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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 {
uint8_t idx; ///< SHR16 index
bool dirOn; ///< forward direction
gpio::GPIO_pin csPin; ///< CS pin
uint8_t idx; ///< SHR16 index
bool dirOn; ///< forward direction
gpio::GPIO_pin csPin; ///< CS pin
gpio::GPIO_pin stepPin; ///< step pin
gpio::GPIO_pin sgPin; ///< stallguard pin
uint8_t uSteps; ///< microstep resolution
gpio::GPIO_pin sgPin; ///< stallguard pin
uint8_t uSteps; ///< microstep resolution
};
struct MotorCurrents {
bool vSense; ///< VSense current scaling
uint8_t iRun; ///< Running current
uint8_t iHold; ///< Holding current
bool vSense; ///< VSense current scaling
uint8_t iRun; ///< Running current
uint8_t iHold; ///< Holding current
};
class TMC2130 {
@ -35,46 +35,50 @@ class TMC2130 {
MotorCurrents currents;
public:
/// constructor
TMC2130(const MotorParams& params,
const MotorCurrents& currents,
MotorMode mode);
/// Constructor
TMC2130(const MotorParams &params,
const MotorCurrents &currents,
MotorMode mode);
/// (re)initialization of the chip
void Init(const MotorParams& params);
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
void SetCurrents(const MotorCurrents& currents);
/// 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);
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;
}
};