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new code with some sanity checking (depends on hw-enabled dcStep)

This commit is contained in:
JonathanS 2018-07-18 23:27:11 +02:00
parent 7a9eaf08e8
commit fcf5162501
4 changed files with 1527 additions and 0 deletions
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914
src/Trinamic_TMC2130.cpp Executable file
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/**************************************************************************/
/*!
@file Trinamic_TMC2130.cpp
@author Moritz Walter
@license GPLv3 (see license.txt)
SPI configuration tool for Trinamic TMC2130 Motor Drivers
@section HISTORY
v0.1 - it works
*/
/**************************************************************************/
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <SPI.h>
#include "Trinamic_TMC2130.h"
#include "Trinamic_TMC2130_registers.h"
Trinamic_TMC2130::Trinamic_TMC2130(uint8_t csPin)
{
_csPin=csPin;
_status=0;
_debug="";
}
// initialize the driver with its CS/SS pin
void Trinamic_TMC2130::init() {
pinMode(_csPin, OUTPUT);
digitalWrite(_csPin, HIGH);
init_SPI();
read_STAT();
}
// initialize SPI
void Trinamic_TMC2130::init_SPI() {
SPI.setDataMode(TMC_SPI_DATA_MODE);
SPI.setBitOrder(TMC_SPI_BIT_ORDER);
SPI.setClockDivider(TMC_SPI_CLOCK_DIVIDER);
SPI.begin();
}
// read status
uint8_t Trinamic_TMC2130::read_STAT()
{
init_SPI();
digitalWrite(_csPin, LOW);
// read address
_status = SPI.transfer(0x00);
// flush 4 bytes
for(int i=0;i<4;i++){
SPI.transfer(0x00);
}
digitalWrite(_csPin, HIGH);
return _status;
}
// read a register
uint8_t Trinamic_TMC2130::read_REG(uint8_t address, uint32_t *data)
{
init_SPI();
digitalWrite(_csPin, LOW);
// read address
_status = SPI.transfer(address&~TMC_WRITE);
// flush 4 bytes
for(int i=0;i<4;i++){
SPI.transfer(0x00);
}
digitalWrite(_csPin, HIGH);
// restart transmission
digitalWrite(_csPin, LOW);
// read address
_status = SPI.transfer(address&~TMC_WRITE);
// retrieve data
*data = SPI.transfer(0x00)&0xFF;
*data <<=8;
*data |= SPI.transfer(0x00)&0xFF;
*data <<=8;
*data |= SPI.transfer(0x00)&0xFF;
*data <<=8;
*data |= SPI.transfer(0x00)&0xFF;
digitalWrite(_csPin, HIGH);
return _status;
}
// write to a register
uint8_t Trinamic_TMC2130::write_REG(uint8_t address, uint32_t data)
{
digitalWrite(_csPin, LOW);
// write address
_status = SPI.transfer(address|TMC_WRITE);
// write data
SPI.transfer((data>>24UL)&0xFF);
SPI.transfer((data>>16UL)&0xFF);
SPI.transfer((data>> 8UL)&0xFF);
SPI.transfer((data>> 0UL)&0xFF);
digitalWrite(_csPin, HIGH);
return _status;
}
// alter a register using a bitmask
uint8_t Trinamic_TMC2130::alter_REG(uint8_t address, uint32_t data, uint32_t mask)
{
uint32_t oldData, newData;
read_REG( address, &oldData );
newData = ( oldData&~mask ) | ( data&mask );
write_REG( address, newData );
return _status;
}
// set single bits in the GCONF register
uint8_t Trinamic_TMC2130::set_GCONF(uint8_t position, uint8_t value)
{
alter_REG(TMC_REG_GCONF, uint32_t(value)<<position, 0x1UL<<position);
return _status;
}
// set single bits or values in the chopconf register (constraining masks are applied if necessary)
uint8_t Trinamic_TMC2130::set_CHOPCONF(uint8_t position, uint8_t value)
{
alter_REG(TMC_REG_CHOPCONF, uint32_t(value)<<position, TMC_CHOPCONF_MASKS[position]<<position);
return _status;
}
//////////
// GCONF
//////////
uint8_t Trinamic_TMC2130::set_I_scale_analog(uint8_t value)
{
set_GCONF(TMC_GCONF_I_SCALE_ANALOG, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_internal_Rsense(uint8_t value)
{
set_GCONF(TMC_GCONF_INTERNAL_RSENSE, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_en_pwm_mode(uint8_t value)
{
set_GCONF(TMC_GCONF_EN_PWM_MODE, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_enc_commutation(uint8_t value)
{
set_GCONF(TMC_GCONF_ENC_COMMUTATION, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_shaft(uint8_t value)
{
set_GCONF(TMC_GCONF_SHAFT, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag0_error(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG0_ERROR, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag0_otpw(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG0_OTPW, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag0_stall(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG0_STALL, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag1_stall(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG1_STALL, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag1_index(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG1_INDEX, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag1_onstate(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG1_ONSTATE, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag1_steps_skipped(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG1_STEPS_SKIPPED, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag0_int_pushpull(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG0_INT_PUSHPULL, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_diag1_int_pushpull(uint8_t value)
{
set_GCONF(TMC_GCONF_DIAG1_INT_PUSHPULL, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_small_hysteresis(uint8_t value)
{
set_GCONF(TMC_GCONF_SMALL_HYSTERESIS, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_stop_enable(uint8_t value)
{
set_GCONF(TMC_GCONF_STOP_ENABLE, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_direct_mode(uint8_t value)
{
set_GCONF(TMC_GCONF_DIRECT_MODE, value);
return _status;
}
/*
uint8_t Trinamic_TMC2130::set_test_mode(uint8_t value)
{
set_GCONF(TMC_GCONF_TEST_MODE, value);
return _status;
}
*/
//////////
// IHOLD_IRUN
//////////
uint8_t Trinamic_TMC2130::set_IHOLD_IRUN(uint8_t ihold, uint8_t irun, uint8_t iholddelay)
{
uint32_t data;
// adding ihold
data = (( uint32_t(ihold)&TMC_IHOLD_MASK )<<TMC_IHOLD );
// adding irun
data |= (( uint32_t(irun)&TMC_IRUN_MASK )<<TMC_IRUN );
// adding iholddelay
data |= (( uint32_t(iholddelay)&TMC_IHOLDDELAY_MASK )<<TMC_IHOLDDELAY );
// writing data
write_REG(TMC_REG_IHOLD_IRUN, data);
return _status;
}
//////////
// TPOWERDOWN
//////////
uint8_t Trinamic_TMC2130::set_TPOWERDOWN(uint8_t value)
{
uint32_t data;
data = value & TMC_TPOWERDOWN_MASK;
write_REG(TMC_REG_TPOWERDOWN, data);
return _status;
}
//////////
// TSTEP
//////////
uint32_t Trinamic_TMC2130::get_TSTEP()
{
uint32_t data;
read_REG(TMC_REG_TPOWERDOWN, &data);
data &= TMC_TSTEP_MASK;
return data;
}
//////////
// TPWMTHRS
//////////
uint8_t Trinamic_TMC2130::set_TPWMTHRS(uint32_t value)
{
uint32_t data;
data = value & TMC_TPWMTHRS_MASK;
write_REG(TMC_REG_TPOWERDOWN, data);
return _status;
}
//////////
// TCOOLTHRS
//////////
uint8_t Trinamic_TMC2130::set_TCOOLTHRS(uint32_t value)
{
uint32_t data;
data = value & TMC_TCOOLTHRS_MASK;
write_REG(TMC_REG_TCOOLTHRS, data);
return _status;
}
//////////
// THIGH
//////////
uint8_t Trinamic_TMC2130::set_THIGH(uint32_t value)
{
uint32_t data;
data = value & TMC_THIGH_MASK;
write_REG(TMC_REG_THIGH, data);
return _status;
}
//////////
// XDIRECT
//////////
uint8_t Trinamic_TMC2130::set_XDIRECT(int16_t coil_a, int16_t coil_b)
{
uint32_t data;
data = 0x0;
data |= ( coil_b & TMC_XDIRECT_COIL_B_MASK );
data = data << TMC_XDIRECT_COIL_B;
data |= ( coil_a & TMC_XDIRECT_COIL_A_MASK );
data &= TMC_XDIRECT_MASK;
write_REG(TMC_REG_XDIRECT, data);
return _status;
}
uint8_t Trinamic_TMC2130::set_XDIRECT(uint32_t value)
{
uint32_t data;
data = value;// & TMC_XDIRECT_MASK;
write_REG(TMC_REG_XDIRECT, data);
return _status;
}
int32_t Trinamic_TMC2130::get_XDIRECT()
{
uint32_t data;
read_REG(TMC_REG_XDIRECT, &data);
data &= TMC_XDIRECT_MASK;
return data;
}
//////////
// VDCMIN
//////////
uint8_t Trinamic_TMC2130::set_VDCMIN(int32_t value)
{
int32_t data;
data = value & TMC_VDCMIN_MASK;
write_REG(TMC_REG_VDCMIN, data);
return _status;
}
//////////
// MSLUT
//////////
uint8_t Trinamic_TMC2130::set_MSLUT0(uint32_t value)
{
write_REG(TMC_REG_MSLUT0, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_MSLUT1(uint32_t value)
{
write_REG(TMC_REG_MSLUT1, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_MSLUT2(uint32_t value)
{
write_REG(TMC_REG_MSLUT2, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_MSLUT3(uint32_t value)
{
write_REG(TMC_REG_MSLUT3, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_MSLUT4(uint32_t value)
{
write_REG(TMC_REG_MSLUT4, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_MSLUT5(uint32_t value)
{
write_REG(TMC_REG_MSLUT5, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_MSLUT6(uint32_t value)
{
write_REG(TMC_REG_MSLUT6, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_MSLUT7(uint32_t value)
{
write_REG(TMC_REG_MSLUT7, value);
return _status;
}
//////////
// MSLUTSEL
//////////
uint8_t Trinamic_TMC2130::set_MSLUTSEL(uint32_t value)
{
write_REG(TMC_REG_MSLUTSEL, value);
return _status;
}
//////////
// MSLUTSTART
//////////
uint8_t Trinamic_TMC2130::set_MSLUTSTART(uint8_t start_sin, uint8_t start_sin90)
{
uint32_t data;
data = ( uint32_t(start_sin90) & TMC_MSLUTSTART_START_SIN90_MASK );
data = data<<TMC_MSLUTSTART_START_SIN90;
data |= ( uint32_t(start_sin) & TMC_MSLUTSTART_START_SIN_MASK );
data &= TMC_MSLUTSTART_MASK;
write_REG(TMC_REG_MSLUTSTART, data);
return _status;
}
//////////
// MSCNT
//////////
uint16_t Trinamic_TMC2130::get_MSCNT()
{
uint32_t data;
read_REG(TMC_REG_MSCNT, &data);
data &= TMC_MSCNT_MASK;
data = uint16_t(data);
return data;
}
//////////
// MSCURACT
//////////
int32_t Trinamic_TMC2130::get_MSCURACT()
{
uint32_t data;
read_REG(TMC_REG_MSCURACT, &data);
data &= TMC_MSCURACT_MASK;
return data;
}
//////////
// CHOPCONF
//////////
uint8_t Trinamic_TMC2130::set_diss2g(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_DISS2G, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_dedge(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_DEDGE, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_intpol(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_INTPOL, value);
return _status;
}
// setting the microstep resolution
uint8_t Trinamic_TMC2130::set_mres(uint16_t value)
{
uint8_t data = 0;
switch(value){
case 1:
data = 8;
break;
case 2:
data = 7;
break;
case 4:
data = 6;
break;
case 8:
data = 5;
break;
case 16:
data = 4;
break;
case 32:
data = 3;
break;
case 64:
data = 2;
break;
case 128:
data = 1;
break;
}
set_CHOPCONF(TMC_CHOPCONF_MRES, data);
return _status;
}
uint8_t Trinamic_TMC2130::set_sync(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_SYNC, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_vhighchm(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_VHIGHCHM, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_vhighfs(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_VHIGHFS, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_vsense(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_VSENSE, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_tbl(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_TBL, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_chm(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_CHM, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_rndtf(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_RNDTF, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_disfdcc(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_DISFDCC, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_fd(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_FD, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_hend(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_HEND, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_hstrt(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_HSTRT, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_toff(uint8_t value)
{
set_CHOPCONF(TMC_CHOPCONF_TOFF, value);
return _status;
}
//////////
// COOLCONF
//////////
// alter coolconf
uint8_t Trinamic_TMC2130::alter_COOLCONF(uint32_t data, uint32_t mask)
{
uint32_t newData;
_coolconf = ( _coolconf & ~mask ) | ( data & mask );
write_REG( TMC_REG_COOLCONF, _coolconf );
return _status;
}
// set coolconf
uint8_t Trinamic_TMC2130::set_COOLCONF(uint8_t position, uint8_t value)
{
alter_COOLCONF( uint32_t(value)<<position, TMC_CHOPCONF_MASKS[position]<<position);
return _status;
}
uint8_t Trinamic_TMC2130::set_sfilt(uint8_t value)
{
//set_CHOPCONF(TMC_COOLCONF_SFILT, value);
set_COOLCONF(TMC_COOLCONF_SFILT, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_sgt(uint8_t value)
{
//set_CHOPCONF(TMC_COOLCONF_SGT, value);
set_COOLCONF(TMC_COOLCONF_SGT, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_seimin(uint8_t value)
{
set_COOLCONF(TMC_COOLCONF_SEIMIN, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_sedn(uint8_t value)
{
set_COOLCONF(TMC_COOLCONF_SEDN, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_semax(uint8_t value)
{
set_COOLCONF(TMC_COOLCONF_SEMAX, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_seup(uint8_t value)
{
set_COOLCONF(TMC_COOLCONF_SEUP, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_semin(uint8_t value)
{
set_COOLCONF(TMC_COOLCONF_SEMIN, value);
return _status;
}
//////////
// DCCTRL
//////////
uint8_t Trinamic_TMC2130::set_DCCTRL(uint16_t dc_time, uint16_t dc_sg)
{
uint32_t data;
data = ( uint32_t(dc_sg) & TMC_DCCTRL_DC_SG_MASK );
data = data<<TMC_DCCTRL_DC_SG;
data |= ( uint32_t(dc_time) & TMC_DCCTRL_DC_TIME_MASK );
data &= TMC_DCCTRL_MASK;
write_REG(TMC_REG_DCCTRL, data);
return _status;
}
//////////
// PWMCONF
//////////
// alter pwmconf
uint8_t Trinamic_TMC2130::alter_PWMCONF(uint32_t data, uint32_t mask)
{
uint32_t newData;
_pwmconf = ( _pwmconf & ~mask ) | ( data & mask );
write_REG( TMC_REG_PWMCONF, _pwmconf );
return _status;
}
// set pwmconf
uint8_t Trinamic_TMC2130::set_PWMCONF(uint8_t position, uint8_t value)
{
alter_PWMCONF( uint32_t(value)<<position, TMC_CHOPCONF_MASKS[position]<<position );
return _status;
}
uint8_t Trinamic_TMC2130::set_freewheel(uint8_t value)
{
set_PWMCONF(TMC_PWMCONF_FREEWHEEL, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_pwm_symmetric(uint8_t value)
{
set_PWMCONF(TMC_PWMCONF_PWM_SYMMETRIC, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_pwm_autoscale(uint8_t value)
{
set_PWMCONF(TMC_PWMCONF_PWM_AUTOSCALE, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_pwm_freq(uint8_t value)
{
set_PWMCONF(TMC_PWMCONF_PWM_FREQ, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_PWM_GRAD(uint8_t value)
{
set_PWMCONF(TMC_PWMCONF_PWM_GRAD, value);
return _status;
}
uint8_t Trinamic_TMC2130::set_PWM_AMPL(uint8_t value)
{
set_PWMCONF(TMC_PWMCONF_PWM_AMPL, value);
return _status;
}
//////////
// ENCM_CTRL
//////////
uint8_t Trinamic_TMC2130::set_ENCM_CTRL(uint8_t value)
{
uint8_t data;
data = value & TMC_ENCM_CTRL_MASK;
write_REG(TMC_REG_ENCM_CTRL, data);
return _status;
}
//////////
// STATUS
//////////
// check the reset status
boolean Trinamic_TMC2130::isReset()
{
return _status&TMC_SPISTATUS_RESET_MASK ? true : false;
}
// check the error status
boolean Trinamic_TMC2130::isError()
{
return _status&TMC_SPISTATUS_ERROR_MASK ? true : false;
}
// check the stallguard status
boolean Trinamic_TMC2130::isStallguard()
{
return _status&TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
}
// check the standstill status
boolean Trinamic_TMC2130::isStandstill()
{
return _status&TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
}
// get debug messages
String Trinamic_TMC2130::debug()
{
return _debug;
}

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src/Trinamic_TMC2130.h Executable file
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/**************************************************************************/
/*!
@file Trinamic_TMC2130.h
@author Moritz Walter
@license GPLv3 (see license.txt)
SPI configuration tool for Trinamic TMC2130 Motor Drivers
@section HISTORY
v0.1 - it works
*/
/**************************************************************************/
#ifndef TRINAMIC_TMC2130_H
#define TRINAMIC_TMC2130_H
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <SPI.h>
#include "Trinamic_TMC2130_registers.h"
class Trinamic_TMC2130{
public:
Trinamic_TMC2130(uint8_t csPin);
void init();
void init_SPI();
uint8_t read_STAT();
uint8_t read_REG( uint8_t address , uint32_t *data );
uint8_t write_REG( uint8_t address, uint32_t data );
uint8_t alter_REG(uint8_t address, uint32_t data, uint32_t mask);
uint8_t set_GCONF(uint8_t bit, uint8_t value);
uint8_t set_I_scale_analog(uint8_t value);
uint8_t set_internal_Rsense(uint8_t value);
uint8_t set_en_pwm_mode(uint8_t value);
uint8_t set_enc_commutation(uint8_t value);
uint8_t set_shaft(uint8_t value);
uint8_t set_diag0_error(uint8_t value);
uint8_t set_diag0_otpw(uint8_t value);
uint8_t set_diag0_stall(uint8_t value);
uint8_t set_diag1_stall(uint8_t value);
uint8_t set_diag1_index(uint8_t value);
uint8_t set_diag1_onstate(uint8_t value);
uint8_t set_diag1_steps_skipped(uint8_t value);
uint8_t set_diag0_int_pushpull(uint8_t value);
uint8_t set_diag1_int_pushpull(uint8_t value);
uint8_t set_small_hysteresis(uint8_t value);
uint8_t set_stop_enable(uint8_t value);
uint8_t set_direct_mode(uint8_t value);
//uint8_t test_mode(uint8_t value);
uint8_t set_IHOLD_IRUN(uint8_t ihold, uint8_t irun, uint8_t iholddelay);
uint8_t set_TPOWERDOWN(uint8_t value);
uint32_t get_TSTEP();
uint8_t set_TPWMTHRS(uint32_t value);
uint8_t set_TCOOLTHRS(uint32_t value);
uint8_t set_THIGH(uint32_t value);
uint8_t set_XDIRECT(uint32_t value);
uint8_t set_XDIRECT(int16_t coil_a, int16_t coil_b);
int32_t get_XDIRECT();
uint8_t set_VDCMIN(int32_t value);
uint8_t set_MSLUT0(uint32_t value);
uint8_t set_MSLUT1(uint32_t value);
uint8_t set_MSLUT2(uint32_t value);
uint8_t set_MSLUT3(uint32_t value);
uint8_t set_MSLUT4(uint32_t value);
uint8_t set_MSLUT5(uint32_t value);
uint8_t set_MSLUT6(uint32_t value);
uint8_t set_MSLUT7(uint32_t value);
uint8_t set_MSLUTSEL(uint32_t value);
uint8_t set_MSLUTSTART(uint8_t start_sin, uint8_t start_sin90);
uint16_t get_MSCNT();
int32_t get_MSCURACT();
uint8_t set_CHOPCONF(uint8_t position, uint8_t value);
uint8_t set_dedge(uint8_t value);
uint8_t set_diss2g(uint8_t value);
uint8_t set_intpol(uint8_t value);
uint8_t set_mres(uint16_t value);
uint8_t set_sync(uint8_t value);
uint8_t set_vhighchm(uint8_t value);
uint8_t set_vhighfs(uint8_t value);
uint8_t set_vsense(uint8_t value);
uint8_t set_tbl(uint8_t value);
uint8_t set_chm(uint8_t value);
uint8_t set_rndtf(uint8_t value);
uint8_t set_disfdcc(uint8_t value);
uint8_t set_fd(uint8_t value);
uint8_t set_hend(uint8_t value);
uint8_t set_hstrt(uint8_t value);
uint8_t set_toff(uint8_t value);
uint8_t alter_COOLCONF(uint32_t data, uint32_t mask);
uint8_t set_COOLCONF(uint8_t position, uint8_t value);
uint8_t set_sfilt(uint8_t value);
uint8_t set_sgt(uint8_t value);
uint8_t set_seimin(uint8_t value);
uint8_t set_sedn(uint8_t value);
uint8_t set_semax(uint8_t value);
uint8_t set_seup(uint8_t value);
uint8_t set_semin(uint8_t value);
uint8_t set_DCCTRL(uint16_t dc_time, uint16_t dc_sg);
uint8_t alter_PWMCONF(uint32_t data, uint32_t mask);
uint8_t set_PWMCONF(uint8_t position, uint8_t value);
uint8_t set_freewheel(uint8_t value);
uint8_t set_pwm_symmetric(uint8_t value);
uint8_t set_pwm_autoscale(uint8_t value);
uint8_t set_pwm_freq(uint8_t value);
uint8_t set_PWM_GRAD(uint8_t value);
uint8_t set_PWM_AMPL(uint8_t value);
uint8_t set_ENCM_CTRL(uint8_t value);
boolean isReset();
boolean isError();
boolean isStallguard();
boolean isStandstill();
String debug();
private:
uint32_t _coolconf;
uint32_t _pwmconf;
uint8_t _csPin;
uint8_t _status;
String _debug;
};
#endif // TRINAMIC_TMC2130_H

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/**************************************************************************/
/*!
@file Trinamic_TMC2130_registers.h
@author Moritz Walter
@license GPLv3 (see license.txt)
SPI configuration tool for Trinamic TMC2130 Motor Drivers
@section HISTORY
v0.1 - it works
*/
/**************************************************************************/
#ifndef TRINAMIC_TMC2130_REGISTERS_H
#define TRINAMIC_TMC2130_REGISTERS_H
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <SPI.h>
// SPI
#define TMC_SPI_CLOCK_DIVIDER SPI_CLOCK_DIV8
#define TMC_SPI_DATA_MODE SPI_MODE3
#define TMC_SPI_BIT_ORDER MSBFIRST
// RW
#define TMC_READ (0x00)
#define TMC_WRITE (0x80)
// SPISTATUS MASKS
#define TMC_SPISTATUS_RESET_MASK (0x01)
#define TMC_SPISTATUS_ERROR_MASK (0x02)
#define TMC_SPISTATUS_STALLGUARD_MASK (0x04)
#define TMC_SPISTATUS_STANDSTILL_MASK (0x08)
// REGISTERS
#define TMC_REG_GCONF (0x00) // RW // 17 // Global configuration flags
#define TMC_REG_GSTAT (0x01) // RC // 3 // Global status flags
#define TMC_REG_IOIN (0x04) // R // 8+8 // Reads the state of all input pins available
#define TMC_REG_IHOLD_IRUN (0x10) // W // 5+5+4 // Driver current control
#define TMC_REG_TPOWERDOWN (0x11) // W // 8 // sets delay time after stand still (stst) to motor current power down (0-4 seconds) 0_((2^8)-1) * 2^18 tclk
#define TMC_REG_TSTEP (0x12) // R // 20 // Actual measured time between two 1/256 microsteps derived from the step input frequency in units of 1/fCLK. Measured value is (2^20)-1 in case of overflow or stand still
#define TMC_REG_TPWMTHRS (0x13) // W // 20 // Upper velocity threshold for stealthChop voltage PWM mode
#define TMC_REG_TCOOLTHRS (0x14) // W // 20 // Lower threshold velocity for switching on smart energy coolStep and stallGuard feature (unsigned)
#define TMC_REG_THIGH (0x15) // W // 20 // Velocity dependend switching into different chopper mode and fullstepping to maximize torque (unsigned)
#define TMC_REG_XDIRECT (0x2D) // RW // 32 // specifies motor coil currents and polarity directly programmed via SPI. Use signed, two's complement numbers. In this mode, the current is scaled by IHOLD. Velocity based current regulation of voltage PWM is not available in this mode. +- 255 for both coils
#define TMC_REG_VDCMIN (0x33) // W // 23 // automatic commutation dcStep becomes enabled by the external signal DCEN. VDCMIN is used as the minimum step velocity when the motor is heavily loaded. Hint: Also set DCCTRL parameters in order to operate dcStep
#define TMC_REG_MSLUT0 (0x60) // W // 32 // Each bit gives the difference between entry x and entry x+1 when combined with the corresponding MSLUTSEL W bits. Differential coding for the first quarter of a wave. Start values for CUR_A and CUR_B are stored for MSCNT position 0 in START_SIN and START_SIN90.
#define TMC_REG_MSLUT1 (0x61) // W // 32 //
#define TMC_REG_MSLUT2 (0x62) // W // 32 //
#define TMC_REG_MSLUT3 (0x63) // W // 32 //
#define TMC_REG_MSLUT4 (0x64) // W // 32 //
#define TMC_REG_MSLUT5 (0x65) // W // 32 //
#define TMC_REG_MSLUT6 (0x66) // W // 32 //
#define TMC_REG_MSLUT7 (0x67) // W // 32 //
#define TMC_REG_MSLUTSEL (0x68) // W // 32 // defines four segments within each quarter MSLUT wave. Four 2 bit entries determine the meaning of a 0 and a 1 bit in the corresponding segment of MSLUT
#define TMC_REG_MSLUTSTART (0x69) // W // 8+8 //
#define TMC_REG_MSCNT (0x6A) // R // 10 //
#define TMC_REG_MSCURACT (0x6B) // R // 9+9 //
#define TMC_REG_CHOPCONF (0x6C) // RW // 32 //
#define TMC_REG_COOLCONF (0x6D) // W // 25 //
#define TMC_REG_DCCTRL (0x6E) // W // 24 //
#define TMC_REG_DRV_STATUS (0x6F) // R // 22 //
#define TMC_REG_PWMCONF (0x70) // W // 8 //
#define TMC_REG_PWM_SCALE (0x71) // R // 8 //
#define TMC_REG_ENCM_CTRL (0x72) // W // 2 //
#define TMC_REG_LOST_STEPS (0x73) // R // 20 //
// GCONF OFFSETS
// for shifting incoming values to the right register position
#define TMC_GCONF_I_SCALE_ANALOG (0) // 0: Internal, 1: AIN
#define TMC_GCONF_INTERNAL_RSENSE (1) // 0: Normal, 1: Internal
#define TMC_GCONF_EN_PWM_MODE (2) // 0: Disable, 1: Enable
#define TMC_GCONF_ENC_COMMUTATION (3) // 0: Disable, 1: Enable
#define TMC_GCONF_SHAFT (4) // 0: Normal, 1: Invert
#define TMC_GCONF_DIAG0_ERROR (5) // 0: Disable, 1: Enable
#define TMC_GCONF_DIAG0_OTPW (6) // 0: Disable, 1: Enable
#define TMC_GCONF_DIAG0_STALL (7) // 0: Disable, 1: Enable
#define TMC_GCONF_DIAG1_STALL (8) // 0: Disable, 1: Enable
#define TMC_GCONF_DIAG1_INDEX (9) // 0: Disable, 1: Enable
#define TMC_GCONF_DIAG1_ONSTATE (10) // 0: Disable, 1: Enable
#define TMC_GCONF_DIAG1_STEPS_SKIPPED (11) // 0: Disable, 1: Enable
#define TMC_GCONF_DIAG0_INT_PUSHPULL (12) // 0: Open Collector, 1: Push Pull
#define TMC_GCONF_DIAG1_INT_PUSHPULL (13) // 0: Open Collector, 1: Push Pull
#define TMC_GCONF_SMALL_HYSTERESIS (14) // 0: 1/16, 1: 1/32
#define TMC_GCONF_STOP_ENABLE (15) // 0: Normal, 1: Emergency Stop
#define TMC_GCONF_DIRECT_MODE (16) // 0: Normal, 1: XDIRECT
#define TMC_GCONF_TEST_MODE (17) // 0: Normal, 1: Enable, Don't use!
// GCONF MASKS
// not required, all 1 bit
// IHOLD_IRUN OFFSETS
// for shifting incoming values to the right register position
#define TMC_IHOLD (0)
#define TMC_IRUN (8)
#define TMC_IHOLDDELAY (16)
// IHOLD IRUN MASKS
#define TMC_IHOLD_MASK (0b11111UL)
#define TMC_IRUN_MASK (0b11111UL)
#define TMC_IHOLDDELAY_MASK (0b1111UL)
// TPOWERDOWN
// no offsets required
#define TMC_TPOWERDOWN_MASK (0b11111111UL)
// TSTEP
// no offsets required
#define TMC_TSTEP_MASK (0b11111111111111111111UL)
// TPWMTHRS
// no offsets required
#define TMC_TPWMTHRS_MASK (0b11111111111111111111UL)
// TCOOLTHRS
#define TMC_TCOOLTHRS_MASK (0b11111111111111111111UL)
// THIGH
// no offsets required
#define TMC_THIGH_MASK (0b11111111111111111111UL)
// XDIRECT OFFSETS
// for shifting incoming values to the right register position
#define TMC_XDIRECT_COIL_A (0)
#define TMC_XDIRECT_COIL_B (16)
// XDIRECT MASKS
// mask the bits from the values we want to set
#define TMC_XDIRECT_MASK (0xFFFFFFFFUL)
#define TMC_XDIRECT_COIL_A_MASK (0xFFFFUL)
#define TMC_XDIRECT_COIL_B_MASK (0xFFFFUL)
// no offsets required
// needs no mask
// VDCMIN
// no offsets required
#define TMC_VDCMIN_MASK (0b11111111111111111111111UL)
// MSLUT
// no offsets required
// needs no mask
// MSLUTSEL
// no offsets required
// needs no mask
// MSLUTSTART OFFSETS
#define TMC_MSLUTSTART_START_SIN (0)
#define TMC_MSLUTSTART_START_SIN90 (8)
// MSLUTSTART MASKS
#define TMC_MSLUTSTART_MASK (0xFFFFUL)
#define TMC_MSLUTSTART_START_SIN_MASK (0xFF)
#define TMC_MSLUTSTART_START_SIN90_MASK (0xFF)
// MSCNT
// no offsets required
#define TMC_MSCNT_MASK (0b1111111111)
// MSCURACT
// no offsets required
#define TMC_MSCURACT_MASK (0b111111111111111111UL)
// CHOPCONF MASKS
// mask the bits from the values we want to set
const uint32_t TMC_CHOPCONF_MASKS[] = {
0b1111UL, // 0 TOFF
0b111UL, // 1
0b11UL, // 2
0b1UL, // 3
0b111UL, // 4 HYSTERESIS_START
0b11UL, // 5
0b1UL, // 6
0b0001UL, // 7 HYSTERESIS_LOW
0b001UL, // 8
0b01UL, // 9
0b1UL, // 10
0b1UL, // 11 FAST_DECAY_TIMING
0b1UL, // 12 FAST_DECAY_MODE
0b1UL, // 13 RANDOM_TOFF
0b1UL, // 14 CHOPPER_MODE
0b11UL, // 15 TBL
0b1UL, // 16
0b1UL, // 17 SENSE_CURRENT_SCALING
0b1UL, // 18 HIGH_VELOCITY_STEPS
0b1UL, // 19 HIGH_VELOCITY_CHOPPER
0b1111UL, // 20 SYNC_PWM
0b111UL, // 21
0b11UL, // 22
0b1UL, // 23
0b1111UL, // 24 MRES
0b111UL, // 25
0b11UL, // 26
0b1UL, // 27
0b1UL, // 28 INTERPOLATE
0b1UL, // 29 DOUBLE_EDGE_PULSES
0b1UL, // 30 SHORT_PROTECTION
0b1UL // 31
};
// CHOPCONF OFFSETS
// for shifting incoming values to the right register position
#define TMC_CHOPCONF_DISS2G (30)
#define TMC_CHOPCONF_DEDGE (29)
#define TMC_CHOPCONF_INTPOL (28)
#define TMC_CHOPCONF_MRES (24)
#define TMC_CHOPCONF_SYNC (20)
#define TMC_CHOPCONF_VHIGHCHM (19)
#define TMC_CHOPCONF_VHIGHFS (18)
#define TMC_CHOPCONF_VSENSE (17)
#define TMC_CHOPCONF_TBL (15)
#define TMC_CHOPCONF_CHM (14)
#define TMC_CHOPCONF_RNDTF (13)
#define TMC_CHOPCONF_DISFDCC (12)
#define TMC_CHOPCONF_FD (11)
#define TMC_CHOPCONF_HEND (7)
#define TMC_CHOPCONF_HSTRT (4)
#define TMC_CHOPCONF_TOFF (0)
// COOLCONF BIT OFFSETS
// for shifting incoming values to the right register position
#define TMC_COOLCONF_SFILT (24)
#define TMC_COOLCONF_SGT (16)
#define TMC_COOLCONF_SEIMIN (15)
#define TMC_COOLCONF_SEDN (13)
#define TMC_COOLCONF_SEMAX (8)
#define TMC_COOLCONF_SEUP (5)
#define TMC_COOLCONF_SEMIN (0)
// COOLCONF MASKS
// mask the bits from the values we want to set
const int TMC_COOLCONF_MASKS[] = {
0b1111UL, // 0 TMC_COOLCONF_SEMIN
0b111UL, // 1
0b11UL, // 2
0b1UL, // 3
0b0UL, // 4
0b11UL, // 5 TMC_COOLCONF_SEUP
0b1UL, // 6
0b0UL, // 7
0b1111UL, // 8 TMC_COOLCONF_SEMAX
0b111UL, // 9
0b11UL, // 10
0b1UL, // 11
0b0UL, // 12
0b11UL, // 13 TMC_COOLCONF_SEDN
0b1UL, // 14
0b1UL, // 15 TMC_COOLCONF_SEIMIN
0b1111111UL, // 16 TMC_COOLCONF_SGT
0b111111UL, // 17
0b11111UL, // 18
0b1111UL, // 19
0b111UL, // 20
0b11UL, // 21
0b1UL, // 22
0b0UL, // 23
0b1UL, // 24 TMC_COOLCONF_SFILT
};
// DCCTRL OFFSETS
// for shifting incoming values to the right register position
#define TMC_DCCTRL_DC_TIME (0)
#define TMC_DCCTRL_DC_SG (16)
// DCCTRL MASKS
// mask the bits from the values we want to set
#define TMC_DCCTRL_MASK (0b1111111111UL)
#define TMC_DCCTRL_DC_TIME_MASK (0b11111111UL)
#define TMC_DCCTRL_DC_SG_MASK (0b111111110000001111111111UL)
// PWMCONF OFFSETS
// for shifting incoming values to the right register position
#define TMC_PWMCONF_FREEWHEEL (20)
#define TMC_PWMCONF_PWM_SYMMETRIC (19)
#define TMC_PWMCONF_PWM_AUTOSCALE (18)
#define TMC_PWMCONF_PWM_FREQ (16)
#define TMC_PWMCONF_PWM_GRAD (8)
#define TMC_PWMCONF_PWM_AMPL (0)
// PWMCONF MASKS
// mask the bits from the values we want to set
const int TMC_PWMCONF_MASKS[] = {
0b11111111UL, // 0 TMC_PWMCONF_PWM_AMPL
0b1111111UL, // 1
0b111111UL, // 2
0b11111UL, // 3
0b1111UL, // 4
0b111UL, // 5
0b11UL, // 6
0b1UL, // 7
0b11111111UL, // 8 TMC_PWMCONF_PWM_GRAD
0b1111111UL, // 9
0b111111UL, // 10
0b11111UL, // 11
0b1111UL, // 12
0b111UL, // 13
0b11UL, // 14
0b1UL, // 15
0b11UL, // 16 TMC_PWMCONF_PWM_FREQ
0b1UL, // 17
0b1UL, // 18 TMC_PWMCONF_PWM_AUTOSCALE
0b1UL, // 19 TMC_PWMCONF_PWM_SYMMETRIC
0b11UL, // 20 TMC_PWMCONF_FREEWHEEL
0b1UL, // 21
};
// ENCM_CTRL MASK
// mask the bits from the values we want to set
#define TMC_ENCM_CTRL_MASK (0b11);
#endif // TRINAMIC_TMC2130_REGISTERS_H

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/**************************************************************************/
/*!
@file getting_started.ino
@author Moritz Walter
@license GPLv3 (see license.txt)
Demo of SPI configuration tool for Trinamic TMC2130 Motor Drivers
@section HISTORY
v0.1 - it works
*/
/**************************************************************************/
////////////////////
//
// HOW TO USE
//
////////////////////
// This tool uses hardware SPI
// Just wire the drivers to your SPI pins and define the CS pin below.
// Once flashed, the sketch sends a basic configuration to the driver and makes the motor spin.
#include <SPI.h>
#include <Trinamic_TMC2130.h>
// pin configuration (this is the X-axis on a standard RAMPS 1.4)
#define CS_PIN 21
#define EN_PIN 18 //enable (CFG6)
#define DIR_PIN 19 //direction
#define STEP_PIN 20 //step
Trinamic_TMC2130 myStepper(CS_PIN);
void setup(){
while (!Serial);
// pins
pinMode(EN_PIN, OUTPUT);
pinMode(DIR_PIN, OUTPUT);
pinMode(STEP_PIN, OUTPUT);
digitalWrite(EN_PIN, HIGH); // disable driver
digitalWrite(DIR_PIN, LOW); // chose direction
digitalWrite(STEP_PIN, LOW); // no step yet
digitalWrite(EN_PIN, LOW); // enable driver
// stepper
myStepper.init();
Serial.print("REG_IOIN: ");
uint32_t ioin = 0;
myStepper.read_REG(TMC_REG_IOIN, &ioin);
Serial.println(ioin, BIN);
if (ioin >> 24 != 0x11) {
Serial.println("SPI Communication failed or incompatible firmware");
while (true);
}
// verify connection
uint32_t chopconf;
myStepper.read_REG(TMC_REG_CHOPCONF, &chopconf);
chopconf = chopconf ^ 0x05;
myStepper.write_REG(TMC_REG_CHOPCONF, chopconf);
uint32_t chopconf_r;
myStepper.read_REG(TMC_REG_CHOPCONF, &chopconf_r);
if (chopconf != chopconf_r) {
Serial.println("Could not set CHOPCONF!!!");
Serial.print("Expected ");
Serial.print(chopconf);
Serial.print(" Got ");
Serial.print(chopconf_r);
while (true);
}
chopconf = chopconf ^ 0x05;
myStepper.write_REG(TMC_REG_CHOPCONF, chopconf);
//myStepper.set_mres(64); // ({1,2,4,8,16,32,64,128,256}) number of microsteps
//myStepper.set_IHOLD_IRUN(31,31,5); // ([0-31],[0-31],[0-5]) sets all currents to maximum
//myStepper.set_I_scale_analog(1); // ({0,1}) 0: I_REF internal, 1: sets I_REF to AIN
//myStepper.set_tbl(1); // ([0-3]) set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
myStepper.set_mres(128);
// myStepper.set_tbl(2);
// myStepper.set_chm(2);
// myStepper.set_toff(8); // ([0-15]) 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
myStepper.set_hstrt(0);
myStepper.set_hend(13);
myStepper.set_IHOLD_IRUN(1,15,15);
myStepper.set_I_scale_analog(1);
myStepper.set_sgt(127);
myStepper.set_TCOOLTHRS(1);
myStepper.set_TPWMTHRS(1);
myStepper.set_vhighchm(1);
myStepper.set_vhighfs(1);
myStepper.set_toff(8); // ([0-15]) 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
// enable dcStep mode
myStepper.set_VDCMIN(1);
myStepper.set_DCCTRL(70, 10);
// get ready
digitalWrite(EN_PIN, LOW); // enable driver
}
void loop(){
// make a step
digitalWrite(STEP_PIN, HIGH);
delayMicroseconds(23);
digitalWrite(STEP_PIN, LOW);
delayMicroseconds(23);
uint32_t drv_status = 0;
myStepper.read_REG(TMC_REG_DRV_STATUS, &drv_status);
uint32_t stallguard = drv_status & 0x1ff;
//Serial.println(stallguard);
uint32_t current = (drv_status >> 16) & 0x1f;
uint32_t lost_steps;
myStepper.read_REG(TMC_REG_LOST_STEPS, &lost_steps);
static int i = 0;
if ((i++ % 1000) == 0) {
Serial.print("Lost Steps: ");
Serial.println(lost_steps);
}
//Serial.println(myStepper.debug());
//Serial.println((myStepper.isReset() ? "RESET " : "----- "));
//Serial.println((myStepper.isError() ? "ERROR " : "----- "));
//Serial.println((myStepper.isStallguard() ? "SLGRD " : "----- "));
//Serial.println((myStepper.isStandstill() ? "STILL " : "----- "));
}