88 lines
2.1 KiB
C++
88 lines
2.1 KiB
C++
#pragma once
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#include "../hal/gpio.h"
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#include "../hal/shr16.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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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
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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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public:
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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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};
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} // namespace tmc2130
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} // namespace hal
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