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TMCStepper.h
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#pragma once
//#define TMCDEBUG
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#pragma GCC diagnostic ignored "-Wunused-variable"
#include "TMC_Stepper/TMC_HAL.h"
#pragma GCC diagnostic pop
#include "TMC_Stepper/TMC2660_bitfields.h"
#include "TMC_Stepper/interfaces/TMC2130.hpp"
#include "TMC_Stepper/interfaces/TMC2160.hpp"
#include "TMC_Stepper/interfaces/TMC5130.hpp"
#include "TMC_Stepper/interfaces/TMC5160.hpp"
#include "TMC_Stepper/interfaces/TMC2208.hpp"
#include "TMC_Stepper/interfaces/TMC2209.hpp"
#include "TMC_Stepper/interfaces/TMC2300.hpp"
#define TMCSTEPPER_VERSION 0x000703 // v0.7.3
struct TMC2130Stepper;
struct TMC2160Stepper;
struct TMC5130Stepper;
struct TMC5160Stepper;
struct TMC2208Stepper;
struct TMC2209Stepper;
struct TMC2300Stepper;
#include "TMC_Stepper/TMC_SPI.hpp"
#include "TMC_Stepper/TMC_UART.hpp"
template<typename TYPE>
class TMCStepper {
public:
uint8_t test_connection();
// Helper functions
uint8_t microsteps2mres(const uint16_t ms);
uint16_t mres2microsteps(const uint8_t mres);
void microsteps(const uint16_t ms);
uint16_t microsteps();
void blank_time(const uint8_t value);
uint8_t blank_time();
void hysteresis_end(const int8_t value) {
self().hend(value+3);
}
int8_t hysteresis_end() {
return self().hend()-3;
}
void hysteresis_start(const uint8_t value) {
self().hstrt(value-1);
}
uint8_t hysteresis_start() {
return self().hstrt()+1;
}
private:
TYPE& self() { return *static_cast<TYPE*>(this); }
};
namespace TMC2130_n {
template<class T>
struct TMC_RMS {
uint16_t cs2rms(const uint8_t CS);
void rms_current(const uint16_t mA);
void rms_current(const uint16_t mA, const float mult) {
hold_multiplier(mult);
rms_current(mA);
}
uint16_t rms_current() {
return cs2rms(self().irun());
}
void hold_multiplier(const float val) { holdMultiplier = val*255; }
float hold_multiplier() const { return (holdMultiplier+0.5)/255.0; }
protected:
TMC_RMS(const float RS) : Rsense(RS*255) {};
T& self() { return *static_cast<T*>(this); }
const uint8_t Rsense;
uint8_t holdMultiplier = 127;
};
}
namespace TMC2160_n {
template<class T>
struct TMC_RMS {
uint16_t cs2rms(const uint8_t CS);
void rms_current(const uint16_t mA);
void rms_current(const uint16_t mA, float mult) {
hold_multiplier(mult);
rms_current(mA);
}
uint16_t rms_current() {
return cs2rms(self().irun());
}
void hold_multiplier(const float val) { holdMultiplier = val*255; }
float hold_multiplier() const { return (holdMultiplier+0.5)/255.0; }
protected:
TMC_RMS(const float RS) : Rsense(RS*255) {};
T& self() { return *static_cast<T*>(this); }
const uint8_t Rsense;
uint8_t holdMultiplier = 127;
};
}
namespace TMC2300_n {
template<class T>
struct TMC_RMS {
uint16_t cs2rms(const uint8_t CS);
void rms_current(const uint16_t mA);
void rms_current(const uint16_t mA, float mult) {
hold_multiplier(mult);
rms_current(mA);
}
uint16_t rms_current() {
return cs2rms(self().irun());
}
void hold_multiplier(const float val) { holdMultiplier = val*255; }
float hold_multiplier() const { return (holdMultiplier+0.5)/255.0; }
protected:
TMC_RMS(const float RS) : Rsense(RS*255) {};
T& self() { return *static_cast<T*>(this); }
const uint8_t Rsense;
uint8_t holdMultiplier = 127;
};
}
namespace TMC5130_n { using TMC2130_n::TMC_RMS; }
namespace TMC5160_n { using TMC2160_n::TMC_RMS; }
namespace TMC2208_n { using TMC2130_n::TMC_RMS; }
namespace TMC2209_n { using TMC2130_n::TMC_RMS; }
#include "TMC_Stepper/interfaces/TMCStepper.hpp"
class TMC2130Stepper :
public TMCStepper_n::TMC_SPI,
public TMCStepper<TMC2130Stepper>,
public TMC2130_n::TMC_RMS<TMC2130Stepper>,
public TMC2130_n::GCONF_i<TMC2130Stepper>,
public TMC2130_n::GSTAT_i<TMC2130Stepper>,
public TMC2130_n::IOIN_i<TMC2130Stepper>,
public TMC2130_n::IHOLD_IRUN_i<TMC2130Stepper>,
public TMC2130_n::TPOWERDOWN_i<TMC2130Stepper>,
public TMC2130_n::TSTEP_i<TMC2130Stepper>,
public TMC2130_n::TPWMTHRS_i<TMC2130Stepper>,
public TMC2130_n::TCOOLTHRS_i<TMC2130Stepper>,
public TMC2130_n::THIGH_i<TMC2130Stepper>,
public TMC2130_n::XDIRECT_i<TMC2130Stepper>,
public TMC2130_n::VDCMIN_i<TMC2130Stepper>,
public TMC2130_n::MSLUTSEL_i<TMC2130Stepper>,
public TMC2130_n::MSLUTSTART_i<TMC2130Stepper>,
public TMC2130_n::MSCNT_i<TMC2130Stepper>,
public TMC2130_n::MSCURACT_i<TMC2130Stepper>,
public TMC2130_n::CHOPCONF_i<TMC2130Stepper>,
public TMC2130_n::COOLCONF_i<TMC2130Stepper>,
public TMC2130_n::DCCTRL_i<TMC2130Stepper>,
public TMC2130_n::DRV_STATUS_i<TMC2130Stepper>,
public TMC2130_n::PWMCONF_i<TMC2130Stepper>,
public TMC2130_n::PWM_SCALE_i<TMC2130Stepper>,
public TMC2130_n::ENCM_CTRL_i<TMC2130Stepper>,
public TMC2130_n::LOST_STEPS_i<TMC2130Stepper>
{
public:
TMC2130Stepper(SPIClass &spi, TMC_HAL::PinDef cs, const float RS, const int8_t link_index = -1);
TMC2130Stepper(SW_SPIClass &spi, TMC_HAL::PinDef cs, const float RS, const int8_t link_index = -1);
void begin();
void defaults();
void resetLibCache();
bool isEnabled() { return CHOPCONF_i::toff() && !IOIN_i::drv_enn_cfg6(); }
void push();
// Helper functions
void sg_current_decrease(const uint8_t value);
uint8_t sg_current_decrease();
// Can be accessed for a common default value
static constexpr float default_RS = 0.11;
// Deleted functions
__attribute__((deprecated("Please provide a sense resistor value")))
TMC2130Stepper(TMC_HAL::PinDef, TMC_HAL::PinDef, TMC_HAL::PinDef, TMC_HAL::PinDef, const int8_t link_index = -1) = delete;
__attribute__((deprecated("Please provide a sense resistor value")))
TMC2130Stepper(TMC_HAL::PinDef) = delete;
using GCONF_t = TMC2130_n::GCONF_t;
using GSTAT_t = TMC2130_n::GSTAT_t;
using IOIN_t = TMC2130_n::IOIN_t;
using IHOLD_IRUN_t = TMC2130_n::IHOLD_IRUN_t;
using TPOWERDOWN_t = TMC2130_n::TPOWERDOWN_t;
using TSTEP_t = TMC2130_n::TSTEP_t;
using TPWMTHRS_t = TMC2130_n::TPWMTHRS_t;
using TCOOLTHRS_t = TMC2130_n::TCOOLTHRS_t;
using THIGH_t = TMC2130_n::THIGH_t;
using XDIRECT_t = TMC2130_n::XDIRECT_t;
using VDCMIN_t = TMC2130_n::VDCMIN_t;
using MSLUT0_t = TMC2130_n::MSLUT0_t;
using MSLUT1_t = TMC2130_n::MSLUT1_t;
using MSLUT2_t = TMC2130_n::MSLUT2_t;
using MSLUT3_t = TMC2130_n::MSLUT3_t;
using MSLUT4_t = TMC2130_n::MSLUT4_t;
using MSLUT5_t = TMC2130_n::MSLUT5_t;
using MSLUT6_t = TMC2130_n::MSLUT6_t;
using MSLUT7_t = TMC2130_n::MSLUT7_t;
using MSLUTSEL_t = TMC2130_n::MSLUTSEL_t;
using MSLUTSTART_t = TMC2130_n::MSLUTSTART_t;
using MSCNT_t = TMC2130_n::MSCNT_t;
using MSCURACT_t = TMC2130_n::MSCURACT_t;
using CHOPCONF_t = TMC2130_n::CHOPCONF_t;
using COOLCONF_t = TMC2130_n::COOLCONF_t;
using DCCTRL_t = TMC2130_n::DCCTRL_t;
using DRV_STATUS_t = TMC2130_n::DRV_STATUS_t;
using PWMCONF_t = TMC2130_n::PWMCONF_t;
using PWM_SCALE_t = TMC2130_n::PWM_SCALE_t;
using ENCM_CTRL_t = TMC2130_n::ENCM_CTRL_t;
using LOST_STEPS_t = TMC2130_n::LOST_STEPS_t;
};
class TMC2160Stepper :
public TMCStepper_n::TMC_SPI,
public TMCStepper<TMC2160Stepper>,
public TMC2160_n::TMC_RMS<TMC2160Stepper>,
public TMC2160_n::GCONF_i<TMC2160Stepper>,
public TMC2160_n::GSTAT_i<TMC2160Stepper>,
public TMC2160_n::IOIN_i<TMC2160Stepper>,
public TMC2160_n::IHOLD_IRUN_i<TMC2160Stepper>,
public TMC2160_n::TPOWERDOWN_i<TMC2160Stepper>,
public TMC2160_n::TSTEP_i<TMC2160Stepper>,
public TMC2160_n::TPWMTHRS_i<TMC2160Stepper>,
public TMC2160_n::TCOOLTHRS_i<TMC2160Stepper>,
public TMC2160_n::THIGH_i<TMC2160Stepper>,
public TMC2160_n::XDIRECT_i<TMC2160Stepper>,
public TMC2160_n::VDCMIN_i<TMC2160Stepper>,
public TMC2160_n::MSLUTSEL_i<TMC2160Stepper>,
public TMC2160_n::MSLUTSTART_i<TMC2160Stepper>,
public TMC2160_n::MSCNT_i<TMC2160Stepper>,
public TMC2160_n::MSCURACT_i<TMC2160Stepper>,
public TMC2160_n::CHOPCONF_i<TMC2160Stepper>,
public TMC2160_n::COOLCONF_i<TMC2160Stepper>,
public TMC2160_n::DCCTRL_i<TMC2160Stepper>,
public TMC2160_n::DRV_STATUS_i<TMC2160Stepper>,
public TMC2160_n::PWMCONF_i<TMC2160Stepper>,
public TMC2160_n::ENCM_CTRL_i<TMC2160Stepper>,
public TMC2160_n::LOST_STEPS_i<TMC2160Stepper>,
public TMC2160_n::SHORT_CONF_i<TMC2160Stepper>,
public TMC2160_n::DRV_CONF_i<TMC2160Stepper>,
public TMC2160_n::GLOBAL_SCALER_i<TMC2160Stepper>,
public TMC2160_n::OFFSET_READ_i<TMC2160Stepper>,
public TMC2160_n::PWM_SCALE_i<TMC2160Stepper>
{
public:
TMC2160Stepper(SPIClass &spi, TMC_HAL::PinDef pinCS, const float RS, const int8_t link_index = -1);
TMC2160Stepper(SW_SPIClass &spi, TMC_HAL::PinDef pinCS, const float RS, const int8_t link_index = -1);
void begin();
void defaults();
void resetLibCache();
void push();
bool isEnabled() { return CHOPCONF_i::toff() && !IOIN_i::drv_enn(); }
// Deleted functions
__attribute__((deprecated("Please provide a sense resistor value")))
TMC2160Stepper(TMC_HAL::PinDef, TMC_HAL::PinDef, TMC_HAL::PinDef, TMC_HAL::PinDef, const int8_t link_index = -1) = delete;
static constexpr float default_RS = 0.075;
using GCONF_t = TMC2160_n::GCONF_t;
using GSTAT_t = TMC2160_n::GSTAT_t;
using IOIN_t = TMC2160_n::IOIN_t;
using IHOLD_IRUN_t = TMC2160_n::IHOLD_IRUN_t;
using TPOWERDOWN_t = TMC2160_n::TPOWERDOWN_t;
using TSTEP_t = TMC2160_n::TSTEP_t;
using TPWMTHRS_t = TMC2160_n::TPWMTHRS_t;
using TCOOLTHRS_t = TMC2160_n::TCOOLTHRS_t;
using THIGH_t = TMC2160_n::THIGH_t;
using XDIRECT_t = TMC2160_n::XDIRECT_t;
using VDCMIN_t = TMC2160_n::VDCMIN_t;
using MSLUTSEL_t = TMC2160_n::MSLUTSEL_t;
using MSLUTSTART_t = TMC2160_n::MSLUTSTART_t;
using MSCNT_t = TMC2160_n::MSCNT_t;
using MSCURACT_t = TMC2160_n::MSCURACT_t;
using CHOPCONF_t = TMC2160_n::CHOPCONF_t;
using COOLCONF_t = TMC2160_n::COOLCONF_t;
using DCCTRL_t = TMC2160_n::DCCTRL_t;
using DRV_STATUS_t = TMC2160_n::DRV_STATUS_t;
using PWMCONF_t = TMC2160_n::PWMCONF_t;
using ENCM_CTRL_t = TMC2160_n::ENCM_CTRL_t;
using LOST_STEPS_t = TMC2160_n::LOST_STEPS_t;
using SHORT_CONF_t = TMC2160_n::SHORT_CONF_t;
using DRV_CONF_t = TMC2160_n::DRV_CONF_t;
using GLOBAL_SCALER_t = TMC2160_n::GLOBAL_SCALER_t;
using OFFSET_READ_t = TMC2160_n::OFFSET_READ_t;
using PWM_SCALE_t = TMC2160_n::PWM_SCALE_t;
};
class TMC5130Stepper :
public TMCStepper_n::TMC_SPI,
public TMCStepper<TMC5130Stepper>,
public TMC5130_n::TMC_RMS <TMC5130Stepper>,
public TMC5130_n::GCONF_i <TMC5130Stepper>,
public TMC5130_n::GSTAT_i <TMC5130Stepper>,
public TMC5130_n::IFCNT_i <TMC5130Stepper>,
public TMC5130_n::SLAVECONF_i <TMC5130Stepper>,
public TMC5130_n::IOIN_i <TMC5130Stepper>,
public TMC5130_n::OUTPUT_i <TMC5130Stepper>,
public TMC5130_n::X_COMPARE_i <TMC5130Stepper>,
public TMC5130_n::IHOLD_IRUN_i <TMC5130Stepper>,
public TMC5130_n::TPOWERDOWN_i <TMC5130Stepper>,
public TMC5130_n::TSTEP_i <TMC5130Stepper>,
public TMC5130_n::TPWMTHRS_i <TMC5130Stepper>,
public TMC5130_n::TCOOLTHRS_i <TMC5130Stepper>,
public TMC5130_n::THIGH_i <TMC5130Stepper>,
public TMC5130_n::RAMPMODE_i <TMC5130Stepper>,
public TMC5130_n::XACTUAL_i <TMC5130Stepper>,
public TMC5130_n::VACTUAL_i <TMC5130Stepper>,
public TMC5130_n::VSTART_i <TMC5130Stepper>,
public TMC5130_n::A1_i <TMC5130Stepper>,
public TMC5130_n::V1_i <TMC5130Stepper>,
public TMC5130_n::AMAX_i <TMC5130Stepper>,
public TMC5130_n::VMAX_i <TMC5130Stepper>,
public TMC5130_n::DMAX_i <TMC5130Stepper>,
public TMC5130_n::D1_i <TMC5130Stepper>,
public TMC5130_n::VSTOP_i <TMC5130Stepper>,
public TMC5130_n::TZEROWAIT_i <TMC5130Stepper>,
public TMC5130_n::XTARGET_i <TMC5130Stepper>,
public TMC5130_n::VDCMIN_i <TMC5130Stepper>,
public TMC5130_n::SW_MODE_i <TMC5130Stepper>,
public TMC5130_n::RAMP_STAT_i <TMC5130Stepper>,
public TMC5130_n::XLATCH_i <TMC5130Stepper>,
public TMC5130_n::ENCMODE_i <TMC5130Stepper>,
public TMC5130_n::X_ENC_i <TMC5130Stepper>,
public TMC5130_n::ENC_CONST_i <TMC5130Stepper>,
public TMC5130_n::ENC_STATUS_i <TMC5130Stepper>,
public TMC5130_n::ENC_LATCH_i <TMC5130Stepper>,
public TMC5130_n::MSLUT0_i <TMC5130Stepper>,
public TMC5130_n::MSLUT1_i <TMC5130Stepper>,
public TMC5130_n::MSLUT2_i <TMC5130Stepper>,
public TMC5130_n::MSLUT3_i <TMC5130Stepper>,
public TMC5130_n::MSLUT4_i <TMC5130Stepper>,
public TMC5130_n::MSLUT5_i <TMC5130Stepper>,
public TMC5130_n::MSLUT6_i <TMC5130Stepper>,
public TMC5130_n::MSLUT7_i <TMC5130Stepper>,
public TMC5130_n::MSLUTSEL_i <TMC5130Stepper>,
public TMC5130_n::MSLUTSTART_i <TMC5130Stepper>,
public TMC5130_n::MSCNT_i <TMC5130Stepper>,
public TMC5130_n::MSCURACT_i <TMC5130Stepper>,
public TMC5130_n::CHOPCONF_i <TMC5130Stepper>,
public TMC5130_n::COOLCONF_i <TMC5130Stepper>,
public TMC5130_n::DCCTRL_i <TMC5130Stepper>,
public TMC5130_n::DRV_STATUS_i <TMC5130Stepper>,
public TMC5130_n::PWMCONF_i <TMC5130Stepper>,
public TMC5130_n::PWM_SCALE_i <TMC5130Stepper>,
public TMC5130_n::ENCM_CTRL_i <TMC5130Stepper>,
public TMC5130_n::LOST_STEPS_i <TMC5130Stepper>
{
public:
TMC5130Stepper(SPIClass &spi, TMC_HAL::PinDef pinCS, const float RS, const int8_t link_index = -1);
TMC5130Stepper(SW_SPIClass &spi, TMC_HAL::PinDef pinCS, const float RS, const int8_t link_index = -1);
void begin();
void defaults();
void resetLibCache();
void push();
bool isEnabled() { return CHOPCONF_i::toff() && !IOIN_i::drv_enn_cfg6(); }
__attribute__((deprecated("Please provide a sense resistor value")))
TMC5130Stepper(TMC_HAL::PinDef, TMC_HAL::PinDef, TMC_HAL::PinDef, TMC_HAL::PinDef, const int8_t link_index = -1) = delete;
static constexpr float default_RS = 0.15;
using GCONF_t = TMC5130_n::GCONF_t;
using GSTAT_t = TMC5130_n::GSTAT_t;
using IFCNT_t = TMC5130_n::IFCNT_t;
using SLAVECONF_t = TMC5130_n::SLAVECONF_t;
using IOIN_t = TMC5130_n::IOIN_t;
using OUTPUT_t = TMC5130_n::OUTPUT_t;
using X_COMPARE_t = TMC5130_n::X_COMPARE_t;
using IHOLD_IRUN_t = TMC5130_n::IHOLD_IRUN_t;
using TPOWERDOWN_t = TMC5130_n::TPOWERDOWN_t;
using TSTEP_t = TMC5130_n::TSTEP_t;
using TPWMTHRS_t = TMC5130_n::TPWMTHRS_t;
using TCOOLTHRS_t = TMC5130_n::TCOOLTHRS_t;
using THIGH_t = TMC5130_n::THIGH_t;
using RAMPMODE_t = TMC5130_n::RAMPMODE_t;
using XACTUAL_t = TMC5130_n::XACTUAL_t;
using VACTUAL_t = TMC5130_n::VACTUAL_t;
using VSTART_t = TMC5130_n::VSTART_t;
using A1_t = TMC5130_n::A1_t;
using V1_t = TMC5130_n::V1_t;
using AMAX_t = TMC5130_n::AMAX_t;
using VMAX_t = TMC5130_n::VMAX_t;
using DMAX_t = TMC5130_n::DMAX_t;
using D1_t = TMC5130_n::D1_t;
using VSTOP_t = TMC5130_n::VSTOP_t;
using TZEROWAIT_t = TMC5130_n::TZEROWAIT_t;
using XTARGET_t = TMC5130_n::XTARGET_t;
using VDCMIN_t = TMC5130_n::VDCMIN_t;
using SW_MODE_t = TMC5130_n::SW_MODE_t;
using RAMP_STAT_t = TMC5130_n::RAMP_STAT_t;
using XLATCH_t = TMC5130_n::XLATCH_t;
using ENCMODE_t = TMC5130_n::ENCMODE_t;
using X_ENC_t = TMC5130_n::X_ENC_t;
using ENC_CONST_t = TMC5130_n::ENC_CONST_t;
using ENC_STATUS_t = TMC5130_n::ENC_STATUS_t;
using ENC_LATCH_t = TMC5130_n::ENC_LATCH_t;
using MSLUT0_t = TMC5130_n::MSLUT0_t;
using MSLUT1_t = TMC5130_n::MSLUT1_t;
using MSLUT2_t = TMC5130_n::MSLUT2_t;
using MSLUT3_t = TMC5130_n::MSLUT3_t;
using MSLUT4_t = TMC5130_n::MSLUT4_t;
using MSLUT5_t = TMC5130_n::MSLUT5_t;
using MSLUT6_t = TMC5130_n::MSLUT6_t;
using MSLUT7_t = TMC5130_n::MSLUT7_t;
using MSLUTSEL_t = TMC5130_n::MSLUTSEL_t;
using MSLUTSTART_t = TMC5130_n::MSLUTSTART_t;
using MSCNT_t = TMC5130_n::MSCNT_t;
using MSCURACT_t = TMC5130_n::MSCURACT_t;
using CHOPCONF_t = TMC5130_n::CHOPCONF_t;
using COOLCONF_t = TMC5130_n::COOLCONF_t;
using DCCTRL_t = TMC5130_n::DCCTRL_t;
using DRV_STATUS_t = TMC5130_n::DRV_STATUS_t;
using PWMCONF_t = TMC5130_n::PWMCONF_t;
using PWM_SCALE_t = TMC5130_n::PWM_SCALE_t;
using ENCM_CTRL_t = TMC5130_n::ENCM_CTRL_t;
using LOST_STEPS_t = TMC5130_n::LOST_STEPS_t;
};
class TMC5160Stepper :
public TMCStepper_n::TMC_SPI,
public TMCStepper<TMC5160Stepper>,
public TMC5160_n::TMC_RMS <TMC5160Stepper>,
public TMC5160_n::GCONF_i <TMC5160Stepper>,
public TMC5160_n::GSTAT_i <TMC5160Stepper>,
public TMC5160_n::IFCNT_i <TMC5160Stepper>,
public TMC5160_n::SLAVECONF_i <TMC5160Stepper>,
public TMC5160_n::IOIN_i <TMC5160Stepper>,
public TMC5160_n::OUTPUT_i <TMC5160Stepper>,
public TMC5160_n::X_COMPARE_i <TMC5160Stepper>,
public TMC5160_n::OTP_PROG_i <TMC5160Stepper>,
public TMC5160_n::OTP_READ_i <TMC5160Stepper>,
public TMC5160_n::FACTORY_CONF_i <TMC5160Stepper>,
public TMC5160_n::SHORT_CONF_i <TMC5160Stepper>,
public TMC5160_n::DRV_CONF_i <TMC5160Stepper>,
public TMC5160_n::GLOBAL_SCALER_i <TMC5160Stepper>,
public TMC5160_n::OFFSET_READ_i <TMC5160Stepper>,
public TMC5160_n::IHOLD_IRUN_i <TMC5160Stepper>,
public TMC5160_n::TPOWERDOWN_i <TMC5160Stepper>,
public TMC5160_n::TSTEP_i <TMC5160Stepper>,
public TMC5160_n::TPWMTHRS_i <TMC5160Stepper>,
public TMC5160_n::TCOOLTHRS_i <TMC5160Stepper>,
public TMC5160_n::THIGH_i <TMC5160Stepper>,
public TMC5160_n::RAMPMODE_i <TMC5160Stepper>,
public TMC5160_n::XACTUAL_i <TMC5160Stepper>,
public TMC5160_n::VACTUAL_i <TMC5160Stepper>,
public TMC5160_n::VSTART_i <TMC5160Stepper>,
public TMC5160_n::A1_i <TMC5160Stepper>,
public TMC5160_n::V1_i <TMC5160Stepper>,
public TMC5160_n::AMAX_i <TMC5160Stepper>,
public TMC5160_n::VMAX_i <TMC5160Stepper>,
public TMC5160_n::DMAX_i <TMC5160Stepper>,
public TMC5160_n::D1_i <TMC5160Stepper>,
public TMC5160_n::VSTOP_i <TMC5160Stepper>,
public TMC5160_n::TZEROWAIT_i <TMC5160Stepper>,
public TMC5160_n::XTARGET_i <TMC5160Stepper>,
public TMC5160_n::VDCMIN_i <TMC5160Stepper>,
public TMC5160_n::SW_MODE_i <TMC5160Stepper>,
public TMC5160_n::RAMP_STAT_i <TMC5160Stepper>,
public TMC5160_n::XLATCH_i <TMC5160Stepper>,
public TMC5160_n::ENCMODE_i <TMC5160Stepper>,
public TMC5160_n::X_ENC_i <TMC5160Stepper>,
public TMC5160_n::ENC_CONST_i <TMC5160Stepper>,
public TMC5160_n::ENC_STATUS_i <TMC5160Stepper>,
public TMC5160_n::ENC_LATCH_i <TMC5160Stepper>,
public TMC5160_n::ENC_DEVIATION_i <TMC5160Stepper>,
public TMC5160_n::MSLUT0_i <TMC5160Stepper>,
public TMC5160_n::MSLUT1_i <TMC5160Stepper>,
public TMC5160_n::MSLUT2_i <TMC5160Stepper>,
public TMC5160_n::MSLUT3_i <TMC5160Stepper>,
public TMC5160_n::MSLUT4_i <TMC5160Stepper>,
public TMC5160_n::MSLUT5_i <TMC5160Stepper>,
public TMC5160_n::MSLUT6_i <TMC5160Stepper>,
public TMC5160_n::MSLUT7_i <TMC5160Stepper>,
public TMC5160_n::MSLUTSEL_i <TMC5160Stepper>,
public TMC5160_n::MSLUTSTART_i <TMC5160Stepper>,
public TMC5160_n::MSCNT_i <TMC5160Stepper>,
public TMC5160_n::MSCURACT_i <TMC5160Stepper>,
public TMC5160_n::CHOPCONF_i <TMC5160Stepper>,
public TMC5160_n::COOLCONF_i <TMC5160Stepper>,
public TMC5160_n::DCCTRL_i <TMC5160Stepper>,
public TMC5160_n::DRV_STATUS_i <TMC5160Stepper>,
public TMC5160_n::PWMCONF_i <TMC5160Stepper>,
public TMC5160_n::PWM_SCALE_i <TMC5160Stepper>,
public TMC5160_n::PWM_AUTO_i <TMC5160Stepper>,
public TMC5160_n::LOST_STEPS_i <TMC5160Stepper>
{
public:
TMC5160Stepper(SPIClass &spi, TMC_HAL::PinDef pinCS, const float RS, const int8_t link_index = -1);
TMC5160Stepper(SW_SPIClass &spi, TMC_HAL::PinDef pinCS, const float RS, const int8_t link_index = -1);
void begin();
void defaults();
void resetLibCache();
void push();
bool isEnabled() { return CHOPCONF_i::toff() && !IOIN_i::drv_enn(); }
__attribute__((deprecated("Please provide a sense resistor value")))
TMC5160Stepper(TMC_HAL::PinDef, TMC_HAL::PinDef, TMC_HAL::PinDef, TMC_HAL::PinDef, const int8_t link_index = -1) = delete;
static constexpr float default_RS = 0.075;
using GCONF_t = TMC5160_n::GCONF_t;
using GSTAT_t = TMC5160_n::GSTAT_t;
using IFCNT_t = TMC5160_n::IFCNT_t;
using SLAVECONF_t = TMC5160_n::SLAVECONF_t;
using IOIN_t = TMC5160_n::IOIN_t;
using OUTPUT_t = TMC5160_n::OUTPUT_t;
using X_COMPARE_t = TMC5160_n::X_COMPARE_t;
using OTP_PROG_t = TMC5160_n::OTP_PROG_t;
using OTP_READ_t = TMC5160_n::OTP_READ_t;
using FACTORY_CONF_t = TMC5160_n::FACTORY_CONF_t;
using SHORT_CONF_t = TMC5160_n::SHORT_CONF_t;
using DRV_CONF_t = TMC5160_n::DRV_CONF_t;
using GLOBAL_SCALER_t = TMC5160_n::GLOBAL_SCALER_t;
using OFFSET_READ_t = TMC5160_n::OFFSET_READ_t;
using IHOLD_IRUN_t = TMC5160_n::IHOLD_IRUN_t;
using TPOWERDOWN_t = TMC5160_n::TPOWERDOWN_t;
using TSTEP_t = TMC5160_n::TSTEP_t;
using TPWMTHRS_t = TMC5160_n::TPWMTHRS_t;
using TCOOLTHRS_t = TMC5160_n::TCOOLTHRS_t;
using THIGH_t = TMC5160_n::THIGH_t;
using RAMPMODE_t = TMC5160_n::RAMPMODE_t;
using XACTUAL_t = TMC5160_n::XACTUAL_t;
using VACTUAL_t = TMC5160_n::VACTUAL_t;
using VSTART_t = TMC5160_n::VSTART_t;
using A1_t = TMC5160_n::A1_t;
using V1_t = TMC5160_n::V1_t;
using AMAX_t = TMC5160_n::AMAX_t;
using VMAX_t = TMC5160_n::VMAX_t;
using DMAX_t = TMC5160_n::DMAX_t;
using D1_t = TMC5160_n::D1_t;
using VSTOP_t = TMC5160_n::VSTOP_t;
using TZEROWAIT_t = TMC5160_n::TZEROWAIT_t;
using XTARGET_t = TMC5160_n::XTARGET_t;
using VDCMIN_t = TMC5160_n::VDCMIN_t;
using SW_MODE_t = TMC5160_n::SW_MODE_t;
using RAMP_STAT_t = TMC5160_n::RAMP_STAT_t;
using XLATCH_t = TMC5160_n::XLATCH_t;
using ENCMODE_t = TMC5160_n::ENCMODE_t;
using X_ENC_t = TMC5160_n::X_ENC_t;
using ENC_CONST_t = TMC5160_n::ENC_CONST_t;
using ENC_STATUS_t = TMC5160_n::ENC_STATUS_t;
using ENC_LATCH_t = TMC5160_n::ENC_LATCH_t;
using ENC_DEVIATION_t = TMC5160_n::ENC_DEVIATION_t;
using MSLUT0_t = TMC5160_n::MSLUT0_t;
using MSLUT1_t = TMC5160_n::MSLUT1_t;
using MSLUT2_t = TMC5160_n::MSLUT2_t;
using MSLUT3_t = TMC5160_n::MSLUT3_t;
using MSLUT4_t = TMC5160_n::MSLUT4_t;
using MSLUT5_t = TMC5160_n::MSLUT5_t;
using MSLUT6_t = TMC5160_n::MSLUT6_t;
using MSLUT7_t = TMC5160_n::MSLUT7_t;
using MSLUTSEL_t = TMC5160_n::MSLUTSEL_t;
using MSLUTSTART_t = TMC5160_n::MSLUTSTART_t;
using MSCNT_t = TMC5160_n::MSCNT_t;
using MSCURACT_t = TMC5160_n::MSCURACT_t;
using CHOPCONF_t = TMC5160_n::CHOPCONF_t;
using COOLCONF_t = TMC5160_n::COOLCONF_t;
using DCCTRL_t = TMC5160_n::DCCTRL_t;
using DRV_STATUS_t = TMC5160_n::DRV_STATUS_t;
using PWMCONF_t = TMC5160_n::PWMCONF_t;
using PWM_SCALE_t = TMC5160_n::PWM_SCALE_t;
using PWM_AUTO_t = TMC5160_n::PWM_AUTO_t;
using LOST_STEPS_t = TMC5160_n::LOST_STEPS_t;
};
typedef TMC5160Stepper TMC5161Stepper;
class TMC2208Stepper :
public TMC_HAL::TMC_UART,
public TMCStepper<TMC2208Stepper>,
public TMC2208_n::TMC_RMS<TMC2208Stepper>,
public TMC2208_n::GCONF_i<TMC2208Stepper>,
public TMC2208_n::GSTAT_i<TMC2208Stepper>,
public TMC2208_n::IFCNT_i<TMC2208Stepper>,
public TMC2208_n::SLAVECONF_i<TMC2208Stepper>,
public TMC2208_n::OTP_PROG_i<TMC2208Stepper>,
public TMC2208_n::OTP_READ_i<TMC2208Stepper>,
public TMC2208_n::IOIN_i<TMC2208Stepper>,
public TMC2208_n::FACTORY_CONF_i<TMC2208Stepper>,
public TMC2208_n::IHOLD_IRUN_i<TMC2208Stepper>,
public TMC2208_n::TPOWERDOWN_i<TMC2208Stepper>,
public TMC2208_n::TSTEP_i<TMC2208Stepper>,
public TMC2208_n::TPWMTHRS_i<TMC2208Stepper>,
public TMC2208_n::VACTUAL_i<TMC2208Stepper>,
public TMC2208_n::MSCNT_i<TMC2208Stepper>,
public TMC2208_n::MSCURACT_i<TMC2208Stepper>,
public TMC2208_n::CHOPCONF_i<TMC2208Stepper>,
public TMC2208_n::DRV_STATUS_i<TMC2208Stepper>,
public TMC2208_n::PWMCONF_i<TMC2208Stepper>,
public TMC2208_n::PWM_SCALE_i<TMC2208Stepper>,
public TMC2208_n::PWM_AUTO_i<TMC2208Stepper>
{
public:
TMC2208Stepper(HardwareSerial &SerialPort, const float RS, uint8_t addr, TMC_HAL::SSwitch &sswitch);
TMC2208Stepper(HardwareSerial &SerialPort, const float RS);
#if SW_CAPABLE_PLATFORM
TMC2208Stepper(SoftwareSerial &ser, const float RS);
#endif
void defaults();
void resetLibCache();
void push();
void begin(const uint32_t baud = 19200);
bool isEnabled() { return CHOPCONF_i::toff() && !IOIN_i::enn(); }
using GCONF_t = TMC2208_n::GCONF_t;
using GSTAT_t = TMC2208_n::GSTAT_t;
using IFCNT_t = TMC2208_n::IFCNT_t;
using SLAVECONF_t = TMC2208_n::SLAVECONF_t;
using OTP_PROG_t = TMC2208_n::OTP_PROG_t;
using OTP_READ_t = TMC2208_n::OTP_READ_t;
using IOIN_t = TMC2208_n::IOIN_t;
using FACTORY_CONF_t = TMC2208_n::FACTORY_CONF_t;
using IHOLD_IRUN_t = TMC2208_n::IHOLD_IRUN_t;
using TPOWERDOWN_t = TMC2208_n::TPOWERDOWN_t;
using TSTEP_t = TMC2208_n::TSTEP_t;
using TPWMTHRS_t = TMC2208_n::TPWMTHRS_t;
using VACTUAL_t = TMC2208_n::VACTUAL_t;
using MSCNT_t = TMC2208_n::MSCNT_t;
using MSCURACT_t = TMC2208_n::MSCURACT_t;
using CHOPCONF_t = TMC2208_n::CHOPCONF_t;
using DRV_STATUS_t = TMC2208_n::DRV_STATUS_t;
using PWMCONF_t = TMC2208_n::PWMCONF_t;
using PWM_SCALE_t = TMC2208_n::PWM_SCALE_t;
using PWM_AUTO_t = TMC2208_n::PWM_AUTO_t;
};
class TMC2209Stepper :
public TMC_HAL::TMC_UART,
public TMCStepper <TMC2209Stepper>,
public TMC2209_n::TMC_RMS <TMC2209Stepper>,
public TMC2209_n::GCONF_i <TMC2209Stepper>,
public TMC2209_n::GSTAT_i <TMC2209Stepper>,
public TMC2209_n::IFCNT_i <TMC2209Stepper>,
public TMC2209_n::SLAVECONF_i <TMC2209Stepper>,
public TMC2209_n::OTP_PROG_i <TMC2209Stepper>,
public TMC2209_n::OTP_READ_i <TMC2209Stepper>,
public TMC2209_n::IOIN_i <TMC2209Stepper>,
public TMC2209_n::FACTORY_CONF_i <TMC2209Stepper>,
public TMC2209_n::IHOLD_IRUN_i <TMC2209Stepper>,
public TMC2209_n::TPOWERDOWN_i <TMC2209Stepper>,
public TMC2209_n::TSTEP_i <TMC2209Stepper>,
public TMC2209_n::TPWMTHRS_i <TMC2209Stepper>,
public TMC2209_n::TCOOLTHRS_i <TMC2209Stepper>,
public TMC2209_n::VACTUAL_i <TMC2209Stepper>,
public TMC2209_n::SGTHRS_i <TMC2209Stepper>,
public TMC2209_n::SG_RESULT_i <TMC2209Stepper>,
public TMC2209_n::COOLCONF_i <TMC2209Stepper>,
public TMC2209_n::MSCNT_i <TMC2209Stepper>,
public TMC2209_n::MSCURACT_i <TMC2209Stepper>,
public TMC2209_n::CHOPCONF_i <TMC2209Stepper>,
public TMC2209_n::DRV_STATUS_i <TMC2209Stepper>,
public TMC2209_n::PWMCONF_i <TMC2209Stepper>,
public TMC2209_n::PWM_SCALE_i <TMC2209Stepper>,
public TMC2209_n::PWM_AUTO_i <TMC2209Stepper>
{
public:
TMC2209Stepper(HardwareSerial &SerialPort, const float RS, uint8_t addr);
#if SW_CAPABLE_PLATFORM
TMC2209Stepper(SoftwareSerial &SWSerial, const float RS, uint8_t addr);
#endif
void defaults();
void resetLibCache();
void push();
void begin(const uint32_t baud = 19200);
bool isEnabled() { return CHOPCONF_i::toff() && !IOIN_i::enn(); }
using GCONF_t = TMC2209_n::GCONF_t;
using GSTAT_t = TMC2209_n::GSTAT_t;
using IFCNT_t = TMC2209_n::IFCNT_t;
using SLAVECONF_t = TMC2209_n::SLAVECONF_t;
using OTP_PROG_t = TMC2209_n::OTP_PROG_t;
using OTP_READ_t = TMC2209_n::OTP_READ_t;
using IOIN_t = TMC2209_n::IOIN_t;
using FACTORY_CONF_t = TMC2209_n::FACTORY_CONF_t;
using IHOLD_IRUN_t = TMC2209_n::IHOLD_IRUN_t;
using TPOWERDOWN_t = TMC2209_n::TPOWERDOWN_t;
using TSTEP_t = TMC2209_n::TSTEP_t;
using TPWMTHRS_t = TMC2209_n::TPWMTHRS_t;
using TCOOLTHRS_t = TMC2209_n::TCOOLTHRS_t;
using VACTUAL_t = TMC2209_n::VACTUAL_t;
using SGTHRS_t = TMC2209_n::SGTHRS_t;
using SG_RESULT_t = TMC2209_n::SG_RESULT_t;
using COOLCONF_t = TMC2209_n::COOLCONF_t;
using MSCNT_t = TMC2209_n::MSCNT_t;
using MSCURACT_t = TMC2209_n::MSCURACT_t;
using CHOPCONF_t = TMC2209_n::CHOPCONF_t;
using DRV_STATUS_t = TMC2209_n::DRV_STATUS_t;
using PWMCONF_t = TMC2209_n::PWMCONF_t;
using PWM_SCALE_t = TMC2209_n::PWM_SCALE_t;
using PWM_AUTO_t = TMC2209_n::PWM_AUTO_t;
};
using TMC2226Stepper = TMC2209Stepper;
class TMC2300Stepper :
public TMC_HAL::TMC_UART,
public TMCStepper<TMC2300Stepper>,
public TMC2300_n::TMC_RMS<TMC2300Stepper>,
public TMC2300_n::GCONF_i<TMC2300Stepper>,
public TMC2300_n::GSTAT_i<TMC2300Stepper>,
public TMC2300_n::IFCNT_i<TMC2300Stepper>,
public TMC2300_n::SLAVECONF_i<TMC2300Stepper>,
public TMC2300_n::IOIN_i<TMC2300Stepper>,
public TMC2300_n::IHOLD_IRUN_i<TMC2300Stepper>,
public TMC2300_n::TPOWERDOWN_i<TMC2300Stepper>,
public TMC2300_n::TSTEP_i<TMC2300Stepper>,
public TMC2300_n::VACTUAL_i<TMC2300Stepper>,
public TMC2300_n::TCOOLTHRS_i<TMC2300Stepper>,
public TMC2300_n::SGTHRS_i<TMC2300Stepper>,
public TMC2300_n::SG_VALUE_i<TMC2300Stepper>,
public TMC2300_n::COOLCONF_i<TMC2300Stepper>,
public TMC2300_n::MSCNT_i<TMC2300Stepper>,
public TMC2300_n::CHOPCONF_i<TMC2300Stepper>,
public TMC2300_n::DRV_STATUS_i<TMC2300Stepper>,
public TMC2300_n::PWMCONF_i<TMC2300Stepper>,
public TMC2300_n::PWM_SCALE_i<TMC2300Stepper>,
public TMC2300_n::PWM_AUTO_i<TMC2300Stepper>
{
public:
TMC2300Stepper(HardwareSerial &SerialPort, const float RS, uint8_t addr);
#if SW_CAPABLE_PLATFORM
TMC2300Stepper(SoftwareSerial &SWSerial, const float RS, uint8_t addr);
#endif
void defaults();
void resetLibCache();
void push();
void begin(const uint32_t baud = 19200);
bool isEnabled() { return CHOPCONF_i::enable_drv() && IOIN_i::en(); }
using GCONF_t = TMC2300_n::GCONF_t;
using GSTAT_t = TMC2300_n::GSTAT_t;
using IFCNT_t = TMC2300_n::IFCNT_t;
using SLAVECONF_t = TMC2300_n::SLAVECONF_t;
using IOIN_t = TMC2300_n::IOIN_t;
using IHOLD_IRUN_t = TMC2300_n::IHOLD_IRUN_t;
using TPOWERDOWN_t = TMC2300_n::TPOWERDOWN_t;
using TSTEP_t = TMC2300_n::TSTEP_t;
using VACTUAL_t = TMC2300_n::VACTUAL_t;
using TCOOLTHRS_t = TMC2300_n::TCOOLTHRS_t;
using SGTHRS_t = TMC2300_n::SGTHRS_t;
using SG_VALUE_t = TMC2300_n::SG_VALUE_t;
using COOLCONF_t = TMC2300_n::COOLCONF_t;
using MSCNT_t = TMC2300_n::MSCNT_t;
using CHOPCONF_t = TMC2300_n::CHOPCONF_t;
using DRV_STATUS_t = TMC2300_n::DRV_STATUS_t;
using PWMCONF_t = TMC2300_n::PWMCONF_t;
using PWM_SCALE_t = TMC2300_n::PWM_SCALE_t;
using PWM_AUTO_t = TMC2300_n::PWM_AUTO_t;
};
class TMC2224Stepper : public TMC2208Stepper, public TMC2224_n::IOIN_i<TMC2224Stepper> {
public:
using TMC2208Stepper::TMC2208Stepper;
using TMC2224_n::IOIN_i<TMC2224Stepper>::IOIN;
using TMC2224_n::IOIN_i<TMC2224Stepper>::enn;
using TMC2224_n::IOIN_i<TMC2224Stepper>::ms1;
using TMC2224_n::IOIN_i<TMC2224Stepper>::ms2;
using TMC2224_n::IOIN_i<TMC2224Stepper>::pdn_uart;
using TMC2224_n::IOIN_i<TMC2224Stepper>::spread;
using TMC2224_n::IOIN_i<TMC2224Stepper>::step;
using TMC2224_n::IOIN_i<TMC2224Stepper>::sel_a;
using TMC2224_n::IOIN_i<TMC2224Stepper>::dir;
using TMC2224_n::IOIN_i<TMC2224Stepper>::version;
};
class TMC2660Stepper : TMC2660_n::TMC_SPI {
public:
TMC2660Stepper(SPIClass &spi, TMC_HAL::PinDef pinCS, const float RS, const int8_t link_index = -1);
TMC2660Stepper(SW_SPIClass &spi, TMC_HAL::PinDef pinCS, const float RS, const int8_t link_index = -1);
void begin();
bool isEnabled() const;
uint8_t test_connection();
uint16_t cs2rms(const uint8_t CS) const;
uint16_t rms_current() const;
void rms_current(const uint16_t mA);
//uint16_t getMilliamps() {return val_mA;}
void push();
uint8_t savedToff() const { return _savedToff; }
// Helper functions
void microsteps(const uint16_t ms);
uint16_t microsteps();
void blank_time(const uint8_t value);
uint8_t blank_time() const;
void hysteresis_end(const int8_t value);
int8_t hysteresis_end() const;
void hysteresis_start(const uint8_t value);
uint8_t hysteresis_start() const;
// W: DRVCONF
void DRVCONF(const uint32_t);
void tst(const bool);
void slph(const uint8_t);
void slpl(const uint8_t);
void diss2g(const bool);
void ts2g(const uint8_t);
void sdoff(const bool);
void vsense(const bool);
void rdsel(const uint8_t);
uint32_t DRVCONF() const;
bool tst() const;
uint8_t slph() const;
uint8_t slpl() const;
bool diss2g() const;
uint8_t ts2g() const;
bool sdoff() const;
bool vsense() const;
uint8_t rdsel() const;
// W: DRVCTRL
void DRVCTRL(const uint32_t);
void pha(const bool B);
void ca(const uint8_t B);
void phb(const bool B);
void cb(const uint8_t B);
bool pha();
uint8_t ca();
bool phb();
uint8_t cb();
void intpol(const bool);
void dedge(const bool);
void mres(const uint8_t);
uint32_t DRVCTRL() const;
bool intpol();
bool dedge();
uint8_t mres();
// W: CHOPCONF
void CHOPCONF(const uint32_t);
void tbl(const uint8_t);
void chm(const bool);
void rndtf(const bool);
void hdec(const uint8_t);
void hend(const uint8_t);
void hstrt(const uint8_t);
void toff(const uint8_t);
uint32_t CHOPCONF() const;
uint8_t tbl() const;
bool chm() const;
bool rndtf() const;
uint8_t hdec() const;
uint8_t hend() const;
uint8_t hstrt() const;
uint8_t toff() const;
// R: DRVSTATUS
uint32_t DRV_STATUS() { return DRVSTATUS(); }
uint32_t DRVSTATUS();
uint16_t mstep();
uint8_t se();
bool stst();
bool olb();
bool ola();
bool s2gb();
bool s2ga();
bool otpw();
bool ot();
bool sg();
uint16_t sg_result();
// W: SGCSCONF
uint32_t SGCSCONF() const;
void sfilt(const bool);
void sgt(const uint8_t);
void cs(const uint8_t);
void SGCSCONF(const uint32_t);
bool sfilt() const;
uint8_t sgt() const;
uint8_t cs() const;
// W: SMARTEN
void SMARTEN(const uint32_t);
void seimin(const bool B);
void sedn(const uint8_t B);
void semax(const uint8_t B);
void seup(const uint8_t B);
void semin(const uint8_t B);
uint32_t SMARTEN() const;
bool seimin() const;
uint8_t sedn() const;
uint8_t semax() const;
uint8_t seup() const;
uint8_t semin() const;
/*
// Alias
SET_ALIAS(void, polarity_A, bool, pha);
SET_ALIAS(void, current_A, uint8_t, ca);
SET_ALIAS(void, polarity_B, bool, phb);
SET_ALIAS(void, current_b, uint8_t, cb);
SET_ALIAS(void, interpolate, bool, intpol);
SET_ALIAS(void, double_edge_step, bool, dedge);
SET_ALIAS(void, microsteps, uint8_t, mres);
SET_ALIAS(void, blank_time, uint8_t, tbl);
SET_ALIAS(void, chopper_mode, bool, chm);
SET_ALIAS(void, random_off_time, bool, rndtf);
SET_ALIAS(void, hysteresis_decrement, uint8_t, hdec);
SET_ALIAS(void, hysteresis_low, uint8_t, hend);
SET_ALIAS(void, hysteresis_start, uint8_t, hstrt);
SET_ALIAS(void, off_time, uint8_t, toff);
*/
uint8_t status_response;
// Deleted functions
__attribute__((deprecated("Please provide a sense resistor value")))
TMC2660Stepper(TMC_HAL::PinDef pinCS, TMC_HAL::PinDef pinMOSI, TMC_HAL::PinDef pinMISO, TMC_HAL::PinDef pinSCK, const int8_t link_index = -1) = delete;
private:
DRVCTRL_1_t DRVCTRL_1_register{{.sr=0}};
DRVCTRL_0_t DRVCTRL_0_register{{.sr=0}};
TMC2660_n::CHOPCONF_t CHOPCONF_register{{.sr=0}};
SMARTEN_t SMARTEN_register{{.sr=0}};
SGCSCONF_t SGCSCONF_register{{.sr=0}};
DRVCONF_t DRVCONF_register{{.sr=0}};
READ_RDSEL00_t READ_RDSEL00_register{{.sr=0}};
READ_RDSEL01_t READ_RDSEL01_register{{.sr=0}};
READ_RDSEL10_t READ_RDSEL10_register{{.sr=0}};
const float Rsense;
static constexpr float default_RS = 0.1;
float holdMultiplier = 0.5;
uint32_t spi_speed = 16000000/8; // Default 2MHz
uint8_t _savedToff = 0;
uint32_t read() {
return TMC2660_n::TMC_SPI::read(DRVCONF_register.sr);
}
};