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Reorder functions

pull/76/head
Alex Voinea 2021-07-25 18:35:14 +03:00 committed by DRracer
parent b97aefcb5c
commit 3f20ff88ee
1 changed files with 5 additions and 5 deletions
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10
src/hal/avr/tmc2130.cpp
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@ -81,6 +81,11 @@ void TMC2130::SetCurrents(const MotorParams &params, const MotorCurrents &curren
WriteRegister(params, Registers::IHOLD_IRUN, ihold_irun); WriteRegister(params, Registers::IHOLD_IRUN, ihold_irun);
} }
void TMC2130::SetEnabled(const MotorParams &params, bool enabled) {
hal::shr16::shr16.SetTMCDir(params.idx, enabled);
this->enabled = enabled;
}
uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) { uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) {
uint8_t pData[5] = { (uint8_t)reg }; uint8_t pData[5] = { (uint8_t)reg };
_spi_tx_rx(params, pData); _spi_tx_rx(params, pData);
@ -90,11 +95,6 @@ uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) {
return ((uint32_t)pData[1] << 24 | (uint32_t)pData[2] << 16 | (uint32_t)pData[3] << 8 | (uint32_t)pData[4]); return ((uint32_t)pData[1] << 24 | (uint32_t)pData[2] << 16 | (uint32_t)pData[3] << 8 | (uint32_t)pData[4]);
} }
void TMC2130::SetEnabled(const MotorParams &params, bool enabled) {
hal::shr16::shr16.SetTMCDir(params.idx, enabled);
this->enabled = enabled;
}
void TMC2130::WriteRegister(const MotorParams &params, Registers reg, uint32_t data) { void TMC2130::WriteRegister(const MotorParams &params, Registers reg, uint32_t data) {
uint8_t pData[5] = { (uint8_t)((uint8_t)(reg) | 0x80), (uint8_t)(data >> 24), (uint8_t)(data >> 16), (uint8_t)(data >> 8), (uint8_t)data }; uint8_t pData[5] = { (uint8_t)((uint8_t)(reg) | 0x80), (uint8_t)(data >> 24), (uint8_t)(data >> 16), (uint8_t)(data >> 8), (uint8_t)data };
_spi_tx_rx(params, pData); _spi_tx_rx(params, pData);