uStepperDriver.h

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/********************************************************************************************
*       File:       uStepperDriver.h                                                        *
*       Version:    2.0.0                                                                   *
*       Date:       March 30th, 2020                                                        *
*       Author:     Thomas Hørring Olsen                                                    *
*                                                                                           *   
*********************************************************************************************
*   (C) 2020                                                                                *
*                                                                                           *
*   uStepper ApS                                                                            *
*   www.ustepper.com                                                                        *
*   administration@ustepper.com                                                             *
*                                                                                           *
*   The code contained in this file is released under the following open source license:    *
*                                                                                           *
*           Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International         *
*                                                                                           *
*   The code in this file is provided without warranty of any kind - use at own risk!       *
*   neither uStepper ApS nor the author, can be held responsible for any damage             *
*   caused by the use of the code contained in this file !                                  *
*                                                                                           *
********************************************************************************************/
#include <Arduino.h>
#include <uStepperS.h>
 
/*  TMC5130 Register Address Defines */
 
#define GCONF               0x00    
#define DIRECTION(n)        (((n)&0x1)<<4) 
#define EN_PWM_MODE(n)      (((n)&0x1)<<2) 
#define I_SCALE_ANALOG(n)   (((n)&0x1)<<0) 
#define GSTAT               0x01    
#define X_COMPARE           0x05    
#define IHOLD_IRUN          0x10    
#define TPOWERDOWN          0x11    
#define TSTEP               0x12
#define TPWMTHRS            0x13    
#define TCOOLTHRS           0x14    
#define THIGH               0x15    
#define RAMPMODE            0x20    
#define XACTUAL             0x21    
#define VACTUAL             0x22    
#define VSTART_REG          0x23    
#define A1_REG              0x24    
#define V1_REG              0x25    
#define AMAX_REG            0x26    
#define VMAX_REG            0x27    
#define DMAX_REG            0x28    
#define D1_REG              0x2A    
#define VSTOP_REG           0x2B    
#define TZEROWAIT           0x2C    
#define XTARGET             0x2D    
#define VDCMIN              0x33    
#define SW_MODE             0x34    
#define SG_STOP(n)          (((n)&0x1)<<10) 
#define RAMP_STAT           0x35    
#define XLATCH              0x36    
#define PWMCONF             0x70    
#define FREEWHEEL(n)        (((n)&0x3UL)<<20)   
#define PWM_AUTOSCALE(n)    (((n)&0x1UL)<<18)   
#define PWM_FREQ(n)         (((n)&0x3UL)<<16)   
#define PWM_GRAD(n)         (((n)&0xFF)<<8)     
#define PWM_AMPL(n)         (((n)&0xFF)<<0)     
#define CHOPCONF        0x6C                    
#define DISS2G(n)       (((n)&0x1UL)<<30)       
#define DEDGE(n)        (((n)&0x1UL)<<29)       
#define INTPOL(n)       (((n)&0x1UL)<<28)   
#define MRES(n)         (((n)&0xFUL)<<24)   
#define SYNC(n)         (((n)&0xFUL)<<20)   
#define VHIGHCHM(n)     (((n)&0x1UL)<<19)   
#define VHIGHFS(n)      (((n)&0x1UL)<<18)   
#define VSENSE(n)       (((n)&0x1UL)<<17)   
#define TBL(n)          (((n)&0x3UL)<<15)   
#define CHM(n)          (((n)&0x1UL)<<14)   
#define RNDTF(n)        (((n)&0x1)<<13) 
#define DISFDCC(n)      (((n)&0x1)<<12) 
#define TFD3(n)         (((n)&0x1)<<11) 
#define HEND(n)         (((n)&0xF)<<7)  
#define HSTRT_TFD(n)    (((n)&0x7)<<4)  
#define TOFF(n)         (((n)&0xF)<<0)  
/* CoolStep smart current control register and stallGuard2 configuration **/
 
#define COOLCONF        0x6D    
#define SFILT(n)        (((n)&0x1UL)<<24)   
#define SGT(n)          (((n)&0x7FUL)<<16)  
#define SEIMIN(n)       (((n)&0x1UL)<<15)   
#define SEDN(n)         (((n)&0x3)<<13) 
#define SEMAX(n)        (((n)&0xF)<<8)  
#define SEUP(n)         (((n)&0x3)<<5)  
#define SEMIN(n)        (((n)&0xF)<<0)  
#define DCCTRL          0x6E    
#define DC_SG(n)        (((n)&0xFFUL)<<16)  
#define DC_TIME(n)      (((n)&0x3FF)<<0)    
#define DRV_STATUS      0x6F    
#define IHOLDDELAY(n)   (((n)&0xFUL)<<16)   
#define IRUN(n)         (((n)&0x1F)<<8) 
#define IHOLD(n)        (((n)&0x1F)<<0) 
#define WRITE_ACCESS    0x80    
#define POSITIONING_MODE    0x00        
#define VELOCITY_MODE_POS   0x01        
#define VELOCITY_MODE_NEG   0x02        
#define HOLD_MODE           0x03        
#define DRIVER_STOP 0                   
#define DRIVER_VELOCITY 1   
#define DRIVER_POSITION 2   
#define ACCELERATIONCONVERSION 1.0/116.415321827    
#define VELOCITYCONVERSION 1.0/0.953674316  
class uStepperDriver{
 
friend class uStepperS;
    public:
        uStepperDriver( void );
 
        void init( uStepperS * _pointer );
 
        void setPosition( int32_t position );
 
        void setVelocity( uint32_t velocity );
        void setAcceleration( uint32_t acceleration );
        void setDeceleration( uint32_t deceleration );
 
        void setCurrent( uint8_t current );
        
        void setHoldCurrent( uint8_t current );
 
        void setShaftDirection( bool direction );
 
        void stop( void );
 
        int32_t getVelocity( void );
 
        int32_t getPosition( void );
 
        void setHome(int32_t initialSteps = 0);
        
        int32_t writeRegister( uint8_t address, uint32_t datagram );
 
        int32_t readRegister( uint8_t address );
 
        uint16_t getStallValue( void );
 
        volatile int32_t xTarget = 0;
 
        volatile int32_t xActual = 0;
 
 
    protected:
        uint8_t status; 
 
        uint8_t mode = DRIVER_STOP;
 
        uStepperS * pointer;    
 
        uint8_t current = 16;
        uint8_t holdCurrent = 0;
        uint8_t holdDelay = 0;
 
        uint32_t VSTART = 0;
        uint32_t V1     = 0;
        uint32_t VMAX   = 200000;
        uint32_t VSTOP  = 10;
        uint16_t A1     = 600;
        uint16_t AMAX   = 100;
        uint16_t DMAX   = 600;
        uint16_t D1     = 600;
 
 
        void chipSelect(bool state);
 
        void updateCurrent( void );
 
        void setRampMode( uint8_t mode );
 
        void setDirection( bool direction );
 
        void reset( void );
 
        void enableStealth( void );
 
        void enableStallguard( int8_t threshold, bool stopOnStall );
 
        void disableStallguard( void );
 
        void clearStall( void );
 
        void readMotorStatus(void);
 
 
 
};