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- #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 uint32_t tmc2130_sg_meassure_cnt;
- extern uint32_t tmc2130_sg_meassure_val;
- extern uint8_t tmc2130_sg_homing_axes_mask;
- #define TMC2130_MODE_NORMAL 0
- #define TMC2130_MODE_SILENT 1
- #define TMC2130_WAVE_FAC1000_MIN 30
- #define TMC2130_WAVE_FAC1000_MAX 200
- #define TMC2130_WAVE_FAC1000_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];
- #pragma pack(push)
- #pragma pack(1)
- typedef struct
- {
- uint8_t toff:4;
- uint8_t hstr:3;
- uint8_t hend:4;
- uint8_t tbl:2;
- uint8_t res:3;
- } tmc2130_chopper_config_t;
- #pragma pack(pop)
- extern tmc2130_chopper_config_t tmc2130_chopper_config[4];
- //initialize tmc2130
- extern void tmc2130_init();
- //check diag pins (called from stepper isr)
- extern void tmc2130_st_isr();
- //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();
- extern void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
- //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 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 fac1000);
- extern bool tmc2130_home_calibrate(uint8_t axis);
- extern uint8_t tmc2130_cur2val(float cur);
- extern float tmc2130_val2cur(uint8_t val);
- #endif //TMC2130_H
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