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TMC2130: Reformat

pull/41/head
Yuri D'Elia 2021-07-05 11:54:06 +02:00 committed by DRracer
parent f491072614
commit e9627ad0d4
1 changed files with 31 additions and 27 deletions
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58
src/hal/tmc2130.h
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@ -16,18 +16,18 @@ enum MotorMode : uint8_t {
}; };
struct MotorParams { struct MotorParams {
uint8_t idx; ///< SHR16 index uint8_t idx; ///< SHR16 index
bool dirOn; ///< forward direction bool dirOn; ///< forward direction
gpio::GPIO_pin csPin; ///< CS pin gpio::GPIO_pin csPin; ///< CS pin
gpio::GPIO_pin stepPin; ///< step pin gpio::GPIO_pin stepPin; ///< step pin
gpio::GPIO_pin sgPin; ///< stallguard pin gpio::GPIO_pin sgPin; ///< stallguard pin
uint8_t uSteps; ///< microstep resolution uint8_t uSteps; ///< microstep resolution
}; };
struct MotorCurrents { struct MotorCurrents {
bool vSense; ///< VSense current scaling bool vSense; ///< VSense current scaling
uint8_t iRun; ///< Running current uint8_t iRun; ///< Running current
uint8_t iHold; ///< Holding current uint8_t iHold; ///< Holding current
}; };
class TMC2130 { class TMC2130 {
@ -35,46 +35,50 @@ class TMC2130 {
MotorCurrents currents; MotorCurrents currents;
public: public:
/// constructor /// Constructor
TMC2130(const MotorParams& params, TMC2130(const MotorParams &params,
const MotorCurrents& currents, const MotorCurrents &currents,
MotorMode mode); MotorMode mode);
/// (re)initialization of the chip /// (re)initialization of the chip
void Init(const MotorParams& params); void Init(const MotorParams &params);
/// Get/Change the current motor mode /// Get the current motor mode
MotorMode Mode() { return mode; } const MotorMode Mode() const {
return mode;
}
/// Set the current motor mode
void SetMode(MotorMode mode); void SetMode(MotorMode mode);
/// Get/Change the current motor currents /// Get the current motor currents
const MotorCurrents& Currents() { return currents; } const const MotorCurrents &Currents() const {
void SetCurrents(const MotorCurrents& currents); return currents;
}
/// Set the current motor currents
void SetCurrents(const MotorCurrents &currents);
/// Return enabled state (TODO) /// Return enabled state (TODO)
static bool Enabled(const MotorParams& params); static bool Enabled(const MotorParams &params);
/// Enable/Disable the motor /// Enable/Disable the motor
static void SetEnabled(const MotorParams& params, bool enabled) static void SetEnabled(const MotorParams &params, bool enabled) {
{
hal::shr16::shr16.SetTMCDir(params.idx, enabled); hal::shr16::shr16.SetTMCDir(params.idx, enabled);
} }
/// Set direction /// Set direction
static inline void SetDir(const MotorParams& params, bool dir) static inline void SetDir(const MotorParams &params, bool dir) {
{
hal::shr16::shr16.SetTMCDir(params.idx, dir ^ params.dirOn); hal::shr16::shr16.SetTMCDir(params.idx, dir ^ params.dirOn);
} }
/// Step the motor /// Step the motor
static inline void Step(const MotorParams& params) static inline void Step(const MotorParams &params) {
{
gpio::TogglePin(params.stepPin); // assumes DEDGE gpio::TogglePin(params.stepPin); // assumes DEDGE
} }
/// Return SG state /// Return SG state
static inline bool Stall(const MotorParams& params) static inline bool Stall(const MotorParams &params) {
{
return gpio::ReadPin(params.sgPin) == gpio::Level::high; return gpio::ReadPin(params.sgPin) == gpio::Level::high;
} }
}; };