2017-06-29 16:35:43 +00:00
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#ifndef TMC2130_H
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#define TMC2130_H
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2017-07-01 10:39:16 +00:00
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//holding and running currents
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extern uint8_t tmc2130_current_h[4];
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extern uint8_t tmc2130_current_r[4];
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//flags for axis stall detection
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extern uint8_t tmc2130_axis_stalled[4];
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extern uint8_t sg_homing_delay;
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//initialize tmc2130
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extern void tmc2130_init();
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//update stall guard (called from st_synchronize inside the loop)
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extern bool tmc2130_update_sg();
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//temperature watching (called from )
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extern void tmc2130_check_overtemp();
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//enter homing (called from homeaxis before homing starts)
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extern void tmc2130_home_enter(uint8_t axis);
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//exit homing (called from homeaxis after homing ends)
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extern void tmc2130_home_exit();
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//
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extern uint8_t tmc2130_didLastHomingStall();
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//set holding current for any axis (G911)
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extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
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//set running current for any axis (G912)
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extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
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//print currents
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extern void tmc2130_print_currents();
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#endif //TMC2130_H
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