uStepper S-lite
TMC2208.h
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1 /********************************************************************************************
2 * File: TMC2208.h *
3 * Version: 1.2.0 *
4 * Date: Jan 18, 2020 *
5 * Author: Thomas Hørring Olsen *
6 * *
7 *********************************************************************************************
8 * (C) 2020 *
9 * *
10 * uStepper ApS *
11 * www.ustepper.com *
12 * administration@ustepper.com *
13 * *
14 * The code contained in this file is released under the following open source license: *
15 * *
16 * Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International *
17 * *
18 * The code in this file is provided without warranty of any kind - use at own risk! *
19 * neither uStepper ApS nor the author, can be held responsible for any damage *
20 * caused by the use of the code contained in this file ! *
21 * *
22 ********************************************************************************************/
33 #ifndef TMC2208_H_
34 #define TMC2208_H_
35 
36  #include <stdlib.h>
37  #include <stdint.h>
38  #include <avr/pgmspace.h>
39  #include <Arduino.h>
40  #include <util/delay.h>
41 
45  #define R00 0x00000041
47  #define R10 0x00001F00
48  #define R6C 0x10000053
49  #define R70 0xC10D0024
50 
53  // ===== TMC2208 & 2202 & TMC2208 & 2220 & 2225 "Donkey Kong" family register set =====
55  #define TMC2208_GCONF 0x00
56  #define TMC2208_GSTAT 0x01
57  #define TMC2208_IFCNT 0x02
58  #define TMC2208_SLAVECONF 0x03
59  #define TMC2208_OTP_PROG 0x04
60  #define TMC2208_OTP_READ 0x05
61  #define TMC2208_IOIN 0x06
62  #define TMC2208_FACTORY_CONF 0x07
63 
64  #define TMC2208_IHOLD_IRUN 0x10
65  #define TMC2208_TPOWERDOWN 0x11
66  #define TMC2208_TSTEP 0x12
67  #define TMC2208_TPWMTHRS 0x13
68 
69  #define TMC2208_VACTUAL 0x22
70 
71  #define TMC2208_MSCNT 0x6A
72  #define TMC2208_MSCURACT 0x6B
73  #define TMC2208_CHOPCONF 0x6C
74  #define TMC2208_DRVSTATUS 0x6F
75  #define TMC2208_PWMCONF 0x70
76  #define TMC2208_PWMSCALE 0x71
77  #define TMC2208_PWM_AUTO 0x72
78 
84  // Write-Bit
85  #define TMC2208_WRITE_BIT 0x80
86 
87  #define TMC2208_I_SCALE_ANALOG_MASK 0x01 // GCONF // I_scale_analog (Reset default=1)
88  #define TMC2208_I_SCALE_ANALOG_SHIFT 0 // min.: 0, max.: 1, default: 0
89  #define TMC2208_INTERNAL_RSENSE_MASK 0x02 // GCONF // internal_Rsense (Reset default: OTP)
90  #define TMC2208_INTERNAL_RSENSE_SHIFT 1 // min.: 0, max.: 1, default: 0
91  #define TMC2208_EN_SPREADCYCLE_MASK 0x04 // GCONF // en_spreadCycle (Reset default: OTP)
92  #define TMC2208_EN_SPREADCYCLE_SHIFT 2 // min.: 0, max.: 1, default: 0
93  #define TMC2208_SHAFT_MASK 0x08 // GCONF // controls motor direction
94  #define TMC2208_SHAFT_SHIFT 3 // min.: 0, max.: 1, default: 0
95  #define TMC2208_INDEX_OTPW_MASK 0x10 // GCONF // index_otpw
96  #define TMC2208_INDEX_OTPW_SHIFT 4 // min.: 0, max.: 1, default: 0
97  #define TMC2208_INDEX_STEP_MASK 0x20 // GCONF // index_step
98  #define TMC2208_INDEX_STEP_SHIFT 5 // min.: 0, max.: 1, default: 0
99  #define TMC2208_PDN_DISABLE_MASK 0x40 // GCONF // pdn_disable
100  #define TMC2208_PDN_DISABLE_SHIFT 6 // min.: 0, max.: 1, default: 0
101  #define TMC2208_MSTEP_REG_SELECT_MASK 0x80 // GCONF // mstep_reg_select
102  #define TMC2208_MSTEP_REG_SELECT_SHIFT 7 // min.: 0, max.: 1, default: 0
103  #define TMC2208_MULTISTEP_FILT_MASK 0x0100 // GCONF // multistep_filt (Reset default=1)
104  #define TMC2208_MULTISTEP_FILT_SHIFT 8 // min.: 0, max.: 1, default: 0
105  #define TMC2208_TEST_MODE_MASK 0x0200 // GCONF // test_mode 0
106  #define TMC2208_TEST_MODE_SHIFT 9 // min.: 0, max.: 1, default: 0
107  #define TMC2208_RESET_MASK 0x01 // GSTAT // reset
108  #define TMC2208_RESET_SHIFT 0 // min.: 0, max.: 1, default: 0
109  #define TMC2208_DRV_ERR_MASK 0x02 // GSTAT // drv_err
110  #define TMC2208_DRV_ERR_SHIFT 1 // min.: 0, max.: 1, default: 0
111  #define TMC2208_UV_CP_MASK 0x04 // GSTAT // uv_cp
112  #define TMC2208_UV_CP_SHIFT 2 // min.: 0, max.: 1, default: 0
113  #define TMC2208_IFCNT_MASK 0xFF // IFCNT // Interface transmission counter. This register becomes incremented with each successful UART interface write access. Read out to check the serial transmission for lost data. Read accesses do not change the content. The counter wraps around from 255 to 0.
114  #define TMC2208_IFCNT_SHIFT 0 // min.: 0, max.: 255, default: 0
115  #define TMC2208_SLAVECONF_MASK 0x0F00 // SLAVECONF // SENDDELAY for read access (time until reply is sent): 0, 1: 8 bit times 2, 3: 3*8 bit times 4, 5: 5*8 bit times 6, 7: 7*8 bit times 8, 9: 9*8 bit times 10, 11: 11*8 bit times 12, 13: 13*8 bit times 14, 15: 15*8 bit times
116  #define TMC2208_SLAVECONF_SHIFT 8 // min.: 0, max.: 15, default: 0
117  #define TMC2208_OTPBIT_MASK 0x07 // OTP_PROG // Selection of OTP bit to be programmed to the selected byte location (n=0..7: programs bit n to a logic 1)
118  #define TMC2208_OTPBIT_SHIFT 0 // min.: 0, max.: 7, default: 0
119  #define TMC2208_OTPBYTE_MASK 0x30 // OTP_PROG // Selection of OTP programming location (0, 1 or 2)
120  #define TMC2208_OTPBYTE_SHIFT 4 // min.: 0, max.: 3, default: 0
121  #define TMC2208_OTPMAGIC_MASK 0xFF00 // OTP_PROG // Set to 0xBD to enable programming. A programming time of minimum 10ms per bit is recommended (check by reading OTP_READ).
122  #define TMC2208_OTPMAGIC_SHIFT 8 // min.: 0, max.: 255, default: 0
123  #define TMC2208_OTP0_BYTE_0_READ_DATA_MASK 0x01 // OTP_READ // to be detailed
124  #define TMC2208_OTP0_BYTE_0_READ_DATA_SHIFT 0 // min.: 0, max.: 255, default: 0
125  #define TMC2208_OTP1_BYTE_1_READ_DATA_MASK 0x02 // OTP_READ // to be detailed
126  #define TMC2208_OTP1_BYTE_1_READ_DATA_SHIFT 8 // min.: 0, max.: 255, default: 0
127  #define TMC2208_OTP2_BYTE_2_READ_DATA_MASK 0x04 // OTP_READ // to be detailed
128  #define TMC2208_OTP2_BYTE_2_READ_DATA_SHIFT 16 // min.: 0, max.: 255, default: 0
129  #define TMC2208_ENN_MASK 0x01 // IOIN //
130  #define TMC2208_ENN_SHIFT 0 // min.: 0, max.: 1, default: 0
131  #define TMC2208_MS1_MASK 0x04 // IOIN //
132  #define TMC2208_MS1_SHIFT 2 // min.: 0, max.: 1, default: 0
133  #define TMC2208_MS2_MASK 0x08 // IOIN //
134  #define TMC2208_MS2_SHIFT 3 // min.: 0, max.: 1, default: 0
135  #define TMC2208_DIAG_MASK 0x10 // IOIN //
136  #define TMC2208_DIAG_SHIFT 4 // min.: 0, max.: 1, default: 0
137  #define TMC2208_PDN_UART_MASK 0x40 // IOIN //
138  #define TMC2208_PDN_UART_SHIFT 6 // min.: 0, max.: 1, default: 0
139  #define TMC2208_STEP_MASK 0x80 // IOIN //
140  #define TMC2208_STEP_SHIFT 7 // min.: 0, max.: 1, default: 0
141  #define TMC2208_SEL_A_MASK 0x0100 // IOIN // Driver type
142  #define TMC2208_SEL_A_SHIFT 8 // min.: 0, max.: 1, default: 0
143  #define TMC2208_DIR_MASK 0x0200 // IOIN //
144  #define TMC2208_DIR_SHIFT 9 // min.: 0, max.: 1, default: 0
145  #define TMC2208_VERSION_MASK 0xFF000000 // IOIN // VERSION: 0x20=first version of the IC Identical numbers mean full digital compatibility.
146  #define TMC2208_VERSION_SHIFT 24 // min.: 0, max.: 255, default: 0
147  #define TMC2208_FCLKTRIM_MASK 0x1F // FACTORY_CONF // FCLKTRIM (Reset default: OTP) 0…31: Lowest to highest clock frequency. Check at charge pump output. The frequency span is not guaranteed, but it is tested, that tuning to 12MHz internal clock is possible. The devices come preset to 12MHz clock frequency by OTP programming.
148  #define TMC2208_FCLKTRIM_SHIFT 0 // min.: 0, max.: 31, default: 0
149  #define TMC2208_OTTRIM_MASK 0x30 // FACTORY_CONF // OTTRIM (Default: OTP) %00: OT=143°C, OTPW=120°C %01: OT=150°C, OTPW=120°C %10: OT=150°C, OTPW=143°C %11: OT=157°C, OTPW=143°C
150  #define TMC2208_OTTRIM_SHIFT 8 // min.: 0, max.: 3, default: 0
151  #define TMC2208_IHOLD_MASK 0x1F // IHOLD_IRUN // IHOLD (Reset default: OTP) Standstill current (0=1/32...31=32/32) In combination with stealthChop mode, setting IHOLD=0 allows to choose freewheeling or coil short circuit (passive braking) for motor stand still.
152  #define TMC2208_IHOLD_SHIFT 0 // min.: 0, max.: 31, default: 0
153  #define TMC2208_IRUN_MASK 0x1F00 // IHOLD_IRUN // IRUN (Reset default=31) Motor run current (0=1/32...31=32/32) Hint: Choose sense resistors in a way, that normal IRUN is 16 to 31 for best microstep performance.
154  #define TMC2208_IRUN_SHIFT 8 // min.: 0, max.: 31, default: 0
155  #define TMC2208_IHOLDDELAY_MASK 0x0F0000 // IHOLD_IRUN // IHOLDDELAY (Reset default: OTP) Controls the number of clock cycles for motor power down after standstill is detected (stst=1) and TPOWERDOWN has expired. The smooth transition avoids a motor jerk upon power down. 0: instant power down 1..15: Delay per current reduction step in multiple of 2^18 clocks
156  #define TMC2208_IHOLDDELAY_SHIFT 16 // min.: 0, max.: 15, default: 0
157  #define TMC2208_TPOWERDOWN_MASK 0xFF // TPOWERDOWN // (Reset default=20) Sets the delay time from stand still (stst) detection to motor current power down. Time range is about 0 to 5.6 seconds. 0...((2^8)-1) * 2^18 tclk Attention: A minimum setting of 2 is required to allow automatic tuning of stealthChop PWM_OFFS_AUTO.
158  #define TMC2208_TPOWERDOWN_SHIFT 0 // min.: 0, max.: 255, default: 0
159  #define TMC2208_TSTEP_MASK 0x0FFFFF // TSTEP // 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. The TSTEP related threshold uses a hysteresis of 1/16 of the compare value to compensate for jitter in the clock or the step frequency: (Txxx*15/16)-1 is the lower compare value for each TSTEP based comparison. This means, that the lower switching velocity equals the calculated setting, but the upper switching velocity is higher as defined by the hysteresis setting.
160  #define TMC2208_TSTEP_SHIFT 0 // min.: 0, max.: 1048575, default: 0
161  #define TMC2208_TPWMTHRS_MASK 0x0FFFFF // TPWMTHRS // Sets the upper velocity for stealthChop voltage PWM mode. For TSTEP = TPWMTHRS, stealthChop PWM mode is enabled, if configured. When the velocity exceeds the limit set by TPWMTHRS, the driver switches to spreadCycle. 0 = Disabled
162  #define TMC2208_TPWMTHRS_SHIFT 0 // min.: 0, max.: 1048575, default: 0
163  #define TMC2208_VACTUAL_MASK 0xFFFFFF // VACTUAL // VACTUAL allows moving the motor by UART control. It gives the motor velocity in +-(2^23)-1 [µsteps / t] 0: Normal operation. Driver reacts to STEP input. /=0: Motor moves with the velocity given by VACTUAL. Step pulses can be monitored via INDEX output. The motor direction is controlled by the sign of VACTUAL.
164  #define TMC2208_VACTUAL_SHIFT 0 // min.: -8388608, max.: 8388607, default: 0
165  #define TMC2208_MSCNT_MASK 0x03FF // MSCNT // Microstep counter. Indicates actual position in the microstep table for CUR_A. CUR_B uses an offset of 256 into the table. Reading out MSCNT allows determination of the motor position within the electrical wave.
166  #define TMC2208_MSCNT_SHIFT 0 // min.: 0, max.: 1023, default: 0
167  #define TMC2208_CUR_A_MASK 0x01FF // MSCURACT // (signed) Actual microstep current for motor phase A as read from the internal sine wave table (not scaled by current setting)
168  #define TMC2208_CUR_A_SHIFT 0 // min.: -255, max.: 255, default: 0
169  #define TMC2208_CUR_B_MASK 0x01FF0000 // MSCURACT // (signed) Actual microstep current for motor phase B as read from the internal sine wave table (not scaled by current setting)
170  #define TMC2208_CUR_B_SHIFT 16 // min.: -255, max.: 255, default: 0
171  #define TMC2208_TOFF_MASK 0x0F // CHOPCONF // chopper off time and driver enable, Off time setting controls duration of slow decay phase (Nclk = 12 + 32*Toff), %0000: Driver disable, all bridges off %0001: 1 – use only with TBL = 2 %0010 ... %1111: 2 … 15 (Default: OTP, resp. 3 in stealthChop mode)
172  #define TMC2208_TOFF_SHIFT 0 // min.: 0, max.: 7, default: 0
173  #define TMC2208_HSTRT_MASK 0x70 // CHOPCONF // hysteresis start value added to HEND, %000 … %111: Add 1, 2, …, 8 to hysteresis low value HEND (1/512 of this setting adds to current setting) Attention: Effective HEND+HSTRT = 16. Hint: Hysteresis decrement is done each 16 clocks. (Default: OTP, resp. 0 in stealthChop mode)
174  #define TMC2208_HSTRT_SHIFT 4 // min.: 0, max.: 7, default: 0
175  #define TMC2208_HEND_MASK 0x0780 // CHOPCONF // hysteresis low value OFFSET sine wave offset, %0000 … %1111: Hysteresis is -3, -2, -1, 0, 1, …, 12 (1/512 of this setting adds to current setting) This is the hysteresis value which becomes used for the hysteresis chopper. (Default: OTP, resp. 5 in stealthChop mode)
176  #define TMC2208_HEND_SHIFT 7 // min.: 0, max.: 255, default: 0
177  #define TMC2208_TBL_MASK 0x018000 // CHOPCONF // blank time select, %00 … %11: Set comparator blank time to 16, 24, 32 or 40 clocks Hint: %00 or %01 is recommended for most applications (Default: OTP)
178  #define TMC2208_TBL_SHIFT 15 // min.: 0, max.: 255, default: 0
179  #define TMC2208_VSENSE_MASK 0x020000 // CHOPCONF // sense resistor voltage based current scaling
180  #define TMC2208_VSENSE_SHIFT 17 // min.: 0, max.: 1, default: 0
181  #define TMC2208_MRES_MASK 0x0F000000 // CHOPCONF // MRES micro step resolution, %0000: Native 256 microstep setting. %0001 … %1000: 128, 64, 32, 16, 8, 4, 2, FULLSTEP: Reduced microstep resolution. The resolution gives the number of microstep entries per sine quarter wave. When choosing a lower microstep resolution, the driver automatically uses microstep positions which result in a symmetrical wave. Number of microsteps per step pulse = 2^MRES (Selection by pins unless disabled by GCONF. mstep_reg_select)
182  #define TMC2208_MRES_SHIFT 24 // min.: 0, max.: 255, default: 0
183  #define TMC2208_INTPOL_MASK 0x10000000 // CHOPCONF // interpolation to 256 microsteps
184  #define TMC2208_INTPOL_SHIFT 28 // min.: 0, max.: 1, default: 0
185  #define TMC2208_DEDGE_MASK 0x20000000 // CHOPCONF // enable double edge step pulses
186  #define TMC2208_DEDGE_SHIFT 29 // min.: 0, max.: 1, default: 0
187  #define TMC2208_DISS2G_MASK 0x40000000 // CHOPCONF // short to GND protection disable
188  #define TMC2208_DISS2G_SHIFT 30 // min.: 0, max.: 1, default: 0
189  #define TMC2208_DISS2VS_MASK 0x80000000 // CHOPCONF // Low side short protection disable
190  #define TMC2208_DISS2VS_SHIFT 31 // min.: 0, max.: 1, default: 0
191  #define TMC2208_OTPW_MASK 0x01 // DRV_STATUS // overtemperature prewarning flag
192  #define TMC2208_OTPW_SHIFT 0 // min.: 0, max.: 1, default: 0
193  #define TMC2208_OT_MASK 0x02 // DRV_STATUS // overtemperature flag
194  #define TMC2208_OT_SHIFT 1 // min.: 0, max.: 1, default: 0
195  #define TMC2208_S2GA_MASK 0x04 // DRV_STATUS // short to ground indicator phase A
196  #define TMC2208_S2GA_SHIFT 2 // min.: 0, max.: 1, default: 0
197  #define TMC2208_S2GB_MASK 0x08 // DRV_STATUS // short to ground indicator phase B
198  #define TMC2208_S2GB_SHIFT 3 // min.: 0, max.: 1, default: 0
199  #define TMC2208_S2VSA_MASK 0x10 // DRV_STATUS // low side short indicator phase A
200  #define TMC2208_S2VSA_SHIFT 4 // min.: 0, max.: 1, default: 0
201  #define TMC2208_S2VSB_MASK 0x20 // DRV_STATUS // low side short indicator phase B
202  #define TMC2208_S2VSB_SHIFT 5 // min.: 0, max.: 1, default: 0
203  #define TMC2208_OLA_MASK 0x40 // DRV_STATUS // open load indicator phase A
204  #define TMC2208_OLA_SHIFT 6 // min.: 0, max.: 1, default: 0
205  #define TMC2208_OLB_MASK 0x80 // DRV_STATUS // open load indicator phase B
206  #define TMC2208_OLB_SHIFT 7 // min.: 0, max.: 1, default: 0
207  #define TMC2208_T120_MASK 0x0100 // DRV_STATUS // 120°C comparator
208  #define TMC2208_T120_SHIFT 8 // min.: 0, max.: 1, default: 0
209  #define TMC2208_T143_MASK 0x0200 // DRV_STATUS // 143°C comparator
210  #define TMC2208_T143_SHIFT 9 // min.: 0, max.: 1, default: 0
211  #define TMC2208_T150_MASK 0x0400 // DRV_STATUS // 150°C comparator
212  #define TMC2208_T150_SHIFT 10 // min.: 0, max.: 1, default: 0
213  #define TMC2208_T157_MASK 0x0800 // DRV_STATUS // 157°C comparator
214  #define TMC2208_T157_SHIFT 11 // min.: 0, max.: 1, default: 0
215  #define TMC2208_CS_ACTUAL_MASK 0x1F0000 // DRV_STATUS // actual motor current
216  #define TMC2208_CS_ACTUAL_SHIFT 16 // min.: 0, max.: 31, default: 0
217  #define TMC2208_STEALTH_MASK 0x40000000 // DRV_STATUS // stealthChop indicator
218  #define TMC2208_STEALTH_SHIFT 30 // min.: 0, max.: 1, default: 0
219  #define TMC2208_STST_MASK 0x80000000 // DRV_STATUS // standstill indicator
220  #define TMC2208_STST_SHIFT 31 // min.: 0, max.: 1, default: 0
221  #define TMC2208_PWM_OFS_MASK 0xFF // PWMCONF // User defined PWM amplitude offset (0-255) related to full motor current (CS_ACTUAL=31) in stand still. (Reset default=36) When using automatic scaling (pwm_autoscale=1) the value is used for initialization, only. The autoscale function starts with PWM_SCALE_AUTO=PWM_OFS and finds the required offset to yield the target current automatically. PWM_OFS = 0 will disable scaling down motor current below a motor specific lower measurement threshold. This setting should only be used under certain conditions, i.e. when the power supply voltage can vary up and down by a factor of two or more. It prevents the motor going out of regulation, but it also prevents power down below the regulation limit. PWM_OFS > 0 allows automatic scaling to low PWM duty cycles even below the lower regulation threshold. This allows low (standstill) current settings based on the actual (hold) current scale (register IHOLD_IRUN).
222  #define TMC2208_PWM_OFS_SHIFT 0 // min.: 0, max.: 255, default: 0
223  #define TMC2208_PWM_GRAD_MASK 0xFF00 // PWMCONF // Velocity dependent gradient for PWM amplitude: PWM_GRAD * 256 / TSTEP This value is added to PWM_AMPL to compensate for the velocity-dependent motor back-EMF. With automatic scaling (pwm_autoscale=1) the value is used for first initialization, only. Set PWM_GRAD to the application specific value (it can be read out from PWM_GRAD_AUTO) to speed up the automatic tuning process. An approximate value can be stored to OTP by programming OTP_PWM_GRAD.
224  #define TMC2208_PWM_GRAD_SHIFT 8 // min.: 0, max.: 255, default: 0
225  #define TMC2208_PWM_FREQ_MASK 0x030000 // PWMCONF // %00: fPWM=2/1024 fCLK %01: fPWM=2/683 fCLK %10: fPWM=2/512 fCLK %11: fPWM=2/410 fCLK
226  #define TMC2208_PWM_FREQ_SHIFT 16 // min.: 0, max.: 3, default: 0
227  #define TMC2208_PWM_AUTOSCALE_MASK 0x040000 // PWMCONF //
228  #define TMC2208_PWM_AUTOSCALE_SHIFT 18 // min.: 0, max.: 1, default: 0
229  #define TMC2208_PWM_AUTOGRAD_MASK 0x080000 // PWMCONF //
230  #define TMC2208_PWM_AUTOGRAD_SHIFT 19 // min.: 0, max.: 1, default: 0
231  #define TMC2208_FREEWHEEL_MASK 0x300000 // PWMCONF // Stand still option when motor current setting is zero (I_HOLD=0). %00: Normal operation %01: Freewheeling %10: Coil shorted using LS drivers %11: Coil shorted using HS drivers
232  #define TMC2208_FREEWHEEL_SHIFT 20 // min.: 0, max.: 3, default: 0
233  #define TMC2208_PWM_REG_MASK 0x0F000000 // PWMCONF // User defined maximum PWM amplitude change per half wave when using pwm_autoscale=1. (1...15): 1: 0.5 increments (slowest regulation) 2: 1 increment (default with OTP2.1=1) 3: 1.5 increments 4: 2 increments ... 8: 4 increments (default with OTP2.1=0) ... 15: 7.5 increments (fastest regulation)
234  #define TMC2208_PWM_REG_SHIFT 24 // min.: 0, max.: 25, default: 0
235  #define TMC2208_PWM_LIM_MASK 0xF0000000 // PWMCONF // Limit for PWM_SCALE_AUTO when switching back from spreadCycle to stealthChop. This value defines the upper limit for bits 7 to 4 of the automatic current control when switching back. It can be set to reduce the current jerk during mode change back to stealthChop. It does not limit PWM_GRAD or PWM_GRAD_AUTO offset. (Default = 12)
236  #define TMC2208_PWM_LIM_SHIFT 28 // min.: 0, max.: 15, default: 0
237  #define TMC2208_PWM_SCALE_SUM_MASK 0xFF // PWM_SCALE // Actual PWM duty cycle. This value is used for scaling the values CUR_A and CUR_B read from the sine wave table.
238  #define TMC2208_PWM_SCALE_SUM_SHIFT 0 // min.: 0, max.: 255, default: 0
239  #define TMC2208_PWM_SCALE_AUTO_MASK 0x01FF0000 // PWM_SCALE // 9 Bit signed offset added to the calculated PWM duty cycle. This is the result of the automatic amplitude regulation based on current measurement.
240  #define TMC2208_PWM_SCALE_AUTO_SHIFT 16 // min.: -255, max.: 255, default: 0
241  #define TMC2208_PWM_OFS_AUTO_MASK 0xFF // PWM_AUTO // Automatically determined offset value
242  #define TMC2208_PWM_OFS_AUTO_SHIFT 0 // min.: 0, max.: 255, default: 0
243  #define TMC2208_PWM_GRAD_AUTO_MASK 0xFF0000 // PWM_AUTO // Automatically determined gradient value
244  #define TMC2208_PWM_GRAD_AUTO_SHIFT 16 // min.: 0, max.: 255, default: 0
245 
248  #define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0]))
249 
253  #define UARTTXPORT PORTC
255  #define UARTTXDDR DDRC
256  #define UARTTXPIN 3
257  #define UARTRXPORT PORTC
258  #define UARTRXDDR DDRC
259  #define UARTRXPIN 2
260 
262  #define NORMALDIRECTION 0
263  #define INVERSEDIRECTION 1
264 
265  // 2us delay (30 nops @ 62.5ns = 1.875us + C overhead ~ 2us) 500k baud
267  #define UARTCLKDELAY() __asm__ volatile ( "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" "nop \n\t" )
268 
276 class Tmc2208
277 {
278 public:
284  Tmc2208(void);
285 
294  void setup(void);
295 
302  void disableDriver(void);
303 
310  void enableDriver(void);
311 
323  void setCurrent(uint8_t runPercent, uint8_t holdPercent);
324 
334  void setHoldCurrent(uint8_t holdPercent);
335 
345  void setRunCurrent(uint8_t runPercent);
346 
355  void setVelocity(float RPM);
356 
365  void invertDirection(bool normal = INVERSEDIRECTION);
366  float getRunCurrent(void);
367  float getHoldCurrent(void);
368 protected:
371  uint8_t runCurrent;
372 
375  uint8_t holdCurrent;
376 
377  void writeRegister(uint8_t address, int32_t value);
378  void readRegister(uint8_t address, int32_t *value);
379  uint8_t calcCRC(uint8_t datagram[], uint8_t len);
380  void uartInit(void);
381  void uartSendByte(uint8_t value);
382  bool uartReceivePacket(uint8_t *packet __attribute__((unused)), uint8_t size __attribute__((unused)));
383 
384 };
385 
386 #endif
Tmc2208::invertDirection
void invertDirection(bool normal=INVERSEDIRECTION)
Invert motor direction.
Definition: TMC2208.cpp:133
Tmc2208::setCurrent
void setCurrent(uint8_t runPercent, uint8_t holdPercent)
Change run and hold current settings of the stepper motor driver - TMC2208.
Definition: TMC2208.cpp:196
Tmc2208::setVelocity
void setVelocity(float RPM)
Set motor velocity in RPM.
Definition: TMC2208.cpp:228
Tmc2208::setup
void setup(void)
Initializes the different parts of the TMC2208 object.
Definition: TMC2208.cpp:114
Tmc2208::setHoldCurrent
void setHoldCurrent(uint8_t holdPercent)
Change hold current setting of the stepper motor driver - TMC2208.
Definition: TMC2208.cpp:215
Tmc2208::runCurrent
uint8_t runCurrent
Definition: TMC2208.h:371
Tmc2208::disableDriver
void disableDriver(void)
Disable the stepper motor driver - TMC2208.
Definition: TMC2208.cpp:155
Tmc2208::enableDriver
void enableDriver(void)
Enable the stepper motor driver - TMC2208.
Definition: TMC2208.cpp:150
Tmc2208::setRunCurrent
void setRunCurrent(uint8_t runPercent)
Change run current setting of the stepper motor driver - TMC2208.
Definition: TMC2208.cpp:202
Tmc2208::holdCurrent
uint8_t holdCurrent
Definition: TMC2208.h:375
Tmc2208
Prototype of class for accessing all features of the TMC2208 in a single object.
Definition: TMC2208.h:277
Tmc2208::Tmc2208
Tmc2208(void)
Constructor.
Definition: TMC2208.cpp:109