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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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30
src/hal/tmc2130.h
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@ -35,7 +35,7 @@ class TMC2130 {
MotorCurrents currents;
public:
/// constructor
/// Constructor
TMC2130(const MotorParams &params,
const MotorCurrents &currents,
MotorMode mode);
@ -43,38 +43,42 @@ public:
/// (re)initialization of the chip
void Init(const MotorParams &params);
/// Get/Change the current motor mode
MotorMode Mode() { return mode; } const
/// Get the current motor mode
MotorMode Mode() const {
return mode;
}
/// Set the current motor mode
void SetMode(MotorMode mode);
/// Get/Change the current motor currents
const MotorCurrents& Currents() { return currents; } const
/// Get the current motor currents
const MotorCurrents &Currents() const {
return currents;
}
/// Set the current motor currents
void SetCurrents(const MotorCurrents &currents);
/// Return enabled state (TODO)
static bool Enabled(const MotorParams &params);
/// 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);
}
/// 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);
}
/// Step the motor
static inline void Step(const MotorParams& params)
{
static inline void Step(const MotorParams &params) {
gpio::TogglePin(params.stepPin); // assumes DEDGE
}
/// 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;
}
};