From b682a1961a7b6853ad5bc47c0996d5a1637d80ac Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 27 Sep 2018 21:12:10 -0500 Subject: [PATCH] Tweak STM32F7 TMC2660 class --- Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp | 178 ++++++++++++------------- Marlin/src/HAL/HAL_STM32F7/TMC2660.h | 96 +++++++------ 2 files changed, 136 insertions(+), 138 deletions(-) diff --git a/Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp b/Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp index b29480faf8..8b2c0900e5 100644 --- a/Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp +++ b/Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp @@ -87,7 +87,7 @@ #define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul #define SE_MIN_PATTERN 0xFul -//definitions for stall guard2 current register +//definitions for StallGuard2 current register #define STALL_GUARD_FILTER_ENABLED 0x10000ul #define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul #define CURRENT_SCALING_PATTERN 0x1Ful @@ -118,7 +118,7 @@ SPIClass SPI_6(SPI6, SPI6_MOSI_PIN, SPI6_MISO_PIN, SPI6_SCK_PIN); //#define TMC_DEBUG1 -unsigned char current_scaling = 0; +uint8_t current_scaling = 0; /** * Constructor @@ -127,7 +127,7 @@ unsigned char current_scaling = 0; * dir_pin - the pin where the direction pin is connected * step_pin - the pin where the step pin is connected */ -TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor) { +TMC26XStepper::TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor) { // We are not started yet started = false; @@ -155,7 +155,7 @@ TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int s microsteps = _BV(INITIAL_MICROSTEPPING); chopper_config_register = CHOPPER_CONFIG_REGISTER; cool_step_register_value = COOL_STEP_REGISTER; - stall_guard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER; + stallguard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER; driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING; // Set the current @@ -202,7 +202,7 @@ void TMC26XStepper::start() { send262(driver_control_register_value); send262(chopper_config_register); send262(cool_step_register_value); - send262(stall_guard2_current_register_value); + send262(stallguard2_current_register_value); send262(driver_configuration_register_value); //save that we are in running mode @@ -218,9 +218,9 @@ void TMC26XStepper::un_start() { started = false; } /** * Sets the speed in revs per minute */ -void TMC26XStepper::setSpeed(unsigned int whatSpeed) { +void TMC26XStepper::setSpeed(uint16_t whatSpeed) { this->speed = whatSpeed; - this->step_delay = 60UL * sq(1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps); + this->step_delay = 60UL * sq(1000UL) / ((uint32_t)this->number_of_steps * (uint32_t)whatSpeed * (uint32_t)this->microsteps); #ifdef TMC_DEBUG0 // crashes //SERIAL_PRINTF("Step delay in micros: "); SERIAL_ECHOPAIR("\nStep delay in micros: ", this->step_delay); @@ -229,13 +229,13 @@ void TMC26XStepper::setSpeed(unsigned int whatSpeed) { this->next_step_time = this->last_step_time + this->step_delay; } -unsigned int TMC26XStepper::getSpeed(void) { return this->speed; } +uint16_t TMC26XStepper::getSpeed(void) { return this->speed; } /** * Moves the motor steps_to_move steps. * Negative indicates the reverse direction. */ -char TMC26XStepper::step(int steps_to_move) { +char TMC26XStepper::step(int16_t steps_to_move) { if (this->steps_left == 0) { this->steps_left = ABS(steps_to_move); // how many steps to take @@ -252,7 +252,7 @@ char TMC26XStepper::step(int steps_to_move) { char TMC26XStepper::move(void) { // decrement the number of steps, moving one step each time: if (this->steps_left > 0) { - unsigned long time = micros(); + uint32_t time = micros(); // move only if the appropriate delay has passed: // rem if (time >= this->next_step_time) { @@ -282,7 +282,7 @@ char TMC26XStepper::move(void) { char TMC26XStepper::isMoving(void) { return this->steps_left > 0; } -unsigned int TMC26XStepper::getStepsLeft(void) { return this->steps_left; } +uint16_t TMC26XStepper::getStepsLeft(void) { return this->steps_left; } char TMC26XStepper::stop(void) { //note to self if the motor is currently moving @@ -294,8 +294,8 @@ char TMC26XStepper::stop(void) { return state; } -void TMC26XStepper::setCurrent(unsigned int current) { - unsigned char current_scaling = 0; +void TMC26XStepper::setCurrent(uint16_t current) { + uint8_t current_scaling = 0; //calculate the current scaling from the max current setting (in mA) float mASetting = (float)current, resistor_value = (float)this->resistor; @@ -327,49 +327,49 @@ void TMC26XStepper::setCurrent(unsigned int current) { NOMORE(current_scaling, 31); // delete the old value - stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN); + stallguard2_current_register_value &= ~(CURRENT_SCALING_PATTERN); // set the new current scaling - stall_guard2_current_register_value |= current_scaling; + stallguard2_current_register_value |= current_scaling; // if started we directly send it to the motor if (started) { send262(driver_configuration_register_value); - send262(stall_guard2_current_register_value); + send262(stallguard2_current_register_value); } } -unsigned int TMC26XStepper::getCurrent(void) { +uint16_t TMC26XStepper::getCurrent(void) { // Calculate the current according to the datasheet to be on the safe side. // This is not the fastest but the most accurate and illustrative way. - float result = (float)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN), + float result = (float)(stallguard2_current_register_value & CURRENT_SCALING_PATTERN), resistor_value = (float)this->resistor, voltage = (driver_configuration_register_value & VSENSE) ? 0.165 : 0.31; result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0); - return (unsigned int)result; + return (uint16_t)result; } -void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) { +void TMC26XStepper::setStallGuardThreshold(char stallguard_threshold, char stallguard_filter_enabled) { // We just have 5 bits - LIMIT(stall_guard_threshold, -64, 63); + LIMIT(stallguard_threshold, -64, 63); // Add trim down to 7 bits - stall_guard_threshold &= 0x7F; - // Delete old stall guard settings - stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN); - if (stall_guard_filter_enabled) - stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED; + stallguard_threshold &= 0x7F; + // Delete old StallGuard settings + stallguard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN); + if (stallguard_filter_enabled) + stallguard2_current_register_value |= STALL_GUARD_FILTER_ENABLED; - // Set the new stall guard threshold - stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN); + // Set the new StallGuard threshold + stallguard2_current_register_value |= (((uint32_t)stallguard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN); // If started we directly send it to the motor - if (started) send262(stall_guard2_current_register_value); + if (started) send262(stallguard2_current_register_value); } char TMC26XStepper::getStallGuardThreshold(void) { - unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN; + uint32_t stallguard_threshold = stallguard2_current_register_value & STALL_GUARD_VALUE_PATTERN; //shift it down to bit 0 - stall_guard_threshold >>= 8; - //convert the value to an int to correctly handle the negative numbers - char result = stall_guard_threshold; + stallguard_threshold >>= 8; + //convert the value to an int16_t to correctly handle the negative numbers + char result = stallguard_threshold; //check if it is negative and fill it up with leading 1 for proper negative number representation //rem if (result & _BV(6)) { @@ -378,7 +378,7 @@ char TMC26XStepper::getStallGuardThreshold(void) { } char TMC26XStepper::getStallGuardFilter(void) { - if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED) + if (stallguard2_current_register_value & STALL_GUARD_FILTER_ENABLED) return -1; return 0; } @@ -389,7 +389,7 @@ char TMC26XStepper::getStallGuardFilter(void) { * any value in between will be mapped to the next smaller value * 0 and 1 set the motor in full step mode */ -void TMC26XStepper::setMicrosteps(int number_of_steps) { +void TMC26XStepper::setMicrosteps(int16_t number_of_steps) { long setting_pattern; //poor mans log if (number_of_steps >= 256) { @@ -448,7 +448,7 @@ void TMC26XStepper::setMicrosteps(int number_of_steps) { /** * returns the effective number of microsteps at the moment */ -int TMC26XStepper::getMicrosteps(void) { return microsteps; } +int16_t TMC26XStepper::getMicrosteps(void) { return microsteps; } /** * constant_off_time: The off time setting controls the minimum chopper frequency. @@ -473,7 +473,7 @@ int TMC26XStepper::getMicrosteps(void) { return microsteps; } * 1: enable comparator termination of fast decay cycle * 0: end by time only */ -void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) { +void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, uint8_t use_current_comparator) { // Perform some sanity checks LIMIT(constant_off_time, 2, 15); @@ -497,16 +497,16 @@ void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank // Set the constant off pattern chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY; // Set the blank timing value - chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT; + chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT; // Setting the constant off time chopper_config_register |= constant_off_time; // Set the fast decay time // Set msb - chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT); + chopper_config_register |= (((uint32_t)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT); // Other bits - chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT); + chopper_config_register |= (((uint32_t)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT); // Set the sine wave offset - chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT; + chopper_config_register |= (uint32_t)sine_wave_offset << HYSTERESIS_LOW_SHIFT; // Using the current comparator? if (!use_current_comparator) chopper_config_register |= _BV(12); @@ -564,15 +564,15 @@ void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_tim chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN); //set the blank timing value - chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT; + chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT; //setting the constant off time chopper_config_register |= constant_off_time; //set the hysteresis_start - chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT; + chopper_config_register |= ((uint32_t)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT; //set the hysteresis end - chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT; + chopper_config_register |= ((uint32_t)hysteresis_end) << HYSTERESIS_LOW_SHIFT; //set the hystereis decrement - chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT; + chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT; //if started we directly send it to the motor if (started) { //rem send262(driver_control_register_value); @@ -605,12 +605,12 @@ void TMC26XStepper::setRandomOffTime(char value) { } void TMC26XStepper::setCoolStepConfiguration( - unsigned int lower_SG_threshold, - unsigned int SG_hysteresis, - unsigned char current_decrement_step_size, - unsigned char current_increment_step_size, - unsigned char lower_current_limit) -{ + uint16_t lower_SG_threshold, + uint16_t SG_hysteresis, + uint8_t current_decrement_step_size, + uint8_t current_increment_step_size, + uint8_t lower_current_limit +) { // Sanitize the input values NOMORE(lower_SG_threshold, 480); // Divide by 32 @@ -628,11 +628,11 @@ void TMC26XStepper::setCoolStepConfiguration( if (!this->cool_step_enabled) lower_SG_threshold = 0; // The good news is that we can start with a complete new cool step register value // And simply set the values in the register - cool_step_register_value = ((unsigned long)lower_SG_threshold) - | (((unsigned long)SG_hysteresis) << 8) - | (((unsigned long)current_decrement_step_size) << 5) - | (((unsigned long)current_increment_step_size) << 13) - | (((unsigned long)lower_current_limit) << 15) + cool_step_register_value = ((uint32_t)lower_SG_threshold) + | (((uint32_t)SG_hysteresis) << 8) + | (((uint32_t)current_decrement_step_size) << 5) + | (((uint32_t)current_increment_step_size) << 13) + | (((uint32_t)lower_current_limit) << 15) | COOL_STEP_REGISTER; // Register signature //SERIAL_PRINTFln(cool_step_register_value,HEX); @@ -653,25 +653,25 @@ void TMC26XStepper::setCoolStepEnabled(boolean enabled) { boolean TMC26XStepper::isCoolStepEnabled(void) { return this->cool_step_enabled; } -unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() { +uint16_t TMC26XStepper::getCoolStepLowerSgThreshold() { // We return our internally stored value - in order to provide the correct setting even if cool step is not enabled return this->cool_step_lower_threshold<<5; } -unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() { - return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5; +uint16_t TMC26XStepper::getCoolStepUpperSgThreshold() { + return (uint8_t)((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5; } -unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() { - return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13); +uint8_t TMC26XStepper::getCoolStepCurrentIncrementSize() { + return (uint8_t)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13); } -unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() { - return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5); +uint8_t TMC26XStepper::getCoolStepNumberOfSGReadings() { + return (uint8_t)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5); } -unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() { - return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15); +uint8_t TMC26XStepper::getCoolStepLowerCurrentLimit() { + return (uint8_t)((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15); } void TMC26XStepper::setEnabled(boolean enabled) { @@ -693,7 +693,7 @@ boolean TMC26XStepper::isEnabled() { return !!(chopper_config_register & T_OFF_P * */ void TMC26XStepper::readStatus(char read_value) { - unsigned long old_driver_configuration_register_value = driver_configuration_register_value; + uint32_t old_driver_configuration_register_value = driver_configuration_register_value; //reset the readout configuration driver_configuration_register_value &= ~(READ_SELECTION_PATTERN); //this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options @@ -712,42 +712,42 @@ void TMC26XStepper::readStatus(char read_value) { send262(driver_configuration_register_value); } -int TMC26XStepper::getMotorPosition(void) { +int16_t TMC26XStepper::getMotorPosition(void) { //we read it out even if we are not started yet - perhaps it is useful information for somebody readStatus(TMC26X_READOUT_POSITION); return getReadoutValue(); } -//reads the stall guard setting from last status -//returns -1 if stallguard information is not present -int TMC26XStepper::getCurrentStallGuardReading(void) { - //if we don't yet started there cannot be a stall guard value +//reads the StallGuard setting from last status +//returns -1 if StallGuard information is not present +int16_t TMC26XStepper::getCurrentStallGuardReading(void) { + //if we don't yet started there cannot be a StallGuard value if (!started) return -1; //not time optimal, but solution optiomal: - //first read out the stall guard value + //first read out the StallGuard value readStatus(TMC26X_READOUT_STALLGUARD); return getReadoutValue(); } -unsigned char TMC26XStepper::getCurrentCSReading(void) { - //if we don't yet started there cannot be a stall guard value +uint8_t TMC26XStepper::getCurrentCSReading(void) { + //if we don't yet started there cannot be a StallGuard value if (!started) return 0; //not time optimal, but solution optiomal: - //first read out the stall guard value + //first read out the StallGuard value readStatus(TMC26X_READOUT_CURRENT); return (getReadoutValue() & 0x1F); } -unsigned int TMC26XStepper::getCurrentCurrent(void) { +uint16_t TMC26XStepper::getCurrentCurrent(void) { float result = (float)getCurrentCSReading(), resistor_value = (float)this->resistor, voltage = (driver_configuration_register_value & VSENSE)? 0.165 : 0.31; result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0); - return (unsigned int)result; + return (uint16_t)result; } /** - * Return true if the stallguard threshold has been reached + * Return true if the StallGuard threshold has been reached */ boolean TMC26XStepper::isStallGuardOverThreshold(void) { if (!this->started) return false; @@ -808,13 +808,13 @@ boolean TMC26XStepper::isStallGuardReached(void) { return (driver_status_result & STATUS_STALL_GUARD_STATUS); } -//reads the stall guard setting from last status -//returns -1 if stallguard inforamtion is not present -int TMC26XStepper::getReadoutValue(void) { +//reads the StallGuard setting from last status +//returns -1 if StallGuard information is not present +int16_t TMC26XStepper::getReadoutValue(void) { return (int)(driver_status_result >> 10); } -int TMC26XStepper::getResistor() { return this->resistor; } +int16_t TMC26XStepper::getResistor() { return this->resistor; } boolean TMC26XStepper::isCurrentScalingHalfed() { return !!(this->driver_configuration_register_value & VSENSE); @@ -822,7 +822,7 @@ boolean TMC26XStepper::isCurrentScalingHalfed() { /** * version() returns the version of the library: */ -int TMC26XStepper::version(void) { return 1; } +int16_t TMC26XStepper::version(void) { return 1; } void TMC26XStepper::debugLastStatus() { #ifdef TMC_DEBUG1 @@ -850,8 +850,8 @@ void TMC26XStepper::debugLastStatus() { if (this->isStandStill()) SERIAL_ECHOLNPGM("\n INFO: Motor is standing still."); - unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN; - const int value = getReadoutValue(); + uint32_t readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN; + const int16_t value = getReadoutValue(); if (readout_config == READ_MICROSTEP_POSTION) { //SERIAL_PRINTF("Microstep postion phase A: "); SERIAL_ECHOPAIR("\n Microstep postion phase A: ", value); @@ -861,7 +861,7 @@ void TMC26XStepper::debugLastStatus() { SERIAL_ECHOPAIR("\n Stall Guard value:", value); } else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) { - int stallGuard = value & 0xF, current = value & 0x1F0; + int16_t stallGuard = value & 0xF, current = value & 0x1F0; //SERIAL_PRINTF("Approx Stall Guard: "); SERIAL_ECHOPAIR("\n Approx Stall Guard: ", stallGuard); //SERIAL_PRINTF("Current level"); @@ -875,11 +875,11 @@ void TMC26XStepper::debugLastStatus() { * send register settings to the stepper driver via SPI * returns the current status */ -inline void TMC26XStepper::send262(unsigned long datagram) { - unsigned long i_datagram; +inline void TMC26XStepper::send262(uint32_t datagram) { + uint32_t i_datagram; //preserver the previous spi mode - //unsigned char oldMode = SPCR & SPI_MODE_MASK; + //uint8_t oldMode = SPCR & SPI_MODE_MASK; //if the mode is not correct set it to mode 3 //if (oldMode != SPI_MODE3) { diff --git a/Marlin/src/HAL/HAL_STM32F7/TMC2660.h b/Marlin/src/HAL/HAL_STM32F7/TMC2660.h index 4c8f2bf731..095a73f1ac 100644 --- a/Marlin/src/HAL/HAL_STM32F7/TMC2660.h +++ b/Marlin/src/HAL/HAL_STM32F7/TMC2660.h @@ -83,7 +83,7 @@ * \code * TMC26XStepper stepper = TMC26XStepper(200,1,2,3,500); * \endcode - * see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current) + * see TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t rms_current) * * Keep in mind that you need to start the driver with start() in order to get the TMC26X configured. * @@ -122,7 +122,7 @@ class TMC26XStepper { * You can select a different stepping with setMicrosteps() to aa different value. * \sa start(), setMicrosteps() */ - TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=100); //resistor=150 + TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor=100); //resistor=150 /*! * \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. @@ -150,13 +150,13 @@ class TMC26XStepper { * \brief Sets the rotation speed in revolutions per minute. * \param whatSpeed the desired speed in rotations per minute. */ - void setSpeed(unsigned int whatSpeed); + void setSpeed(uint16_t whatSpeed); /*! * \brief reads out the currently selected speed in revolutions per minute. * \sa setSpeed() */ - unsigned int getSpeed(void); + uint16_t getSpeed(void); /*! * \brief Set the number of microsteps in 2^i values (rounded) up to 256 @@ -166,7 +166,7 @@ class TMC26XStepper { * If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2). * You can always check the current microstepping with getMicrosteps(). */ - void setMicrosteps(int number_of_steps); + void setMicrosteps(int16_t number_of_steps); /*! * \brief returns the effective current number of microsteps selected. @@ -176,7 +176,7 @@ class TMC26XStepper { * * \sa setMicrosteps() */ - int getMicrosteps(void); + int16_t getMicrosteps(void); /*! * \brief Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction. @@ -193,7 +193,7 @@ class TMC26XStepper { * You can always verify with isMoving() or even use stop() to stop the motor before giving it new step directions. * \sa isMoving(), getStepsLeft(), stop() */ - char step(int number_of_steps); + char step(int16_t number_of_steps); /*! * \brief Central movement method, must be called as often as possible in the lopp function and is very fast. @@ -228,7 +228,7 @@ class TMC26XStepper { * \brief Get the number of steps left in the current movement. * \return The number of steps left in the movement. This number is always positive. */ - unsigned int getStepsLeft(void); + uint16_t getStepsLeft(void); /*! * \brief Stops the motor regardless if it moves or not. @@ -262,7 +262,7 @@ class TMC26XStepper { * \sa setSpreadCycleChoper() for other alternatives. * \sa setRandomOffTime() for spreading the noise over a wider spectrum */ - void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator); + void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, uint8_t use_current_comparator); /*! * \brief Sets and configures with spread cycle chopper. @@ -310,7 +310,7 @@ class TMC26XStepper { * \param current the maximum motor current in mA * \sa getCurrent(), getCurrentCurrent() */ - void setCurrent(unsigned int current); + void setCurrent(uint16_t current); /*! * \brief readout the motor maximum current in mA (1000 is an Amp) @@ -318,12 +318,12 @@ class TMC26XStepper { * \return the maximum motor current in milli amps * \sa getCurrentCurrent() */ - unsigned int getCurrent(void); + uint16_t getCurrent(void); /*! * \brief set the StallGuard threshold in order to get sensible StallGuard readings. - * \param stall_guard_threshold -64 … 63 the StallGuard threshold - * \param stall_guard_filter_enabled 0 if the filter is disabled, -1 if it is enabled + * \param stallguard_threshold -64 … 63 the StallGuard threshold + * \param stallguard_filter_enabled 0 if the filter is disabled, -1 if it is enabled * * The StallGuard threshold is used to optimize the StallGuard reading to sensible values. It should be at 0 at * the maximum allowable load on the otor (but not before). = is a good starting point (and the default) @@ -335,7 +335,7 @@ class TMC26XStepper { * * \sa getCurrentStallGuardReading() to read out the current value. */ - void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled); + void setStallGuardThreshold(char stallguard_threshold, char stallguard_filter_enabled); /*! * \brief reads out the StallGuard threshold @@ -366,8 +366,8 @@ class TMC26XStepper { * (1/2 or 1/4th otf the configured current). * \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT */ - void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, - unsigned char current_increment_step_size, unsigned char lower_current_limit); + void setCoolStepConfiguration(uint16_t lower_SG_threshold, uint16_t SG_hysteresis, uint8_t current_decrement_step_size, + uint8_t current_increment_step_size, uint8_t lower_current_limit); /*! * \brief enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it. @@ -387,32 +387,32 @@ class TMC26XStepper { * \brief returns the lower StallGuard threshold for the CoolStep operation * \sa setCoolStepConfiguration() */ - unsigned int getCoolStepLowerSgThreshold(); + uint16_t getCoolStepLowerSgThreshold(); /*! * \brief returns the upper StallGuard threshold for the CoolStep operation * \sa setCoolStepConfiguration() */ - unsigned int getCoolStepUpperSgThreshold(); + uint16_t getCoolStepUpperSgThreshold(); /*! * \brief returns the number of StallGuard readings befor CoolStep adjusts the motor current. * \sa setCoolStepConfiguration() */ - unsigned char getCoolStepNumberOfSGReadings(); + uint8_t getCoolStepNumberOfSGReadings(); /*! * \brief returns the increment steps for the current for the CoolStep operation * \sa setCoolStepConfiguration() */ - unsigned char getCoolStepCurrentIncrementSize(); + uint8_t getCoolStepCurrentIncrementSize(); /*! * \brief returns the absolut minium current for the CoolStep operation * \sa setCoolStepConfiguration() * \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT */ - unsigned char getCoolStepLowerCurrentLimit(); + uint8_t getCoolStepLowerCurrentLimit(); /*! * \brief Get the current microstep position for phase A @@ -420,7 +420,7 @@ class TMC26XStepper { * * Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time. */ - int getMotorPosition(void); + int16_t getMotorPosition(void); /*! * \brief Reads the current StallGuard value. @@ -428,14 +428,14 @@ class TMC26XStepper { * Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time. * \sa setStallGuardThreshold() for tuning the readout to sensible ranges. */ - int getCurrentStallGuardReading(void); + int16_t getCurrentStallGuardReading(void); /*! * \brief Reads the current current setting value as fraction of the maximum current * Returns values between 0 and 31, representing 1/32 to 32/32 (=1) * \sa setCoolStepConfiguration() */ - unsigned char getCurrentCSReading(void); + uint8_t getCurrentCSReading(void); /*! @@ -451,7 +451,7 @@ class TMC26XStepper { * may not be the fastest. * \sa getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent() */ - unsigned int getCurrentCurrent(void); + uint16_t getCurrentCurrent(void); /*! * \brief checks if there is a StallGuard warning in the last status @@ -552,56 +552,54 @@ class TMC26XStepper { * \brief Returns the current sense resistor value in milliohm. * The default value of ,15 Ohm will return 150. */ - int getResistor(); + int16_t getResistor(); /*! * \brief Prints out all the information that can be found in the last status read out - it does not force a status readout. * The result is printed via Serial */ void debugLastStatus(void); + /*! * \brief library version * \return the version number as int. */ - int version(void); + int16_t version(void); private: - unsigned int steps_left; // The steps the motor has to do to complete the movement - int direction; // Direction of rotation - unsigned long step_delay; // Delay between steps, in ms, based on speed - int number_of_steps; // Total number of steps this motor can take - unsigned int speed; // Store the current speed in order to change the speed after changing microstepping - unsigned int resistor; // Current sense resitor value in milliohm + uint16_t steps_left; // The steps the motor has to do to complete the movement + int16_t direction; // Direction of rotation + uint32_t step_delay; // Delay between steps, in ms, based on speed + int16_t number_of_steps; // Total number of steps this motor can take + uint16_t speed; // Store the current speed in order to change the speed after changing microstepping + uint16_t resistor; // Current sense resitor value in milliohm - unsigned long last_step_time; // Time stamp in ms of when the last step was taken - unsigned long next_step_time; // Time stamp in ms of when the last step was taken + uint32_t last_step_time, // Timestamp (ms) of the last step + next_step_time; // Timestamp (ms) of the next step // Driver control register copies to easily set & modify the registers - unsigned long driver_control_register_value; - unsigned long chopper_config_register; - unsigned long cool_step_register_value; - unsigned long stall_guard2_current_register_value; - unsigned long driver_configuration_register_value; - // The driver status result - unsigned long driver_status_result; + uint32_t driver_control_register_value, + chopper_config_register, + cool_step_register_value, + stallguard2_current_register_value, + driver_configuration_register_value, + driver_status_result; // The driver status result // Helper routione to get the top 10 bit of the readout - inline int getReadoutValue(); + inline int16_t getReadoutValue(); // The pins for the stepper driver - unsigned char cs_pin; - unsigned char step_pin; - unsigned char dir_pin; + uint8_t cs_pin, step_pin, dir_pin; // Status values boolean started; // If the stepper has been started yet - int microsteps; // The current number of micro steps + int16_t microsteps; // The current number of micro steps char constant_off_time; // We need to remember this value in order to enable and disable the motor - unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature + uint8_t cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature boolean cool_step_enabled; // We need to remember this to configure the coolstep if it si enabled // SPI sender - inline void send262(unsigned long datagram); + inline void send262(uint32_t datagram); }; #endif // _TMC26XSTEPPER_H_