130 lines
3.3 KiB
C++
130 lines
3.3 KiB
C++
#pragma once
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#include "../hal/gpio.h"
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#include "../hal/shr16.h"
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#include "../hal/spi.h"
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namespace hal {
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/// TMC2130 interface
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/// There are multiple TMC2130 on our board, so there will be multiple
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/// instances of this class
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/// @@TODO @leptun - design some lightweight TMC2130 interface
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namespace tmc2130 {
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enum MotorMode : uint8_t {
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Stealth,
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Normal
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};
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struct MotorParams {
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hal::spi::SPI_TypeDef *spi;
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uint8_t idx; ///< SHR16 index
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bool dirOn; ///< forward direction
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gpio::GPIO_pin csPin; ///< CS pin
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gpio::GPIO_pin stepPin; ///< step pin
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gpio::GPIO_pin sgPin; ///< stallguard pin
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uint8_t uSteps; ///< microstep resolution (mres)
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};
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struct MotorCurrents {
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bool vSense; ///< VSense current scaling
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uint8_t iRun; ///< Running current
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uint8_t iHold; ///< Holding current
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};
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class TMC2130 {
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MotorMode mode;
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MotorCurrents currents;
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struct __attribute__((packed)) {
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uint8_t reset : 1;
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uint8_t uv_cp : 1;
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uint8_t s2ga : 1;
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uint8_t s2gb : 1;
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uint8_t otpw : 1;
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uint8_t ot : 1;
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} errorFlags;
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public:
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enum class Registers : uint8_t {
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/// General Configuration Registers
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GCONF = 0x00,
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GSTAT = 0x01,
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IOIN = 0x04,
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/// Velocity Dependent Driver Feature Control Register Set
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IHOLD_IRUN = 0x10,
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TPOWERDOWN = 0x11,
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TSTEP = 0x12,
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TPWMTHRS = 0x13,
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TCOOLTHRS = 0x14,
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THIGH = 0x15,
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/// Motor Driver Registers
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MSCNT = 0x6A,
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CHOPCONF = 0x6C,
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COOLCONF = 0x6D,
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DRV_STATUS = 0x6F,
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PWMCONF = 0x70,
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};
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/// Constructor
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TMC2130(const MotorParams ¶ms,
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const MotorCurrents ¤ts,
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MotorMode mode);
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/// (re)initialization of the chip
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void Init(const MotorParams ¶ms);
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/// Get the current motor mode
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MotorMode Mode() const {
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return mode;
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}
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/// Set the current motor mode
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void SetMode(MotorMode mode);
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/// Get the current motor currents
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const MotorCurrents &Currents() const {
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return currents;
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}
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/// Set the current motor currents
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void SetCurrents(const MotorCurrents ¤ts);
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/// Return enabled state (TODO)
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static bool Enabled(const MotorParams ¶ms);
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/// Enable/Disable the motor
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static void SetEnabled(const MotorParams ¶ms, bool enabled) {
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hal::shr16::shr16.SetTMCDir(params.idx, enabled);
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}
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/// Set direction
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static inline void SetDir(const MotorParams ¶ms, bool dir) {
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hal::shr16::shr16.SetTMCDir(params.idx, dir ^ params.dirOn);
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}
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/// Step the motor
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static inline void Step(const MotorParams ¶ms) {
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gpio::TogglePin(params.stepPin); // assumes DEDGE
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}
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/// Return SG state
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static inline bool Stall(const MotorParams ¶ms) {
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return gpio::ReadPin(params.sgPin) == gpio::Level::high;
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}
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/// Reads a driver register and updates the status flags
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uint32_t ReadRegister(const MotorParams ¶ms, Registers reg);
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/// Writes a driver register and updates the status flags
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void WriteRegister(const MotorParams ¶ms, Registers reg, uint32_t data);
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private:
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void _spi_tx_rx(const MotorParams ¶ms, uint8_t (&pData)[5]);
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void _handle_spi_status(const MotorParams ¶ms, uint8_t status);
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};
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} // namespace tmc2130
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} // namespace hal
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