125 lines
5.3 KiB
C
125 lines
5.3 KiB
C
#ifndef TMC2130_H
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#define TMC2130_H
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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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//microstep resolution (0 means 256usteps, 8 means 1ustep
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extern uint8_t tmc2130_mres[4];
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//flags for axis stall detection
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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 uint8_t tmc2130_sg_crash; //crash mask
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extern uint8_t tmc2130_sg_meassure;
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extern uint32_t tmc2130_sg_meassure_cnt;
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extern uint32_t tmc2130_sg_meassure_val;
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#define TMC2130_MODE_NORMAL 0
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#define TMC2130_MODE_SILENT 1
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#define TMC2130_WAVE_FAC1000_MIN 900
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#define TMC2130_WAVE_FAC1000_MAX 1250
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#define TMC2130_WAVE_FAC1000_STP 1
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extern uint8_t tmc2130_home_enabled;
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extern uint8_t tmc2130_home_origin[2];
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extern uint8_t tmc2130_home_bsteps[2];
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extern uint8_t tmc2130_home_fsteps[2];
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extern uint16_t tmc2130_wave_fac[4];
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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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//start stallguard meassuring for single axis
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extern void tmc2130_sg_meassure_start(uint8_t axis);
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//stop current stallguard meassuring and report result
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extern uint16_t tmc2130_sg_meassure_stop();
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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 axis);
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extern uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
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extern uint8_t tmc2130_usteps2mres(uint16_t usteps);
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#define tmc2130_mres2usteps(mres) ((uint16_t)256 >> mres)
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extern bool tmc2130_wait_standstill_xy(int timeout);
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extern void tmc2130_eeprom_load_config();
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extern void tmc2130_eeprom_save_config();
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#pragma pack(push)
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#pragma pack(1)
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struct
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{
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uint8_t mres:5; // mres - byte 0, bit 0..4 microstep resolution
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uint8_t reserved_0_0:2; // reserved - byte 0, bit 5..6
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uint8_t intpol:1; // intpol - byte 0, bit 7 linear interpolation to 255 usteps
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uint8_t pwm_ampl:8; // pwm_ampl - byte 1, bit 0..7 pwm amplitude for silent mode
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uint8_t pwm_grad:4; // pwm_grad - byte 2, bit 0..3 pwm gradient for silent mode
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uint8_t pwm_freq:2; // pwm_freq - byte 2, bit 4..5 pwm frequency for silent mode
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uint8_t reserved_2_0:2; // reserved - byte 2, bit 6..7
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uint16_t tcoolthrs:16; // tcoolthrs - byte 3..4 coolstep threshold / middle sensitivity
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int8_t sg_thrs:8; // sg_thrs - byte 5, bit 0..7 stallguard sensitivity in high power / middle sensitivity
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int8_t current_h:6; // current_h - byte 6, bit 0..5 holding current for high power mode
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uint8_t reserved_6_0:2; // reserved - byte 6, bit 6..7
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int8_t current_r:6; // current_r - byte 7, bit 0..5 running current for high power mode
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uint8_t reserved_7_0:2; // reserved - byte 7, bit 6..7
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int8_t home_sg_thrs:8; // sg_thrs - byte 8, bit 0..7 stallguard sensitivity for homing
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int8_t home_current:6; // current_r - byte 9, bit 0..5 running current for homing
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uint8_t reserved_9_0:2; // reserved - byte 9, bit 6..7
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int8_t home_dtcoolthrs:8; // dtcoolthrs - byte 10, bit 0..7 delta tcoolthrs for homing
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int8_t dtcoolthrs_low:8; // dtcoolthrs - byte 11, bit 0..7 delta tcoolthrs for low sensitivity (based on value for middle sensitivity)
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int8_t dtcoolthrs_high:8; // dtcoolthrs - byte 12, bit 0..7 delta tcoolthrs for high sensitivity (based on value for middle sensitivity)
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int8_t sg_thrs_low:8; // sg_thrs - byte 13, bit 0..7 stallguard sensitivity in high power / low sensitivity
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int8_t sg_thrs_high:8; // sg_thrs - byte 14, bit 0..7 stallguard sensitivity in high power / high sensitivity
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} tmc2130_axis_config;
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#pragma pack(pop)
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extern uint16_t tmc2130_get_res(uint8_t axis);
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extern void tmc2130_set_res(uint8_t axis, uint16_t res);
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extern uint8_t tmc2130_get_pwr(uint8_t axis);
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extern void tmc2130_set_pwr(uint8_t axis, uint8_t pwr);
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extern uint8_t tmc2130_get_inv(uint8_t axis);
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extern uint8_t tmc2130_get_dir(uint8_t axis);
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extern void tmc2130_set_dir(uint8_t axis, uint8_t dir);
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extern void tmc2130_do_step(uint8_t axis);
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extern void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us);
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extern void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution);
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extern void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream);
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extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint16_t fac1000);
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extern bool tmc2130_home_calibrate(uint8_t axis);
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#endif //TMC2130_H
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