58 lines
1.7 KiB
C
58 lines
1.7 KiB
C
#ifndef TMC2130_H
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#define TMC2130_H
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extern uint8_t tmc2130_cs[4];
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//mode
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extern uint8_t tmc2130_mode;
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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 tmc2130_sg_thr[4];
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extern bool tmc2130_sg_stop_on_crash;
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extern bool tmc2130_sg_crash;
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#define TMC2130_MODE_NORMAL 0
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#define TMC2130_MODE_SILENT 1
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//initialize tmc2130
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extern void tmc2130_init();
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//check diag pins (called from stepper isr)
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extern void tmc2130_st_isr(uint8_t last_step_mask);
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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 axes_mask);
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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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//restart homing (called from homeaxis befor move)
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extern void tmc2130_home_restart(uint8_t axis);
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//set holding current for any axis (M911)
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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 (M912)
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extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
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//print currents (M913)
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extern void tmc2130_print_currents();
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//set PWM_AMPL for any axis (M917)
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extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl);
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//set PWM_GRAD for any axis (M918)
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extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
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extern uint16_t tmc2130_rd_MSCNT(uint8_t cs);
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extern void tmc2130_home_pause(uint8_t axis);
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extern void tmc2130_home_resume(uint8_t axis);
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extern bool tmc2130_wait_standstill_xy(int timeout);
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#endif //TMC2130_H
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