uint8_t TMC2130_Basics::set_GCONF(uint8_t position, uint8_t value)
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{
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alter_REG(FB_TMC_REG_GCONF, uint32_t(value) << position, 0x1UL << position);
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return _status;
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}
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// set single bits or values in the chopconf register (constraining masks are applied if necessary)
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uint8_t TMC2130_Basics::set_CHOPCONF(uint8_t position, uint8_t value)
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{
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alter_REG(FB_TMC_REG_CHOPCONF, uint32_t(value) << position, FB_TMC_CHOPCONF_MASKS[position] << position);
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return _status;
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}
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uint8_t TMC2130_Basics::getStatus()
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{
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return _status;
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}
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