uStepper S-lite
TMC2208.h
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1 /********************************************************************************************
2 * File: TMC2208.h *
3 * Version: 1.1.0 *
4 * Date: June 14, 2020 *
5 * Author: Thomas Hørring Olsen *
6 * *
7 * *
8 *********************************************************************************************
9 * (C) 2020 *
10 * *
11 * uStepper ApS *
12 * www.ustepper.com *
13 * administration@ustepper.com *
14 * *
15 * The code contained in this file is released under the following open source license: *
16 * *
17 * Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International *
18 * *
19 * The code in this file is provided without warranty of any kind - use at own risk! *
20 * neither uStepper ApS nor the author, can be held responsible for any damage *
21 * caused by the use of the code contained in this file ! *
22 * *
23 ********************************************************************************************/
34 #ifndef TMC2208_H_
35 #define TMC2208_H_
36 
37  #include <stdlib.h>
38  #include <stdint.h>
39  #include <avr/pgmspace.h>
40  #include <Arduino.h>
41  #include <util/delay.h>
42 
46  #define R00 0x00000041
48  #define R10 0x00001F00
49  #define R6C 0x10000053
50  #define R70 0xC10D0024
51 
54  // ===== TMC2208 & 2202 & TMC2208 & 2220 & 2225 "Donkey Kong" family register set =====
56  #define TMC2208_GCONF 0x00
57  #define TMC2208_GSTAT 0x01
58  #define TMC2208_IFCNT 0x02
59  #define TMC2208_SLAVECONF 0x03
60  #define TMC2208_OTP_PROG 0x04
61  #define TMC2208_OTP_READ 0x05
62  #define TMC2208_IOIN 0x06
63  #define TMC2208_FACTORY_CONF 0x07
64 
65  #define TMC2208_IHOLD_IRUN 0x10
66  #define TMC2208_TPOWERDOWN 0x11
67  #define TMC2208_TSTEP 0x12
68  #define TMC2208_TPWMTHRS 0x13
69 
70  #define TMC2208_VACTUAL 0x22
71 
72  #define TMC2208_MSCNT 0x6A
73  #define TMC2208_MSCURACT 0x6B
74  #define TMC2208_CHOPCONF 0x6C
75  #define TMC2208_DRVSTATUS 0x6F
76  #define TMC2208_PWMCONF 0x70
77  #define TMC2208_PWMSCALE 0x71
78  #define TMC2208_PWM_AUTO 0x72
79 
85  // Write-Bit
86  #define TMC2208_WRITE_BIT 0x80
87 
88  #define TMC2208_I_SCALE_ANALOG_MASK 0x01 // GCONF // I_scale_analog (Reset default=1)
89  #define TMC2208_I_SCALE_ANALOG_SHIFT 0 // min.: 0, max.: 1, default: 0
90  #define TMC2208_INTERNAL_RSENSE_MASK 0x02 // GCONF // internal_Rsense (Reset default: OTP)
91  #define TMC2208_INTERNAL_RSENSE_SHIFT 1 // min.: 0, max.: 1, default: 0
92  #define TMC2208_EN_SPREADCYCLE_MASK 0x04 // GCONF // en_spreadCycle (Reset default: OTP)
93  #define TMC2208_EN_SPREADCYCLE_SHIFT 2 // min.: 0, max.: 1, default: 0
94  #define TMC2208_SHAFT_MASK 0x08 // GCONF // controls motor direction
95  #define TMC2208_SHAFT_SHIFT 3 // min.: 0, max.: 1, default: 0
96  #define TMC2208_INDEX_OTPW_MASK 0x10 // GCONF // index_otpw
97  #define TMC2208_INDEX_OTPW_SHIFT 4 // min.: 0, max.: 1, default: 0
98  #define TMC2208_INDEX_STEP_MASK 0x20 // GCONF // index_step
99  #define TMC2208_INDEX_STEP_SHIFT 5 // min.: 0, max.: 1, default: 0
100  #define TMC2208_PDN_DISABLE_MASK 0x40 // GCONF // pdn_disable
101  #define TMC2208_PDN_DISABLE_SHIFT 6 // min.: 0, max.: 1, default: 0
102  #define TMC2208_MSTEP_REG_SELECT_MASK 0x80 // GCONF // mstep_reg_select
103  #define TMC2208_MSTEP_REG_SELECT_SHIFT 7 // min.: 0, max.: 1, default: 0
104  #define TMC2208_MULTISTEP_FILT_MASK 0x0100 // GCONF // multistep_filt (Reset default=1)
105  #define TMC2208_MULTISTEP_FILT_SHIFT 8 // min.: 0, max.: 1, default: 0
106  #define TMC2208_TEST_MODE_MASK 0x0200 // GCONF // test_mode 0
107  #define TMC2208_TEST_MODE_SHIFT 9 // min.: 0, max.: 1, default: 0
108  #define TMC2208_RESET_MASK 0x01 // GSTAT // reset
109  #define TMC2208_RESET_SHIFT 0 // min.: 0, max.: 1, default: 0
110  #define TMC2208_DRV_ERR_MASK 0x02 // GSTAT // drv_err
111  #define TMC2208_DRV_ERR_SHIFT 1 // min.: 0, max.: 1, default: 0
112  #define TMC2208_UV_CP_MASK 0x04 // GSTAT // uv_cp
113  #define TMC2208_UV_CP_SHIFT 2 // min.: 0, max.: 1, default: 0
114  #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.
115  #define TMC2208_IFCNT_SHIFT 0 // min.: 0, max.: 255, default: 0
116  #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
117  #define TMC2208_SLAVECONF_SHIFT 8 // min.: 0, max.: 15, default: 0
118  #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)
119  #define TMC2208_OTPBIT_SHIFT 0 // min.: 0, max.: 7, default: 0
120  #define TMC2208_OTPBYTE_MASK 0x30 // OTP_PROG // Selection of OTP programming location (0, 1 or 2)
121  #define TMC2208_OTPBYTE_SHIFT 4 // min.: 0, max.: 3, default: 0
122  #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).
123  #define TMC2208_OTPMAGIC_SHIFT 8 // min.: 0, max.: 255, default: 0
124  #define TMC2208_OTP0_BYTE_0_READ_DATA_MASK 0x01 // OTP_READ // to be detailed
125  #define TMC2208_OTP0_BYTE_0_READ_DATA_SHIFT 0 // min.: 0, max.: 255, default: 0
126  #define TMC2208_OTP1_BYTE_1_READ_DATA_MASK 0x02 // OTP_READ // to be detailed
127  #define TMC2208_OTP1_BYTE_1_READ_DATA_SHIFT 8 // min.: 0, max.: 255, default: 0
128  #define TMC2208_OTP2_BYTE_2_READ_DATA_MASK 0x04 // OTP_READ // to be detailed
129  #define TMC2208_OTP2_BYTE_2_READ_DATA_SHIFT 16 // min.: 0, max.: 255, default: 0
130  #define TMC2208_ENN_MASK 0x01 // IOIN //
131  #define TMC2208_ENN_SHIFT 0 // min.: 0, max.: 1, default: 0
132  #define TMC2208_MS1_MASK 0x04 // IOIN //
133  #define TMC2208_MS1_SHIFT 2 // min.: 0, max.: 1, default: 0
134  #define TMC2208_MS2_MASK 0x08 // IOIN //
135  #define TMC2208_MS2_SHIFT 3 // min.: 0, max.: 1, default: 0
136  #define TMC2208_DIAG_MASK 0x10 // IOIN //
137  #define TMC2208_DIAG_SHIFT 4 // min.: 0, max.: 1, default: 0
138  #define TMC2208_PDN_UART_MASK 0x40 // IOIN //
139  #define TMC2208_PDN_UART_SHIFT 6 // min.: 0, max.: 1, default: 0
140  #define TMC2208_STEP_MASK 0x80 // IOIN //
141  #define TMC2208_STEP_SHIFT 7 // min.: 0, max.: 1, default: 0
142  #define TMC2208_SEL_A_MASK 0x0100 // IOIN // Driver type
143  #define TMC2208_SEL_A_SHIFT 8 // min.: 0, max.: 1, default: 0
144  #define TMC2208_DIR_MASK 0x0200 // IOIN //
145  #define TMC2208_DIR_SHIFT 9 // min.: 0, max.: 1, default: 0
146  #define TMC2208_VERSION_MASK 0xFF000000 // IOIN // VERSION: 0x20=first version of the IC Identical numbers mean full digital compatibility.
147  #define TMC2208_VERSION_SHIFT 24 // min.: 0, max.: 255, default: 0
148  #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.
149  #define TMC2208_FCLKTRIM_SHIFT 0 // min.: 0, max.: 31, default: 0
150  #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
151  #define TMC2208_OTTRIM_SHIFT 8 // min.: 0, max.: 3, default: 0
152  #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.
153  #define TMC2208_IHOLD_SHIFT 0 // min.: 0, max.: 31, default: 0
154  #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.
155  #define TMC2208_IRUN_SHIFT 8 // min.: 0, max.: 31, default: 0
156  #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
157  #define TMC2208_IHOLDDELAY_SHIFT 16 // min.: 0, max.: 15, default: 0
158  #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.
159  #define TMC2208_TPOWERDOWN_SHIFT 0 // min.: 0, max.: 255, default: 0
160  #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.
161  #define TMC2208_TSTEP_SHIFT 0 // min.: 0, max.: 1048575, default: 0
162  #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
163  #define TMC2208_TPWMTHRS_SHIFT 0 // min.: 0, max.: 1048575, default: 0
164  #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.
165  #define TMC2208_VACTUAL_SHIFT 0 // min.: -8388608, max.: 8388607, default: 0
166  #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.
167  #define TMC2208_MSCNT_SHIFT 0 // min.: 0, max.: 1023, default: 0
168  #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)
169  #define TMC2208_CUR_A_SHIFT 0 // min.: -255, max.: 255, default: 0
170  #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)
171  #define TMC2208_CUR_B_SHIFT 16 // min.: -255, max.: 255, default: 0
172  #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)
173  #define TMC2208_TOFF_SHIFT 0 // min.: 0, max.: 7, default: 0
174  #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)
175  #define TMC2208_HSTRT_SHIFT 4 // min.: 0, max.: 7, default: 0
176  #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)
177  #define TMC2208_HEND_SHIFT 7 // min.: 0, max.: 255, default: 0
178  #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)
179  #define TMC2208_TBL_SHIFT 15 // min.: 0, max.: 255, default: 0
180  #define TMC2208_VSENSE_MASK 0x020000 // CHOPCONF // sense resistor voltage based current scaling
181  #define TMC2208_VSENSE_SHIFT 17 // min.: 0, max.: 1, default: 0
182  #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)
183  #define TMC2208_MRES_SHIFT 24 // min.: 0, max.: 255, default: 0
184  #define TMC2208_INTPOL_MASK 0x10000000 // CHOPCONF // interpolation to 256 microsteps
185  #define TMC2208_INTPOL_SHIFT 28 // min.: 0, max.: 1, default: 0
186  #define TMC2208_DEDGE_MASK 0x20000000 // CHOPCONF // enable double edge step pulses
187  #define TMC2208_DEDGE_SHIFT 29 // min.: 0, max.: 1, default: 0
188  #define TMC2208_DISS2G_MASK 0x40000000 // CHOPCONF // short to GND protection disable
189  #define TMC2208_DISS2G_SHIFT 30 // min.: 0, max.: 1, default: 0
190  #define TMC2208_DISS2VS_MASK 0x80000000 // CHOPCONF // Low side short protection disable
191  #define TMC2208_DISS2VS_SHIFT 31 // min.: 0, max.: 1, default: 0
192  #define TMC2208_OTPW_MASK 0x01 // DRV_STATUS // overtemperature prewarning flag
193  #define TMC2208_OTPW_SHIFT 0 // min.: 0, max.: 1, default: 0
194  #define TMC2208_OT_MASK 0x02 // DRV_STATUS // overtemperature flag
195  #define TMC2208_OT_SHIFT 1 // min.: 0, max.: 1, default: 0
196  #define TMC2208_S2GA_MASK 0x04 // DRV_STATUS // short to ground indicator phase A
197  #define TMC2208_S2GA_SHIFT 2 // min.: 0, max.: 1, default: 0
198  #define TMC2208_S2GB_MASK 0x08 // DRV_STATUS // short to ground indicator phase B
199  #define TMC2208_S2GB_SHIFT 3 // min.: 0, max.: 1, default: 0
200  #define TMC2208_S2VSA_MASK 0x10 // DRV_STATUS // low side short indicator phase A
201  #define TMC2208_S2VSA_SHIFT 4 // min.: 0, max.: 1, default: 0
202  #define TMC2208_S2VSB_MASK 0x20 // DRV_STATUS // low side short indicator phase B
203  #define TMC2208_S2VSB_SHIFT 5 // min.: 0, max.: 1, default: 0
204  #define TMC2208_OLA_MASK 0x40 // DRV_STATUS // open load indicator phase A
205  #define TMC2208_OLA_SHIFT 6 // min.: 0, max.: 1, default: 0
206  #define TMC2208_OLB_MASK 0x80 // DRV_STATUS // open load indicator phase B
207  #define TMC2208_OLB_SHIFT 7 // min.: 0, max.: 1, default: 0
208  #define TMC2208_T120_MASK 0x0100 // DRV_STATUS // 120°C comparator
209  #define TMC2208_T120_SHIFT 8 // min.: 0, max.: 1, default: 0
210  #define TMC2208_T143_MASK 0x0200 // DRV_STATUS // 143°C comparator
211  #define TMC2208_T143_SHIFT 9 // min.: 0, max.: 1, default: 0
212  #define TMC2208_T150_MASK 0x0400 // DRV_STATUS // 150°C comparator
213  #define TMC2208_T150_SHIFT 10 // min.: 0, max.: 1, default: 0
214  #define TMC2208_T157_MASK 0x0800 // DRV_STATUS // 157°C comparator
215  #define TMC2208_T157_SHIFT 11 // min.: 0, max.: 1, default: 0
216  #define TMC2208_CS_ACTUAL_MASK 0x1F0000 // DRV_STATUS // actual motor current
217  #define TMC2208_CS_ACTUAL_SHIFT 16 // min.: 0, max.: 31, default: 0
218  #define TMC2208_STEALTH_MASK 0x40000000 // DRV_STATUS // stealthChop indicator
219  #define TMC2208_STEALTH_SHIFT 30 // min.: 0, max.: 1, default: 0
220  #define TMC2208_STST_MASK 0x80000000 // DRV_STATUS // standstill indicator
221  #define TMC2208_STST_SHIFT 31 // min.: 0, max.: 1, default: 0
222  #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).
223  #define TMC2208_PWM_OFS_SHIFT 0 // min.: 0, max.: 255, default: 0
224  #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.
225  #define TMC2208_PWM_GRAD_SHIFT 8 // min.: 0, max.: 255, default: 0
226  #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
227  #define TMC2208_PWM_FREQ_SHIFT 16 // min.: 0, max.: 3, default: 0
228  #define TMC2208_PWM_AUTOSCALE_MASK 0x040000 // PWMCONF //
229  #define TMC2208_PWM_AUTOSCALE_SHIFT 18 // min.: 0, max.: 1, default: 0
230  #define TMC2208_PWM_AUTOGRAD_MASK 0x080000 // PWMCONF //
231  #define TMC2208_PWM_AUTOGRAD_SHIFT 19 // min.: 0, max.: 1, default: 0
232  #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
233  #define TMC2208_FREEWHEEL_SHIFT 20 // min.: 0, max.: 3, default: 0
234  #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)
235  #define TMC2208_PWM_REG_SHIFT 24 // min.: 0, max.: 25, default: 0
236  #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)
237  #define TMC2208_PWM_LIM_SHIFT 28 // min.: 0, max.: 15, default: 0
238  #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.
239  #define TMC2208_PWM_SCALE_SUM_SHIFT 0 // min.: 0, max.: 255, default: 0
240  #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.
241  #define TMC2208_PWM_SCALE_AUTO_SHIFT 16 // min.: -255, max.: 255, default: 0
242  #define TMC2208_PWM_OFS_AUTO_MASK 0xFF // PWM_AUTO // Automatically determined offset value
243  #define TMC2208_PWM_OFS_AUTO_SHIFT 0 // min.: 0, max.: 255, default: 0
244  #define TMC2208_PWM_GRAD_AUTO_MASK 0xFF0000 // PWM_AUTO // Automatically determined gradient value
245  #define TMC2208_PWM_GRAD_AUTO_SHIFT 16 // min.: 0, max.: 255, default: 0
246 
249  #define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0]))
250 
254  #define UARTTXPORT PORTC
256  #define UARTTXDDR DDRC
257  #define UARTTXPIN 3
258  #define UARTRXPORT PORTC
259  #define UARTRXDDR DDRC
260  #define UARTRXPIN 2
261 
263  #define NORMALDIRECTION 0
264  #define INVERSEDIRECTION 1
265 
266  // 2us delay (30 nops @ 62.5ns = 1.875us + C overhead ~ 2us) 500k baud
268  #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" )
269 
277 class Tmc2208
278 {
279 public:
285  Tmc2208(void);
286 
295  void setup(void);
296 
303  void disableDriver(void);
304 
311  void enableDriver(void);
312 
324  void setCurrent(uint8_t runPercent, uint8_t holdPercent);
325 
335  void setHoldCurrent(uint8_t holdPercent);
336 
346  void setRunCurrent(uint8_t runPercent);
347 
356  void setVelocity(float RPM);
357 
366  void invertDirection(bool normal = INVERSEDIRECTION);
367  float getRunCurrent(void);
368  float getHoldCurrent(void);
369 protected:
372  uint8_t runCurrent;
373 
376  uint8_t holdCurrent;
377 
378  void writeRegister(uint8_t address, int32_t value);
379  void readRegister(uint8_t address, int32_t *value);
380  uint8_t calcCRC(uint8_t datagram[], uint8_t len);
381  void uartInit(void);
382  void uartSendByte(uint8_t value);
383  bool uartReceivePacket(uint8_t *packet __attribute__((unused)), uint8_t size __attribute__((unused)));
384 
385 };
386 
387 #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:372
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:376
Tmc2208
Prototype of class for accessing all features of the TMC2208 in a single object.
Definition: TMC2208.h:278
Tmc2208::Tmc2208
Tmc2208(void)
Constructor.
Definition: TMC2208.cpp:109
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