67 lines
3.8 KiB
C
67 lines
3.8 KiB
C
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// Tmc2209.h
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#ifndef TMC2209_H
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#define TMC2209_H
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#include "pico/stdlib.h"
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#include "Tmc_uart.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <math.h>
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#include <string.h>
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typedef struct {
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TMC_UART* serial_instance;
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int mtr_id;
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uint8_t rFrame[4];
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uint8_t wFrame[8];
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uint64_t result[4];
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} TMC2209;
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void TMC2209_Init(TMC2209* tmc2209, TMC_UART* serial_instance); //ok
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void TMC2209_destroy(TMC2209* tmc2209); //TODO
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uint8_t compute_crc8_atm(const uint8_t *datagram, size_t length, uint8_t initial_value); //ok
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uint64_t* read_reg(TMC2209* tmc2209, int reg) ; //ok
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uint32_t read_int(TMC2209* tmc2209, int reg); //ok
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bool write_reg(TMC2209* tmc2209, int reg, int val); //ok
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bool write_reg_check(TMC2209* tmc2209, int reg, int val) ; //ok
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void driver_status(TMC2209* tmc2209); //NotWork
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void general_config(TMC2209* tmc2209); //NotWork
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void general_stat(TMC2209* tmc2209); //NotWork
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bool set_vactual(TMC2209* tmc2209, int value); //ok
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void set_voltage_sense(TMC2209* tmc2209, bool enabled); //ok
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bool get_voltage_sense(TMC2209* tmc2209); //ok
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void set_current_flow(TMC2209* tmc2209, double run_current, double hold_current_multiplier, int hold_current_delay, double Vref);//averif NotWork
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int get_iscale_analog(TMC2209* tmc2209); //ok
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void set_iscale_analog(TMC2209* tmc2209, bool enabled); //ok
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int get_interpolation(TMC2209* tmc2209); //ok
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void set_interpolation(TMC2209* tmc2209, bool enabled); //ok
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int get_internal_resistor_sense(TMC2209* tmc2209); //ok
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void set_internal_resistor_sense(TMC2209* tmc2209, bool enabled); //ok
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int get_spread_cycle(TMC2209* tmc2209); //NotWork
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void set_spread_cycle(TMC2209* tmc2209, bool enabled); //NotWork
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void set_microstepping_resolution(TMC2209* tmc2209, int msres); //ok
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int get_microstepping_resolution(TMC2209* tmc2209); //ok
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void set_microstep_resolution_regselect(TMC2209* tmc2209, bool enabled); //ok
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void set_irun_ihold(TMC2209* tmc2209, double IHold, double IRun, int IHoldDelay); //ok
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int get_direction_shart(TMC2209* tmc2209); //ok
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void ioin(TMC2209* tmc2209);
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void clear_general_stat(TMC2209* tmc2209); //ok
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void set_direction_shart(TMC2209* tmc2209, int direction); //ok
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int get_stallguard(TMC2209* tmc2209);
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void set_stallguard_threshold(TMC2209* tmc2209, int threshold);
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void set_coolstep_threshold(TMC2209* tmc2209, int threshold);
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void set_stallguard_callback(TMC2209* tmc2209, int stallguard_pin, int threshold, int callback, int min_speed);
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int get_tstep(TMC2209* tmc2209);
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int get_microstep_counter(TMC2209* tmc2209, bool in_steps, int offset);
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#endif
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