124 lines
5.3 KiB
C
124 lines
5.3 KiB
C
#ifndef TMC2130_H
|
|
#define TMC2130_H
|
|
|
|
|
|
//mode
|
|
extern uint8_t tmc2130_mode;
|
|
//holding and running currents
|
|
extern uint8_t tmc2130_current_h[4];
|
|
extern uint8_t tmc2130_current_r[4];
|
|
//microstep resolution (0 means 256usteps, 8 means 1ustep
|
|
extern uint8_t tmc2130_mres[4];
|
|
|
|
//flags for axis stall detection
|
|
extern uint8_t tmc2130_sg_thr[4];
|
|
|
|
extern bool tmc2130_sg_stop_on_crash;
|
|
extern uint8_t tmc2130_sg_crash; //crash mask
|
|
|
|
extern uint8_t tmc2130_sg_meassure;
|
|
extern uint16_t tmc2130_sg_meassure_cnt;
|
|
extern uint32_t tmc2130_sg_meassure_val;
|
|
|
|
#define TMC2130_MODE_NORMAL 0
|
|
#define TMC2130_MODE_SILENT 1
|
|
|
|
#define TMC2130_WAVE_FAC200_MIN 180
|
|
#define TMC2130_WAVE_FAC200_MAX 250
|
|
#define TMC2130_WAVE_FAC200_STP 1
|
|
|
|
extern uint8_t tmc2130_home_enabled;
|
|
extern uint8_t tmc2130_home_origin[2];
|
|
extern uint8_t tmc2130_home_bsteps[2];
|
|
extern uint8_t tmc2130_home_fsteps[2];
|
|
|
|
extern uint8_t tmc2130_wave_fac[4];
|
|
|
|
|
|
//initialize tmc2130
|
|
extern void tmc2130_init();
|
|
//check diag pins (called from stepper isr)
|
|
extern void tmc2130_st_isr(uint8_t last_step_mask);
|
|
//update stall guard (called from st_synchronize inside the loop)
|
|
extern bool tmc2130_update_sg();
|
|
//temperature watching (called from )
|
|
extern void tmc2130_check_overtemp();
|
|
//enter homing (called from homeaxis before homing starts)
|
|
extern void tmc2130_home_enter(uint8_t axes_mask);
|
|
//exit homing (called from homeaxis after homing ends)
|
|
extern void tmc2130_home_exit();
|
|
|
|
//start stallguard meassuring for single axis
|
|
extern void tmc2130_sg_meassure_start(uint8_t axis);
|
|
//stop current stallguard meassuring and report result
|
|
extern uint16_t tmc2130_sg_meassure_stop();
|
|
|
|
|
|
//set holding current for any axis (M911)
|
|
extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
|
|
//set running current for any axis (M912)
|
|
extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
|
|
//print currents (M913)
|
|
extern void tmc2130_print_currents();
|
|
|
|
//set PWM_AMPL for any axis (M917)
|
|
extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl);
|
|
//set PWM_GRAD for any axis (M918)
|
|
extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
|
|
|
|
|
|
extern uint16_t tmc2130_rd_MSCNT(uint8_t axis);
|
|
extern uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
|
|
|
|
extern uint8_t tmc2130_usteps2mres(uint16_t usteps);
|
|
#define tmc2130_mres2usteps(mres) ((uint16_t)256 >> mres)
|
|
|
|
extern bool tmc2130_wait_standstill_xy(int timeout);
|
|
|
|
extern void tmc2130_eeprom_load_config();
|
|
extern void tmc2130_eeprom_save_config();
|
|
|
|
#pragma pack(push)
|
|
#pragma pack(1)
|
|
struct
|
|
{
|
|
uint8_t mres:5; // mres - byte 0, bit 0..4 microstep resolution
|
|
uint8_t reserved_0_0:2; // reserved - byte 0, bit 5..6
|
|
uint8_t intpol:1; // intpol - byte 0, bit 7 linear interpolation to 255 usteps
|
|
uint8_t pwm_ampl:8; // pwm_ampl - byte 1, bit 0..7 pwm amplitude for silent mode
|
|
uint8_t pwm_grad:4; // pwm_grad - byte 2, bit 0..3 pwm gradient for silent mode
|
|
uint8_t pwm_freq:2; // pwm_freq - byte 2, bit 4..5 pwm frequency for silent mode
|
|
uint8_t reserved_2_0:2; // reserved - byte 2, bit 6..7
|
|
uint16_t tcoolthrs:16; // tcoolthrs - byte 3..4 coolstep threshold / middle sensitivity
|
|
int8_t sg_thrs:8; // sg_thrs - byte 5, bit 0..7 stallguard sensitivity in high power / middle sensitivity
|
|
int8_t current_h:6; // current_h - byte 6, bit 0..5 holding current for high power mode
|
|
uint8_t reserved_6_0:2; // reserved - byte 6, bit 6..7
|
|
int8_t current_r:6; // current_r - byte 7, bit 0..5 running current for high power mode
|
|
uint8_t reserved_7_0:2; // reserved - byte 7, bit 6..7
|
|
int8_t home_sg_thrs:8; // sg_thrs - byte 8, bit 0..7 stallguard sensitivity for homing
|
|
int8_t home_current:6; // current_r - byte 9, bit 0..5 running current for homing
|
|
uint8_t reserved_9_0:2; // reserved - byte 9, bit 6..7
|
|
int8_t home_dtcoolthrs:8; // dtcoolthrs - byte 10, bit 0..7 delta tcoolthrs for homing
|
|
int8_t dtcoolthrs_low:8; // dtcoolthrs - byte 11, bit 0..7 delta tcoolthrs for low sensitivity (based on value for middle sensitivity)
|
|
int8_t dtcoolthrs_high:8; // dtcoolthrs - byte 12, bit 0..7 delta tcoolthrs for high sensitivity (based on value for middle sensitivity)
|
|
int8_t sg_thrs_low:8; // sg_thrs - byte 13, bit 0..7 stallguard sensitivity in high power / low sensitivity
|
|
int8_t sg_thrs_high:8; // sg_thrs - byte 14, bit 0..7 stallguard sensitivity in high power / high sensitivity
|
|
} tmc2130_axis_config;
|
|
#pragma pack(pop)
|
|
|
|
extern uint16_t tmc2130_get_res(uint8_t axis);
|
|
extern void tmc2130_set_res(uint8_t axis, uint16_t res);
|
|
extern uint8_t tmc2130_get_pwr(uint8_t axis);
|
|
extern void tmc2130_set_pwr(uint8_t axis, uint8_t pwr);
|
|
extern uint8_t tmc2130_get_inv(uint8_t axis);
|
|
extern uint8_t tmc2130_get_dir(uint8_t axis);
|
|
extern void tmc2130_set_dir(uint8_t axis, uint8_t dir);
|
|
extern void tmc2130_do_step(uint8_t axis);
|
|
extern void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us);
|
|
extern void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution);
|
|
extern void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream);
|
|
extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200);
|
|
|
|
extern void tmc2130_home_calibrate(uint8_t axis);
|
|
|
|
#endif //TMC2130_H
|