Function prototypes and definitions for the uStepper TMC2208 driver library. More...

#include <stdlib.h>
#include <stdint.h>
#include <avr/pgmspace.h>
#include <Arduino.h>
#include <util/delay.h>

Classes
class	Tmc2208
	Prototype of class for accessing all features of the TMC2208 in a single object. More...

Macros
#define	TMC2208_WRITE_BIT 0x80

#define	TMC2208_I_SCALE_ANALOG_MASK 0x01

#define	TMC2208_I_SCALE_ANALOG_SHIFT 0

#define	TMC2208_INTERNAL_RSENSE_MASK 0x02

#define	TMC2208_INTERNAL_RSENSE_SHIFT 1

#define	TMC2208_EN_SPREADCYCLE_MASK 0x04

#define	TMC2208_EN_SPREADCYCLE_SHIFT 2

#define	TMC2208_SHAFT_MASK 0x08

#define	TMC2208_SHAFT_SHIFT 3

#define	TMC2208_INDEX_OTPW_MASK 0x10

#define	TMC2208_INDEX_OTPW_SHIFT 4

#define	TMC2208_INDEX_STEP_MASK 0x20

#define	TMC2208_INDEX_STEP_SHIFT 5

#define	TMC2208_PDN_DISABLE_MASK 0x40

#define	TMC2208_PDN_DISABLE_SHIFT 6

#define	TMC2208_MSTEP_REG_SELECT_MASK 0x80

#define	TMC2208_MSTEP_REG_SELECT_SHIFT 7

#define	TMC2208_MULTISTEP_FILT_MASK 0x0100

#define	TMC2208_MULTISTEP_FILT_SHIFT 8

#define	TMC2208_TEST_MODE_MASK 0x0200

#define	TMC2208_TEST_MODE_SHIFT 9

#define	TMC2208_RESET_MASK 0x01

#define	TMC2208_RESET_SHIFT 0

#define	TMC2208_DRV_ERR_MASK 0x02

#define	TMC2208_DRV_ERR_SHIFT 1

#define	TMC2208_UV_CP_MASK 0x04

#define	TMC2208_UV_CP_SHIFT 2

#define	TMC2208_IFCNT_MASK 0xFF

#define	TMC2208_IFCNT_SHIFT 0

#define	TMC2208_SLAVECONF_MASK 0x0F00

#define	TMC2208_SLAVECONF_SHIFT 8

#define	TMC2208_OTPBIT_MASK 0x07

#define	TMC2208_OTPBIT_SHIFT 0

#define	TMC2208_OTPBYTE_MASK 0x30

#define	TMC2208_OTPBYTE_SHIFT 4

#define	TMC2208_OTPMAGIC_MASK 0xFF00

#define	TMC2208_OTPMAGIC_SHIFT 8

#define	TMC2208_OTP0_BYTE_0_READ_DATA_MASK 0x01

#define	TMC2208_OTP0_BYTE_0_READ_DATA_SHIFT 0

#define	TMC2208_OTP1_BYTE_1_READ_DATA_MASK 0x02

#define	TMC2208_OTP1_BYTE_1_READ_DATA_SHIFT 8

#define	TMC2208_OTP2_BYTE_2_READ_DATA_MASK 0x04

#define	TMC2208_OTP2_BYTE_2_READ_DATA_SHIFT 16

#define	TMC2208_ENN_MASK 0x01

#define	TMC2208_ENN_SHIFT 0

#define	TMC2208_MS1_MASK 0x04

#define	TMC2208_MS1_SHIFT 2

#define	TMC2208_MS2_MASK 0x08

#define	TMC2208_MS2_SHIFT 3

#define	TMC2208_DIAG_MASK 0x10

#define	TMC2208_DIAG_SHIFT 4

#define	TMC2208_PDN_UART_MASK 0x40

#define	TMC2208_PDN_UART_SHIFT 6

#define	TMC2208_STEP_MASK 0x80

#define	TMC2208_STEP_SHIFT 7

#define	TMC2208_SEL_A_MASK 0x0100

#define	TMC2208_SEL_A_SHIFT 8

#define	TMC2208_DIR_MASK 0x0200

#define	TMC2208_DIR_SHIFT 9

#define	TMC2208_VERSION_MASK 0xFF000000

#define	TMC2208_VERSION_SHIFT 24

#define	TMC2208_FCLKTRIM_MASK 0x1F

#define	TMC2208_FCLKTRIM_SHIFT 0

#define	TMC2208_OTTRIM_MASK 0x30

#define	TMC2208_OTTRIM_SHIFT 8

#define	TMC2208_IHOLD_MASK 0x1F

#define	TMC2208_IHOLD_SHIFT 0

#define	TMC2208_IRUN_MASK 0x1F00

#define	TMC2208_IRUN_SHIFT 8

#define	TMC2208_IHOLDDELAY_MASK 0x0F0000

#define	TMC2208_IHOLDDELAY_SHIFT 16

#define	TMC2208_TPOWERDOWN_MASK 0xFF

#define	TMC2208_TPOWERDOWN_SHIFT 0

#define	TMC2208_TSTEP_MASK 0x0FFFFF

#define	TMC2208_TSTEP_SHIFT 0

#define	TMC2208_TPWMTHRS_MASK 0x0FFFFF

#define	TMC2208_TPWMTHRS_SHIFT 0

#define	TMC2208_VACTUAL_MASK 0xFFFFFF

#define	TMC2208_VACTUAL_SHIFT 0

#define	TMC2208_MSCNT_MASK 0x03FF

#define	TMC2208_MSCNT_SHIFT 0

#define	TMC2208_CUR_A_MASK 0x01FF

#define	TMC2208_CUR_A_SHIFT 0

#define	TMC2208_CUR_B_MASK 0x01FF0000

#define	TMC2208_CUR_B_SHIFT 16

#define	TMC2208_TOFF_MASK 0x0F

#define	TMC2208_TOFF_SHIFT 0

#define	TMC2208_HSTRT_MASK 0x70

#define	TMC2208_HSTRT_SHIFT 4

#define	TMC2208_HEND_MASK 0x0780

#define	TMC2208_HEND_SHIFT 7

#define	TMC2208_TBL_MASK 0x018000

#define	TMC2208_TBL_SHIFT 15

#define	TMC2208_VSENSE_MASK 0x020000

#define	TMC2208_VSENSE_SHIFT 17

#define	TMC2208_MRES_MASK 0x0F000000

#define	TMC2208_MRES_SHIFT 24

#define	TMC2208_INTPOL_MASK 0x10000000

#define	TMC2208_INTPOL_SHIFT 28

#define	TMC2208_DEDGE_MASK 0x20000000

#define	TMC2208_DEDGE_SHIFT 29

#define	TMC2208_DISS2G_MASK 0x40000000

#define	TMC2208_DISS2G_SHIFT 30

#define	TMC2208_DISS2VS_MASK 0x80000000

#define	TMC2208_DISS2VS_SHIFT 31

#define	TMC2208_OTPW_MASK 0x01

#define	TMC2208_OTPW_SHIFT 0

#define	TMC2208_OT_MASK 0x02

#define	TMC2208_OT_SHIFT 1

#define	TMC2208_S2GA_MASK 0x04

#define	TMC2208_S2GA_SHIFT 2

#define	TMC2208_S2GB_MASK 0x08

#define	TMC2208_S2GB_SHIFT 3

#define	TMC2208_S2VSA_MASK 0x10

#define	TMC2208_S2VSA_SHIFT 4

#define	TMC2208_S2VSB_MASK 0x20

#define	TMC2208_S2VSB_SHIFT 5

#define	TMC2208_OLA_MASK 0x40

#define	TMC2208_OLA_SHIFT 6

#define	TMC2208_OLB_MASK 0x80

#define	TMC2208_OLB_SHIFT 7

#define	TMC2208_T120_MASK 0x0100

#define	TMC2208_T120_SHIFT 8

#define	TMC2208_T143_MASK 0x0200

#define	TMC2208_T143_SHIFT 9

#define	TMC2208_T150_MASK 0x0400

#define	TMC2208_T150_SHIFT 10

#define	TMC2208_T157_MASK 0x0800

#define	TMC2208_T157_SHIFT 11

#define	TMC2208_CS_ACTUAL_MASK 0x1F0000

#define	TMC2208_CS_ACTUAL_SHIFT 16

#define	TMC2208_STEALTH_MASK 0x40000000

#define	TMC2208_STEALTH_SHIFT 30

#define	TMC2208_STST_MASK 0x80000000

#define	TMC2208_STST_SHIFT 31

#define	TMC2208_PWM_OFS_MASK 0xFF

#define	TMC2208_PWM_OFS_SHIFT 0

#define	TMC2208_PWM_GRAD_MASK 0xFF00

#define	TMC2208_PWM_GRAD_SHIFT 8

#define	TMC2208_PWM_FREQ_MASK 0x030000

#define	TMC2208_PWM_FREQ_SHIFT 16

#define	TMC2208_PWM_AUTOSCALE_MASK 0x040000

#define	TMC2208_PWM_AUTOSCALE_SHIFT 18

#define	TMC2208_PWM_AUTOGRAD_MASK 0x080000

#define	TMC2208_PWM_AUTOGRAD_SHIFT 19

#define	TMC2208_FREEWHEEL_MASK 0x300000

#define	TMC2208_FREEWHEEL_SHIFT 20

#define	TMC2208_PWM_REG_MASK 0x0F000000

#define	TMC2208_PWM_REG_SHIFT 24

#define	TMC2208_PWM_LIM_MASK 0xF0000000

#define	TMC2208_PWM_LIM_SHIFT 28

#define	TMC2208_PWM_SCALE_SUM_MASK 0xFF

#define	TMC2208_PWM_SCALE_SUM_SHIFT 0

#define	TMC2208_PWM_SCALE_AUTO_MASK 0x01FF0000

#define	TMC2208_PWM_SCALE_AUTO_SHIFT 16

#define	TMC2208_PWM_OFS_AUTO_MASK 0xFF

#define	TMC2208_PWM_OFS_AUTO_SHIFT 0

#define	TMC2208_PWM_GRAD_AUTO_MASK 0xFF0000

#define	TMC2208_PWM_GRAD_AUTO_SHIFT 16

#define	ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0]))

#define	NORMALDIRECTION 0

#define	INVERSEDIRECTION 1

#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" )

default values
default values for non-zero registers
#define	R00 0x00000041

#define	R10 0x00001F00

#define	R6C 0x10000053

#define	R70 0xC10D0024

Register addresses

#define	TMC2208_GCONF 0x00

#define	TMC2208_GSTAT 0x01

#define	TMC2208_IFCNT 0x02

#define	TMC2208_SLAVECONF 0x03

#define	TMC2208_OTP_PROG 0x04

#define	TMC2208_OTP_READ 0x05

#define	TMC2208_IOIN 0x06

#define	TMC2208_FACTORY_CONF 0x07

#define	TMC2208_IHOLD_IRUN 0x10

#define	TMC2208_TPOWERDOWN 0x11

#define	TMC2208_TSTEP 0x12

#define	TMC2208_TPWMTHRS 0x13

#define	TMC2208_VACTUAL 0x22

#define	TMC2208_MSCNT 0x6A

#define	TMC2208_MSCURACT 0x6B

#define	TMC2208_CHOPCONF 0x6C

#define	TMC2208_DRVSTATUS 0x6F

#define	TMC2208_PWMCONF 0x70

#define	TMC2208_PWMSCALE 0x71

#define	TMC2208_PWM_AUTO 0x72

software UART pins
Defines to map pins of the software UART for the driver chip
#define	UARTTXPORT PORTC

#define	UARTTXDDR DDRC

#define	UARTTXPIN 3

#define	UARTRXPORT PORTC

#define	UARTRXDDR DDRC

#define	UARTRXPIN 2

Detailed Description

Function prototypes and definitions for the uStepper TMC2208 driver library.

This file contains class and function prototypes for the library, as well as necessary constants and global variables.

Author: Thomas Hørring Olsen (thoma.nosp@m.s@us.nosp@m.teppe.nosp@m.r.co.nosp@m.m)

Definition in file TMC2208.h.

Macro Definition Documentation

◆ ARRAY_SIZE

#define ARRAY_SIZE ( x ) (sizeof(x)/sizeof(x[0]))

Define to calculate size of array

Definition at line 250 of file TMC2208.h.

Classes

Macros

Detailed Description

Macro Definition Documentation

◆ ARRAY_SIZE