domonoky
10 years ago
57 changed files with 33325 additions and 2 deletions
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#mac stuff |
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.DS_Store |
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#eclipse stuff |
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.classpath |
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.project |
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#processing stuff |
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generated/ |
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examples/TMC26XMotorTester/processing/TMC26XMotorTest/application.*/ |
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examples/TMC26XMotorTester/processing/TMC26XMotorTest/application.* |
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#eagle stuff |
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schematics/*.b#? |
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schematics/*.s#? |
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*.zip |
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Copyright (c) 2012 Interactive Matter |
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based on the stepper library by Tom Igoe, et. al. |
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: |
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. |
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
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Arduino TMC26X Stepper Motor Controller Library |
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=============================================== |
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License |
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------- |
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TMC26XStepper.cpp - - TMC 260/261/262 Stepper library for Wiring/Arduino |
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based on the stepper library by Tom Igoe, et. al. |
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Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
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|
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Permission is hereby granted, free of charge, to any person obtaining a copy |
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of this software and associated documentation files (the "Software"), to deal |
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in the Software without restriction, including without limitation the rights |
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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copies of the Software, and to permit persons to whom the Software is |
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furnished to do so, subject to the following conditions: |
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|
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The above copyright notice and this permission notice shall be included in |
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all copies or substantial portions of the Software. |
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|
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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THE SOFTWARE. |
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|
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About |
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----- |
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|
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The TMC26X is a stepper motor controller for bipolar stepper motors. From the trinamic web site: |
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The TMC262 is the first energy efficient high current high precision microstepping driver |
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IC for bipolar stepper motors. The unique high resolution sensorless load detection stallGuard2™ |
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is used to for the world’s first integrated load dependent current control feature called coolStep™. |
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The ability to read out the load and detect an overload makes the TMC262 an optimum choice for |
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drives where a high reliability is desired at a low cost. The new patented spreadCycle PWM mixed |
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decay chopper scheme ensures best zero crossing performance as well as high speed operation. |
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The TMC262 can be driven with Step & Direction signals as well as by serial SPI™ interface. |
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Using the microPlyer allows to operate the motor with highest 256 μStep smoothness reducing the |
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input frequency to 16 μSteps. A full set of protection and diagnostic features makes this device |
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very rugged. It directly drives external MOSFETs for currents of up to 6A. This way it reaches |
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highest energy efficiency and allows driving of a high motor current without cooling measures |
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even at high environment temperatures. |
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|
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The unique features of the TMC26X are that everything can (and must) be controlled in software: |
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* the motor current |
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* microstepping |
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* stall protection |
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* current reduction according to load |
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* stallGuard2™ sensorless load detection |
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* coolStep™ load dependent current control |
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* spreadCycle hysteresis PWM chopper |
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* microPlyer 16-to-256 μStep multiplier |
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* full protection and diagnostics |
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This makes the TMC26X a bit harder to use than other stepper motors but much more versatile. |
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This library resolves all the complicated stuff so that you can use TMC26X straight away. |
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Furthermore, all the settings are implemented in high level interfaces so that configuring your |
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motor is a breeze. |
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|
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How to use |
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---------- |
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|
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Check out the Setup Guide here: |
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And the How To here: |
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/*
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TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino |
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|
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based on the stepper library by Tom Igoe, et. al. |
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|
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Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
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|
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Permission is hereby granted, free of charge, to any person obtaining a copy |
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of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
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|
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The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
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|
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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THE SOFTWARE. |
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|
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*/ |
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|
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#if defined(ARDUINO) && ARDUINO >= 100 |
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#include <Arduino.h> |
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#else |
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#include <WProgram.h> |
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#endif |
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#include <SPI.h> |
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#include "TMC26XStepper.h" |
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|
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//some default values used in initialization
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#define DEFAULT_MICROSTEPPING_VALUE 32 |
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|
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//TMC26X register definitions
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#define DRIVER_CONTROL_REGISTER 0x0ul |
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#define CHOPPER_CONFIG_REGISTER 0x80000ul |
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#define COOL_STEP_REGISTER 0xA0000ul |
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#define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul |
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#define DRIVER_CONFIG_REGISTER 0xE0000ul |
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#define REGISTER_BIT_PATTERN 0xFFFFFul |
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//definitions for the driver control register
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#define MICROSTEPPING_PATTERN 0xFul |
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#define STEP_INTERPOLATION 0x200ul |
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#define DOUBLE_EDGE_STEP 0x100ul |
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#define VSENSE 0x40ul |
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#define READ_MICROSTEP_POSTION 0x0ul |
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#define READ_STALL_GUARD_READING 0x10ul |
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#define READ_STALL_GUARD_AND_COOL_STEP 0x20ul |
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#define READ_SELECTION_PATTERN 0x30ul |
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|
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//definitions for the chopper config register
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#define CHOPPER_MODE_STANDARD 0x0ul |
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#define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000ul |
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#define T_OFF_PATTERN 0xful |
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#define RANDOM_TOFF_TIME 0x2000ul |
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#define BLANK_TIMING_PATTERN 0x18000ul |
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#define BLANK_TIMING_SHIFT 15 |
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#define HYSTERESIS_DECREMENT_PATTERN 0x1800ul |
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#define HYSTERESIS_DECREMENT_SHIFT 11 |
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#define HYSTERESIS_LOW_VALUE_PATTERN 0x780ul |
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#define HYSTERESIS_LOW_SHIFT 7 |
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#define HYSTERESIS_START_VALUE_PATTERN 0x78ul |
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#define HYSTERESIS_START_VALUE_SHIFT 4 |
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#define T_OFF_TIMING_PATERN 0xFul |
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|
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//definitions for cool step register
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#define MINIMUM_CURRENT_FOURTH 0x8000ul |
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#define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000ul |
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#define SE_MAX_PATTERN 0xF00ul |
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#define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul |
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#define SE_MIN_PATTERN 0xful |
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|
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//definitions for stall guard2 current register
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#define STALL_GUARD_FILTER_ENABLED 0x10000ul |
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#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul |
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#define CURRENT_SCALING_PATTERN 0x1Ful |
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#define STALL_GUARD_CONFIG_PATTERN 0x17F00ul |
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#define STALL_GUARD_VALUE_PATTERN 0x7F00ul |
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|
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//definitions for the input from the TCM260
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#define STATUS_STALL_GUARD_STATUS 0x1ul |
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#define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2ul |
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#define STATUS_OVER_TEMPERATURE_WARNING 0x4ul |
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#define STATUS_SHORT_TO_GROUND_A 0x8ul |
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#define STATUS_SHORT_TO_GROUND_B 0x10ul |
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#define STATUS_OPEN_LOAD_A 0x20ul |
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#define STATUS_OPEN_LOAD_B 0x40ul |
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#define STATUS_STAND_STILL 0x80ul |
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#define READOUT_VALUE_PATTERN 0xFFC00ul |
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//default values
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#define INITIAL_MICROSTEPPING 0x3ul //32th microstepping
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//debuging output
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//#define DEBUG
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/*
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* Constructor |
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* number_of_steps - the steps per rotation |
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* cs_pin - the SPI client select pin |
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* dir_pin - the pin where the direction pin is connected |
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* step_pin - the pin where the step pin is connected |
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*/ |
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TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor) |
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{ |
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//we are not started yet
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started=false; |
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//by default cool step is not enabled
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cool_step_enabled=false; |
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//save the pins for later use
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this->cs_pin=cs_pin; |
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this->dir_pin=dir_pin; |
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this->step_pin = step_pin; |
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//store the current sense resistor value for later use
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this->resistor = resistor; |
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//initizalize our status values
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this->steps_left = 0; |
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this->direction = 0; |
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//initialize register values
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driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING; |
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chopper_config_register=CHOPPER_CONFIG_REGISTER; |
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//setting the default register values
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driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING; |
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microsteps = (1 << INITIAL_MICROSTEPPING); |
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chopper_config_register=CHOPPER_CONFIG_REGISTER; |
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cool_step_register_value=COOL_STEP_REGISTER; |
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stall_guard2_current_register_value=STALL_GUARD2_LOAD_MEASURE_REGISTER; |
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driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING; |
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//set the current
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setCurrent(current); |
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//set to a conservative start value
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setConstantOffTimeChopper(7, 54, 13,12,1); |
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//set a nice microstepping value
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setMicrosteps(DEFAULT_MICROSTEPPING_VALUE); |
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//save the number of steps
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this->number_of_steps = number_of_steps; |
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} |
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/*
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* start & configure the stepper driver |
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* just must be called. |
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*/ |
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void TMC26XStepper::start() { |
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#ifdef DEBUG |
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Serial.println("TMC26X stepper library"); |
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Serial.print("CS pin: "); |
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Serial.println(cs_pin); |
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Serial.print("DIR pin: "); |
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Serial.println(dir_pin); |
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Serial.print("STEP pin: "); |
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Serial.println(step_pin); |
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Serial.print("current scaling: "); |
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Serial.println(current_scaling,DEC); |
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#endif |
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//set the pins as output & its initial value
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pinMode(step_pin, OUTPUT); |
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pinMode(dir_pin, OUTPUT); |
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pinMode(cs_pin, OUTPUT); |
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digitalWrite(step_pin, LOW); |
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digitalWrite(dir_pin, LOW); |
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digitalWrite(cs_pin, HIGH); |
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//configure the SPI interface
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SPI.setBitOrder(MSBFIRST); |
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SPI.setClockDivider(SPI_CLOCK_DIV8); |
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//todo this does not work reliably - find a way to foolprof set it (e.g. while communicating
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//SPI.setDataMode(SPI_MODE3);
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SPI.begin(); |
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//set the initial values
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send262(driver_control_register_value); |
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send262(chopper_config_register); |
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send262(cool_step_register_value); |
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send262(stall_guard2_current_register_value); |
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send262(driver_configuration_register_value); |
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//save that we are in running mode
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started=true; |
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} |
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/*
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Mark the driver as unstarted to be able to start it again |
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*/ |
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void TMC26XStepper::un_start() { |
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started=false; |
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} |
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/*
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Sets the speed in revs per minute |
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*/ |
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void TMC26XStepper::setSpeed(unsigned int whatSpeed) |
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{ |
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this->speed = whatSpeed; |
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this->step_delay = (60UL * 1000UL * 1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps); |
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#ifdef DEBUG |
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Serial.print("Step delay in micros: "); |
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Serial.println(this->step_delay); |
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#endif |
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//update the next step time
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this->next_step_time = this->last_step_time+this->step_delay; |
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} |
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unsigned int TMC26XStepper::getSpeed(void) { |
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return this->speed; |
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} |
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/*
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Moves the motor steps_to_move steps. If the number is negative, |
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the motor moves in the reverse direction. |
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*/ |
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char TMC26XStepper::step(int steps_to_move) |
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{ |
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if (this->steps_left==0) { |
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this->steps_left = abs(steps_to_move); // how many steps to take
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// determine direction based on whether steps_to_mode is + or -:
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if (steps_to_move > 0) { |
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this->direction = 1; |
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} else if (steps_to_move < 0) { |
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this->direction = 0; |
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} |
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return 0; |
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} else { |
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return -1; |
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} |
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} |
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char TMC26XStepper::move(void) { |
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// decrement the number of steps, moving one step each time:
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if(this->steps_left>0) { |
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unsigned long time = micros(); |
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// move only if the appropriate delay has passed:
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if (time >= this->next_step_time) { |
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// increment or decrement the step number,
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// depending on direction:
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if (this->direction == 1) { |
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digitalWrite(step_pin, HIGH); |
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} else { |
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digitalWrite(dir_pin, HIGH); |
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digitalWrite(step_pin, HIGH); |
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} |
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// get the timeStamp of when you stepped:
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this->last_step_time = time; |
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this->next_step_time = time+this->step_delay; |
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// decrement the steps left:
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steps_left--; |
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//disable the step & dir pins
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digitalWrite(step_pin, LOW); |
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digitalWrite(dir_pin, LOW); |
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} |
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return -1; |
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} |
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return 0; |
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} |
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char TMC26XStepper::isMoving(void) { |
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return (this->steps_left>0); |
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} |
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unsigned int TMC26XStepper::getStepsLeft(void) { |
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return this->steps_left; |
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} |
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char TMC26XStepper::stop(void) { |
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//note to self if the motor is currently moving
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char state = isMoving(); |
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//stop the motor
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this->steps_left = 0; |
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this->direction = 0; |
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//return if it was moving
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return state; |
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} |
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void TMC26XStepper::setCurrent(unsigned int current) { |
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unsigned char current_scaling = 0; |
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//calculate the current scaling from the max current setting (in mA)
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double mASetting = (double)current; |
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double resistor_value = (double) this->resistor; |
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// remove vesense flag
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this->driver_configuration_register_value &= ~(VSENSE); |
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//this is derrived from I=(cs+1)/32*(Vsense/Rsense)
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//leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V and I = 1000*current)
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//with Rsense=0,15
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//for vsense = 0,310V (VSENSE not set)
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//or vsense = 0,165V (VSENSE set)
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current_scaling = (byte)((resistor_value*mASetting*32.0/(0.31*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
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//check if the current scalingis too low
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if (current_scaling<16) { |
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//set the csense bit to get a use half the sense voltage (to support lower motor currents)
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this->driver_configuration_register_value |= VSENSE; |
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//and recalculate the current setting
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current_scaling = (byte)((resistor_value*mASetting*32.0/(0.165*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
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#ifdef DEBUG |
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Serial.print("CS (Vsense=1): "); |
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Serial.println(current_scaling); |
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} else { |
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Serial.print("CS: "); |
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Serial.println(current_scaling); |
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#endif |
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} |
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//do some sanity checks
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if (current_scaling>31) { |
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current_scaling=31; |
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} |
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//delete the old value
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stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN); |
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//set the new current scaling
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stall_guard2_current_register_value |= current_scaling; |
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//if started we directly send it to the motor
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if (started) { |
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send262(driver_configuration_register_value); |
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send262(stall_guard2_current_register_value); |
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} |
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} |
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|
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unsigned int TMC26XStepper::getCurrent(void) { |
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//we calculate the current according to the datasheet to be on the safe side
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//this is not the fastest but the most accurate and illustrative way
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double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN); |
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double resistor_value = (double)this->resistor; |
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double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31; |
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result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0; |
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return (unsigned int)result; |
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} |
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|
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void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) { |
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if (stall_guard_threshold<-64) { |
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stall_guard_threshold = -64; |
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//We just have 5 bits
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} else if (stall_guard_threshold > 63) { |
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stall_guard_threshold = 63; |
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} |
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//add trim down to 7 bits
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stall_guard_threshold &=0x7f; |
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//delete old stall guard settings
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stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN); |
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if (stall_guard_filter_enabled) { |
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stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED; |
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} |
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//Set the new stall guard threshold
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stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN); |
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//if started we directly send it to the motor
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if (started) { |
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send262(stall_guard2_current_register_value); |
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} |
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} |
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|
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char TMC26XStepper::getStallGuardThreshold(void) { |
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unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN; |
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//shift it down to bit 0
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stall_guard_threshold >>=8; |
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//convert the value to an int to correctly handle the negative numbers
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char result = stall_guard_threshold; |
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//check if it is negative and fill it up with leading 1 for proper negative number representation
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if (result & _BV(6)) { |
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result |= 0xC0; |
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} |
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return result; |
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} |
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|
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char TMC26XStepper::getStallGuardFilter(void) { |
|||
if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED) { |
|||
return -1; |
|||
} else { |
|||
return 0; |
|||
} |
|||
} |
|||
/*
|
|||
* Set the number of microsteps per step. |
|||
* 0,2,4,8,16,32,64,128,256 is supported |
|||
* 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) { |
|||
long setting_pattern; |
|||
//poor mans log
|
|||
if (number_of_steps>=256) { |
|||
setting_pattern=0; |
|||
microsteps=256; |
|||
} else if (number_of_steps>=128) { |
|||
setting_pattern=1; |
|||
microsteps=128; |
|||
} else if (number_of_steps>=64) { |
|||
setting_pattern=2; |
|||
microsteps=64; |
|||
} else if (number_of_steps>=32) { |
|||
setting_pattern=3; |
|||
microsteps=32; |
|||
} else if (number_of_steps>=16) { |
|||
setting_pattern=4; |
|||
microsteps=16; |
|||
} else if (number_of_steps>=8) { |
|||
setting_pattern=5; |
|||
microsteps=8; |
|||
} else if (number_of_steps>=4) { |
|||
setting_pattern=6; |
|||
microsteps=4; |
|||
} else if (number_of_steps>=2) { |
|||
setting_pattern=7; |
|||
microsteps=2; |
|||
//1 and 0 lead to full step
|
|||
} else if (number_of_steps<=1) { |
|||
setting_pattern=8; |
|||
microsteps=1; |
|||
} |
|||
#ifdef DEBUG |
|||
Serial.print("Microstepping: "); |
|||
Serial.println(microsteps); |
|||
#endif |
|||
//delete the old value
|
|||
this->driver_control_register_value &=0xFFFF0ul; |
|||
//set the new value
|
|||
this->driver_control_register_value |=setting_pattern; |
|||
|
|||
//if started we directly send it to the motor
|
|||
if (started) { |
|||
send262(driver_control_register_value); |
|||
} |
|||
//recalculate the stepping delay by simply setting the speed again
|
|||
this->setSpeed(this->speed); |
|||
} |
|||
|
|||
/*
|
|||
* returns the effective number of microsteps at the moment |
|||
*/ |
|||
int TMC26XStepper::getMicrosteps(void) { |
|||
return microsteps; |
|||
} |
|||
|
|||
/*
|
|||
* constant_off_time: The off time setting controls the minimum chopper frequency. |
|||
* For most applications an off time within the range of 5μs to 20μs will fit. |
|||
* 2...15: off time setting |
|||
* |
|||
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the |
|||
* duration of the ringing on the sense resistor. For |
|||
* 0: min. setting 3: max. setting |
|||
* |
|||
* fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle. |
|||
* 0: slow decay only |
|||
* 1...15: duration of fast decay phase |
|||
* |
|||
* sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset. |
|||
* A positive offset corrects for zero crossing error. |
|||
* -3..-1: negative offset 0: no offset 1...12: positive offset |
|||
* |
|||
* use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle. |
|||
* If current comparator is enabled, it terminates the fast decay cycle in case the current |
|||
* reaches a higher negative value than the actual positive value. |
|||
* 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) { |
|||
//perform some sanity checks
|
|||
if (constant_off_time<2) { |
|||
constant_off_time=2; |
|||
} else if (constant_off_time>15) { |
|||
constant_off_time=15; |
|||
} |
|||
//save the constant off time
|
|||
this->constant_off_time = constant_off_time; |
|||
char blank_value; |
|||
//calculate the value acc to the clock cycles
|
|||
if (blank_time>=54) { |
|||
blank_value=3; |
|||
} else if (blank_time>=36) { |
|||
blank_value=2; |
|||
} else if (blank_time>=24) { |
|||
blank_value=1; |
|||
} else { |
|||
blank_value=0; |
|||
} |
|||
if (fast_decay_time_setting<0) { |
|||
fast_decay_time_setting=0; |
|||
} else if (fast_decay_time_setting>15) { |
|||
fast_decay_time_setting=15; |
|||
} |
|||
if (sine_wave_offset < -3) { |
|||
sine_wave_offset = -3; |
|||
} else if (sine_wave_offset>12) { |
|||
sine_wave_offset = 12; |
|||
} |
|||
//shift the sine_wave_offset
|
|||
sine_wave_offset +=3; |
|||
|
|||
//calculate the register setting
|
|||
//first of all delete all the values for this
|
|||
chopper_config_register &= ~((1<<12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN); |
|||
//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; |
|||
//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); |
|||
//other bits
|
|||
chopper_config_register |= (((unsigned long)(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; |
|||
//using the current comparator?
|
|||
if (!use_current_comparator) { |
|||
chopper_config_register |= (1<<12); |
|||
} |
|||
//if started we directly send it to the motor
|
|||
if (started) { |
|||
send262(driver_control_register_value); |
|||
} |
|||
} |
|||
|
|||
/*
|
|||
* constant_off_time: The off time setting controls the minimum chopper frequency. |
|||
* For most applications an off time within the range of 5μs to 20μs will fit. |
|||
* 2...15: off time setting |
|||
* |
|||
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the |
|||
* duration of the ringing on the sense resistor. For |
|||
* 0: min. setting 3: max. setting |
|||
* |
|||
* hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND. |
|||
* 1...8 |
|||
* |
|||
* hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC. |
|||
* The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited. |
|||
* -3..-1: negative HEND 0: zero HEND 1...12: positive HEND |
|||
* |
|||
* hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. |
|||
* 0: fast decrement 3: very slow decrement |
|||
*/ |
|||
|
|||
void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) { |
|||
//perform some sanity checks
|
|||
if (constant_off_time<2) { |
|||
constant_off_time=2; |
|||
} else if (constant_off_time>15) { |
|||
constant_off_time=15; |
|||
} |
|||
//save the constant off time
|
|||
this->constant_off_time = constant_off_time; |
|||
char blank_value; |
|||
//calculate the value acc to the clock cycles
|
|||
if (blank_time>=54) { |
|||
blank_value=3; |
|||
} else if (blank_time>=36) { |
|||
blank_value=2; |
|||
} else if (blank_time>=24) { |
|||
blank_value=1; |
|||
} else { |
|||
blank_value=0; |
|||
} |
|||
if (hysteresis_start<1) { |
|||
hysteresis_start=1; |
|||
} else if (hysteresis_start>8) { |
|||
hysteresis_start=8; |
|||
} |
|||
hysteresis_start--; |
|||
|
|||
if (hysteresis_end < -3) { |
|||
hysteresis_end = -3; |
|||
} else if (hysteresis_end>12) { |
|||
hysteresis_end = 12; |
|||
} |
|||
//shift the hysteresis_end
|
|||
hysteresis_end +=3; |
|||
|
|||
if (hysteresis_decrement<0) { |
|||
hysteresis_decrement=0; |
|||
} else if (hysteresis_decrement>3) { |
|||
hysteresis_decrement=3; |
|||
} |
|||
|
|||
//first of all delete all the values for this
|
|||
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; |
|||
//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; |
|||
//set the hysteresis end
|
|||
chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT; |
|||
//set the hystereis decrement
|
|||
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT; |
|||
//if started we directly send it to the motor
|
|||
if (started) { |
|||
send262(driver_control_register_value); |
|||
} |
|||
} |
|||
|
|||
/*
|
|||
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. |
|||
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position. |
|||
* With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a |
|||
* few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc. |
|||
* Further factors which can cause a similar effect are a poor layout of sense resistor GND connection. |
|||
* Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages |
|||
* (please refer to sense resistor layout hint in chapter 8.1). |
|||
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. |
|||
* It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum, |
|||
* reducing electromagnetic emission on single frequencies. |
|||
*/ |
|||
void TMC26XStepper::setRandomOffTime(char value) { |
|||
if (value) { |
|||
chopper_config_register |= RANDOM_TOFF_TIME; |
|||
} else { |
|||
chopper_config_register &= ~(RANDOM_TOFF_TIME); |
|||
} |
|||
//if started we directly send it to the motor
|
|||
if (started) { |
|||
send262(driver_control_register_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) { |
|||
//sanitize the input values
|
|||
if (lower_SG_threshold>480) { |
|||
lower_SG_threshold = 480; |
|||
} |
|||
//divide by 32
|
|||
lower_SG_threshold >>=5; |
|||
if (SG_hysteresis>480) { |
|||
SG_hysteresis=480; |
|||
} |
|||
//divide by 32
|
|||
SG_hysteresis >>=5; |
|||
if (current_decrement_step_size>3) { |
|||
current_decrement_step_size=3; |
|||
} |
|||
if (current_increment_step_size>3) { |
|||
current_increment_step_size=3; |
|||
} |
|||
if (lower_current_limit>1) { |
|||
lower_current_limit=1; |
|||
} |
|||
//store the lower level in order to enable/disable the cool step
|
|||
this->cool_step_lower_threshold=lower_SG_threshold; |
|||
//if cool step is not enabled we delete the lower value to keep it disabled
|
|||
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) |
|||
//and of course we have to include the signature of the register
|
|||
| COOL_STEP_REGISTER; |
|||
//Serial.println(cool_step_register_value,HEX);
|
|||
if (started) { |
|||
send262(cool_step_register_value); |
|||
} |
|||
} |
|||
|
|||
void TMC26XStepper::setCoolStepEnabled(boolean enabled) { |
|||
//simply delete the lower limit to disable the cool step
|
|||
cool_step_register_value &= ~SE_MIN_PATTERN; |
|||
//and set it to the proper value if cool step is to be enabled
|
|||
if (enabled) { |
|||
cool_step_register_value |=this->cool_step_lower_threshold; |
|||
} |
|||
//and save the enabled status
|
|||
this->cool_step_enabled = enabled; |
|||
//save the register value
|
|||
if (started) { |
|||
send262(cool_step_register_value); |
|||
} |
|||
} |
|||
|
|||
boolean TMC26XStepper::isCoolStepEnabled(void) { |
|||
return this->cool_step_enabled; |
|||
} |
|||
|
|||
unsigned int 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; |
|||
} |
|||
|
|||
unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() { |
|||
return (unsigned char)((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); |
|||
} |
|||
|
|||
unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() { |
|||
return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH)>>15); |
|||
} |
|||
|
|||
void TMC26XStepper::setEnabled(boolean enabled) { |
|||
//delete the t_off in the chopper config to get sure
|
|||
chopper_config_register &= ~(T_OFF_PATTERN); |
|||
if (enabled) { |
|||
//and set the t_off time
|
|||
chopper_config_register |= this->constant_off_time; |
|||
} |
|||
//if not enabled we don't have to do anything since we already delete t_off from the register
|
|||
if (started) { |
|||
send262(chopper_config_register); |
|||
} |
|||
} |
|||
|
|||
boolean TMC26XStepper::isEnabled() { |
|||
if (chopper_config_register & T_OFF_PATTERN) { |
|||
return true; |
|||
} else { |
|||
return false; |
|||
} |
|||
} |
|||
|
|||
/*
|
|||
* reads a value from the TMC26X status register. The value is not obtained directly but can then |
|||
* be read by the various status routines. |
|||
* |
|||
*/ |
|||
void TMC26XStepper::readStatus(char read_value) { |
|||
unsigned long 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
|
|||
if (read_value == TMC26X_READOUT_STALLGUARD) { |
|||
driver_configuration_register_value |= READ_STALL_GUARD_READING; |
|||
} else if (read_value == TMC26X_READOUT_CURRENT) { |
|||
driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP; |
|||
} |
|||
//all other cases are ignored to prevent funny values
|
|||
//check if the readout is configured for the value we are interested in
|
|||
if (driver_configuration_register_value!=old_driver_configuration_register_value) { |
|||
//because then we need to write the value twice - one time for configuring, second time to get the value, see below
|
|||
send262(driver_configuration_register_value); |
|||
} |
|||
//write the configuration to get the last status
|
|||
send262(driver_configuration_register_value); |
|||
} |
|||
|
|||
int 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
|
|||
if (!started) { |
|||
return -1; |
|||
} |
|||
//not time optimal, but solution optiomal:
|
|||
//first read out the stall guard 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
|
|||
if (!started) { |
|||
return 0; |
|||
} |
|||
//not time optimal, but solution optiomal:
|
|||
//first read out the stall guard value
|
|||
readStatus(TMC26X_READOUT_CURRENT); |
|||
return (getReadoutValue() & 0x1f); |
|||
} |
|||
|
|||
unsigned int TMC26XStepper::getCurrentCurrent(void) { |
|||
double result = (double)getCurrentCSReading(); |
|||
double resistor_value = (double)this->resistor; |
|||
double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31; |
|||
result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0; |
|||
return (unsigned int)result; |
|||
} |
|||
|
|||
/*
|
|||
return true if the stallguard threshold has been reached |
|||
*/ |
|||
boolean TMC26XStepper::isStallGuardOverThreshold(void) { |
|||
if (!this->started) { |
|||
return false; |
|||
} |
|||
return (driver_status_result & STATUS_STALL_GUARD_STATUS); |
|||
} |
|||
|
|||
/*
|
|||
returns if there is any over temperature condition: |
|||
OVER_TEMPERATURE_PREWARING if pre warning level has been reached |
|||
OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down |
|||
Any of those levels are not too good. |
|||
*/ |
|||
char TMC26XStepper::getOverTemperature(void) { |
|||
if (!this->started) { |
|||
return 0; |
|||
} |
|||
if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN) { |
|||
return TMC26X_OVERTEMPERATURE_SHUTDOWN; |
|||
} |
|||
if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING) { |
|||
return TMC26X_OVERTEMPERATURE_PREWARING; |
|||
} |
|||
return 0; |
|||
} |
|||
|
|||
//is motor channel A shorted to ground
|
|||
boolean TMC26XStepper::isShortToGroundA(void) { |
|||
if (!this->started) { |
|||
return false; |
|||
} |
|||
return (driver_status_result & STATUS_SHORT_TO_GROUND_A); |
|||
} |
|||
|
|||
//is motor channel B shorted to ground
|
|||
boolean TMC26XStepper::isShortToGroundB(void) { |
|||
if (!this->started) { |
|||
return false; |
|||
} |
|||
return (driver_status_result & STATUS_SHORT_TO_GROUND_B); |
|||
} |
|||
|
|||
//is motor channel A connected
|
|||
boolean TMC26XStepper::isOpenLoadA(void) { |
|||
if (!this->started) { |
|||
return false; |
|||
} |
|||
return (driver_status_result & STATUS_OPEN_LOAD_A); |
|||
} |
|||
|
|||
//is motor channel B connected
|
|||
boolean TMC26XStepper::isOpenLoadB(void) { |
|||
if (!this->started) { |
|||
return false; |
|||
} |
|||
return (driver_status_result & STATUS_OPEN_LOAD_B); |
|||
} |
|||
|
|||
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
|
|||
boolean TMC26XStepper::isStandStill(void) { |
|||
if (!this->started) { |
|||
return false; |
|||
} |
|||
return (driver_status_result & STATUS_STAND_STILL); |
|||
} |
|||
|
|||
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
|
|||
boolean TMC26XStepper::isStallGuardReached(void) { |
|||
if (!this->started) { |
|||
return false; |
|||
} |
|||
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) { |
|||
return (int)(driver_status_result >> 10); |
|||
} |
|||
|
|||
int TMC26XStepper::getResistor() { |
|||
return this->resistor; |
|||
} |
|||
|
|||
boolean TMC26XStepper::isCurrentScalingHalfed() { |
|||
if (this->driver_configuration_register_value & VSENSE) { |
|||
return true; |
|||
} else { |
|||
return false; |
|||
} |
|||
} |
|||
/*
|
|||
version() returns the version of the library: |
|||
*/ |
|||
int TMC26XStepper::version(void) |
|||
{ |
|||
return 1; |
|||
} |
|||
|
|||
void TMC26XStepper::debugLastStatus() { |
|||
#ifdef DEBUG |
|||
if (this->started) { |
|||
if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) { |
|||
Serial.println("WARNING: Overtemperature Prewarning!"); |
|||
} else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN) { |
|||
Serial.println("ERROR: Overtemperature Shutdown!"); |
|||
} |
|||
if (this->isShortToGroundA()) { |
|||
Serial.println("ERROR: SHORT to ground on channel A!"); |
|||
} |
|||
if (this->isShortToGroundB()) { |
|||
Serial.println("ERROR: SHORT to ground on channel A!"); |
|||
} |
|||
if (this->isOpenLoadA()) { |
|||
Serial.println("ERROR: Channel A seems to be unconnected!"); |
|||
} |
|||
if (this->isOpenLoadB()) { |
|||
Serial.println("ERROR: Channel B seems to be unconnected!"); |
|||
} |
|||
if (this->isStallGuardReached()) { |
|||
Serial.println("INFO: Stall Guard level reached!"); |
|||
} |
|||
if (this->isStandStill()) { |
|||
Serial.println("INFO: Motor is standing still."); |
|||
} |
|||
unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN; |
|||
int value = getReadoutValue(); |
|||
if (readout_config == READ_MICROSTEP_POSTION) { |
|||
Serial.print("Microstep postion phase A: "); |
|||
Serial.println(value); |
|||
} else if (readout_config == READ_STALL_GUARD_READING) { |
|||
Serial.print("Stall Guard value:"); |
|||
Serial.println(value); |
|||
} else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) { |
|||
int stallGuard = value & 0xf; |
|||
int current = value & 0x1F0; |
|||
Serial.print("Approx Stall Guard: "); |
|||
Serial.println(stallGuard); |
|||
Serial.print("Current level"); |
|||
Serial.println(current); |
|||
} |
|||
} |
|||
#endif |
|||
} |
|||
|
|||
/*
|
|||
* send register settings to the stepper driver via SPI |
|||
* returns the current status |
|||
*/ |
|||
inline void TMC26XStepper::send262(unsigned long datagram) { |
|||
unsigned long i_datagram; |
|||
|
|||
//preserver the previous spi mode
|
|||
unsigned char oldMode = SPCR & SPI_MODE_MASK; |
|||
|
|||
//if the mode is not correct set it to mode 3
|
|||
if (oldMode != SPI_MODE3) { |
|||
SPI.setDataMode(SPI_MODE3); |
|||
} |
|||
|
|||
//select the TMC driver
|
|||
digitalWrite(cs_pin,LOW); |
|||
|
|||
//ensure that only valid bist are set (0-19)
|
|||
//datagram &=REGISTER_BIT_PATTERN;
|
|||
|
|||
#ifdef DEBUG |
|||
Serial.print("Sending "); |
|||
Serial.println(datagram,HEX); |
|||
#endif |
|||
|
|||
//write/read the values
|
|||
i_datagram = SPI.transfer((datagram >> 16) & 0xff); |
|||
i_datagram <<= 8; |
|||
i_datagram |= SPI.transfer((datagram >> 8) & 0xff); |
|||
i_datagram <<= 8; |
|||
i_datagram |= SPI.transfer((datagram) & 0xff); |
|||
i_datagram >>= 4; |
|||
|
|||
#ifdef DEBUG |
|||
Serial.print("Received "); |
|||
Serial.println(i_datagram,HEX); |
|||
debugLastStatus(); |
|||
#endif |
|||
//deselect the TMC chip
|
|||
digitalWrite(cs_pin,HIGH); |
|||
|
|||
//restore the previous SPI mode if neccessary
|
|||
//if the mode is not correct set it to mode 3
|
|||
if (oldMode != SPI_MODE3) { |
|||
SPI.setDataMode(oldMode); |
|||
} |
|||
|
|||
|
|||
//store the datagram as status result
|
|||
driver_status_result = i_datagram; |
|||
} |
|||
@ -0,0 +1,607 @@ |
|||
/*
|
|||
TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino |
|||
|
|||
based on the stepper library by Tom Igoe, et. al. |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
|
|||
|
|||
// ensure this library description is only included once
|
|||
#ifndef TMC26XStepper_h |
|||
#define TMC26XStepper_h |
|||
|
|||
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TMC chip
|
|||
/*!
|
|||
* This warning indicates that the TCM chip is too warm. |
|||
* It is still working but some parameters may be inferior. |
|||
* You should do something against it. |
|||
*/ |
|||
#define TMC26X_OVERTEMPERATURE_PREWARING 1 |
|||
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature shutdown in the TMC chip
|
|||
/*!
|
|||
* This warning indicates that the TCM chip is too warm to operate and has shut down to prevent damage. |
|||
* It will stop working until it cools down again. |
|||
* If you encouter this situation you must do something against it. Like reducing the current or improving the PCB layout |
|||
* and/or heat management. |
|||
*/ |
|||
#define TMC26X_OVERTEMPERATURE_SHUTDOWN 2 |
|||
|
|||
//which values can be read out
|
|||
/*!
|
|||
* Selects to readout the microstep position from the motor. |
|||
*\sa readStatus() |
|||
*/ |
|||
#define TMC26X_READOUT_POSITION 0 |
|||
/*!
|
|||
* Selects to read out the StallGuard value of the motor. |
|||
*\sa readStatus() |
|||
*/ |
|||
#define TMC26X_READOUT_STALLGUARD 1 |
|||
/*!
|
|||
* Selects to read out the current current setting (acc. to CoolStep) and the upper bits of the StallGuard value from the motor. |
|||
*\sa readStatus(), setCurrent() |
|||
*/ |
|||
#define TMC26X_READOUT_CURRENT 3 |
|||
|
|||
/*!
|
|||
* Define to set the minimum current for CoolStep operation to 1/2 of the selected CS minium. |
|||
*\sa setCoolStepConfiguration() |
|||
*/ |
|||
#define COOL_STEP_HALF_CS_LIMIT 0 |
|||
/*!
|
|||
* Define to set the minimum current for CoolStep operation to 1/4 of the selected CS minium. |
|||
*\sa setCoolStepConfiguration() |
|||
*/ |
|||
#define COOL_STEP_QUARTDER_CS_LIMIT 1 |
|||
|
|||
/*!
|
|||
* \class TMC26XStepper |
|||
* \brief Class representing a TMC26X stepper driver |
|||
* |
|||
* In order to use one fo those drivers in your Arduino code you have to create an object of that class: |
|||
* \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) |
|||
* |
|||
* Keep in mind that you need to start the driver with start() in order to get the TMC26X configured. |
|||
* |
|||
* The most important function is the move(). It checks if the motor has to do a step or not. |
|||
* It is important that you call move() as often as possible in your Arduino loop() routine. I suggest |
|||
* to use a very fast loop routine and always call it at the beginning or the end. |
|||
* |
|||
* In order to move you have to provide a movement speed with setSpeed(). The speed is a positive value setting |
|||
* the rotations per minute. |
|||
* |
|||
* To really move the motor you have to call step() to tell the driver to move the motor the given number |
|||
* of steps in the given direction. Positive values move the motor in one direction, negative values in the other direction. |
|||
* |
|||
* You can check with isMoving() if the mototr is still moving or stop it apruptely with stop(). |
|||
*/ |
|||
class TMC26XStepper { |
|||
public: |
|||
/*!
|
|||
* \brief creates a new represenatation of a stepper motor connected to a TMC26X stepper driver |
|||
* |
|||
* This is the main constructor. If in doubt use this. You must provide all parameters as described below. |
|||
* |
|||
* \param number_of_steps the number of steps the motor has per rotation. |
|||
* \param cs_pin The Arduino pin you have connected the Cient Select Pin (!CS) of the TMC26X for SPI |
|||
* \param dir_pin the number of the Arduino pin the Direction input of the TMC26X is connected |
|||
* \param step_pin the number of the Arduino pin the step pin of the TMC26X driver is connected. |
|||
* \param rms_current the maximum current to privide to the motor in mA (!). A value of 200 would send up to 200mA to the motor |
|||
* \param resistor the current sense resistor in milli Ohm, defaults to ,15 Ohm ( or 150 milli Ohm) as in the TMC260 Arduino Shield |
|||
* |
|||
* Keep in mind that you must also call TMC26XStepper.start() in order to configure the stepper driver for use. |
|||
* |
|||
* By default the Constant Off Time chopper is used, see TCM262Stepper.setConstantOffTimeChopper() for details. |
|||
* This should work on most motors (YMMV). You may want to configure and use the Spread Cycle Chopper, see setSpreadCycleChopper(). |
|||
* |
|||
* By default a microstepping of 1/32th is used to provide a smooth motor run, while still giving a good progression per step. |
|||
* 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=150); |
|||
|
|||
/*!
|
|||
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. |
|||
* |
|||
* This routine configures the TMC26X stepper driver for the given values via SPI. |
|||
* Most member functions are non functional if the driver has not been started. |
|||
* Therefore it is best to call this in your Arduino setup() function. |
|||
*/ |
|||
void start(); |
|||
|
|||
/*!
|
|||
* \brief resets the stepper in unconfigured mode. |
|||
* |
|||
* This routine enables you to call start again. It does not change anything |
|||
* in the internal stepper configuration or the desired configuration. |
|||
* It just marks the stepper as not yet startet. You do not have to reconfigure |
|||
* the stepper to start it again, but it is not reset to any factory settings |
|||
* this has to be configured back by yourself. |
|||
* (Hint: Normally you do not need this function) |
|||
*/ |
|||
void un_start(); |
|||
|
|||
|
|||
/*!
|
|||
* \brief Sets the rotation speed in revolutions per minute. |
|||
* \param whatSpeed the desired speed in rotations per minute. |
|||
*/ |
|||
void setSpeed(unsigned int whatSpeed); |
|||
|
|||
/*!
|
|||
* \brief reads out the currently selected speed in revolutions per minute. |
|||
* \sa setSpeed() |
|||
*/ |
|||
unsigned int getSpeed(void); |
|||
|
|||
/*!
|
|||
* \brief Set the number of microsteps in 2^i values (rounded) up to 256 |
|||
* |
|||
* This method set's the number of microsteps per step in 2^i interval. |
|||
* This means you can select 1, 2, 4, 16, 32, 64, 128 or 256 as valid microsteps. |
|||
* 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); |
|||
|
|||
/*!
|
|||
* \brief returns the effective current number of microsteps selected. |
|||
* |
|||
* This function always returns the effective number of microsteps. |
|||
* This can be a bit different than the micro steps set in setMicrosteps() since it is rounded to 2^i. |
|||
* |
|||
* \sa setMicrosteps() |
|||
*/ |
|||
int getMicrosteps(void); |
|||
|
|||
/*!
|
|||
* \brief Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction. |
|||
* |
|||
* \param number_of_steps The number of steps to move the motor. |
|||
* \return 0 if the motor was not moving and moves now. -1 if the motor is moving and the new steps could not be set. |
|||
* |
|||
* If the previous movement is not finished yet the function will return -1 and not change the steps to move the motor. |
|||
* If the motor does not move it return 0 |
|||
* |
|||
* The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right |
|||
* or left This depends on the internal construction of the motor and how you connected it to the stepper driver. |
|||
* |
|||
* 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); |
|||
|
|||
/*!
|
|||
* \brief Central movement method, must be called as often as possible in the lopp function and is very fast. |
|||
* |
|||
* This routine checks if the motor still has to move, if the waiting delay has passed to send a new step command to the motor |
|||
* and manages the number of steps yet to move to fulfill the current move command. |
|||
* |
|||
* This function is implemented to be as fast as possible to call it as often as possible in your loop routine. |
|||
* The more regurlarly you call this function the better. In both senses of 'regularly': Calling it as often as |
|||
* possible is not a bad idea and if you even manage that the intervals you call this function are not too irregular helps too. |
|||
* |
|||
* You can call this routine even if you know that the motor is not miving. It introduces just a very small penalty in your code. |
|||
* You must not call isMoving() to determine if you need to call this function, since taht is done internally already and only |
|||
* slows down you code. |
|||
* |
|||
* How often you call this function directly influences your top miving speed for the motor. It may be a good idea to call this |
|||
* from an timer overflow interrupt to ensure proper calling. |
|||
* \sa step() |
|||
*/ |
|||
char move(void); |
|||
|
|||
/*!
|
|||
* \brief checks if the motor still has to move to fulfill the last movement command. |
|||
* \return 0 if the motor stops, -1 if the motor is moving. |
|||
* |
|||
* This method can be used to determine if the motor is ready for new movements. |
|||
*\sa step(), move() |
|||
*/ |
|||
char isMoving(void); |
|||
|
|||
/*!
|
|||
* \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); |
|||
|
|||
/*!
|
|||
* \brief Stops the motor regardless if it moves or not. |
|||
* \return -1 if the motor was moving and is really stoped or 0 if it was not moving at all. |
|||
* |
|||
* This method directly and apruptely stops the motor and may be used as an emergency stop. |
|||
*/ |
|||
char stop(void); |
|||
|
|||
/*!
|
|||
* \brief Sets and configure the classical Constant Off Timer Chopper |
|||
* \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks) |
|||
* \param blank_time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting |
|||
* \param fast_decay_time_setting Fast decay time setting. Controls the portion of fast decay for each chopper cycle. 0: slow decay only, 1…15: duration of fast decay phase |
|||
* \param sine_wave_offset Sine wave offset. Controls the sine wave offset. A positive offset corrects for zero crossing error. -3…-1: negative offset, 0: no offset,1…12: positive offset |
|||
* \param use_curreent_comparator Selects usage of the current comparator for termination of the fast decay cycle. If current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. (0 disable, -1 enable). |
|||
* |
|||
* The classic constant off time chopper uses a fixed portion of fast decay following each on phase. |
|||
* While the duration of the on time is determined by the chopper comparator, the fast decay time needs |
|||
* to be set by the user in a way, that the current decay is enough for the driver to be able to follow |
|||
* the falling slope of the sine wave, and on the other hand it should not be too long, in order to minimize |
|||
* motor current ripple and power dissipation. This best can be tuned using an oscilloscope or |
|||
* trying out motor smoothness at different velocities. A good starting value is a fast decay time setting |
|||
* similar to the slow decay time setting. |
|||
* After tuning of the fast decay time, the offset should be determined, in order to have a smooth zero transition. |
|||
* This is necessary, because the fast decay phase leads to the absolute value of the motor current being lower |
|||
* than the target current (see figure 17). If the zero offset is too low, the motor stands still for a short |
|||
* moment during current zero crossing, if it is set too high, it makes a larger microstep. |
|||
* Typically, a positive offset setting is required for optimum operation. |
|||
* |
|||
* \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); |
|||
|
|||
/*!
|
|||
* \brief Sets and configures with spread cycle chopper. |
|||
* \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks) |
|||
* \param blank_time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting |
|||
* \param hysteresis_start Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value. 1 … 8 |
|||
* \param hysteresis_end Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by hysteresis_decrement. The sum hysteresis_start + hysteresis_end must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited. |
|||
* \param hysteresis_decrement Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. 0 (fast decrement) … 3 (slow decrement). |
|||
* |
|||
* The spreadCycle chopper scheme (pat.fil.) is a precise and simple to use chopper principle, which automatically determines |
|||
* the optimum fast decay portion for the motor. Anyhow, a number of settings can be made in order to optimally fit the driver |
|||
* to the motor. |
|||
* Each chopper cycle is comprised of an on-phase, a slow decay phase, a fast decay phase and a second slow decay phase. |
|||
* The slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation. |
|||
* The hysteresis start setting limits the chopper frequency by forcing the driver to introduce a minimum amount of |
|||
* current ripple into the motor coils. The motor inductivity determines the ability to follow a changing motor current. |
|||
* The duration of the on- and fast decay phase needs to cover at least the blank time, because the current comparator is |
|||
* disabled during this time. |
|||
* |
|||
* \sa setRandomOffTime() for spreading the noise over a wider spectrum |
|||
*/ |
|||
void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement); |
|||
|
|||
/*!
|
|||
* \brief Use random off time for noise reduction (0 for off, -1 for on). |
|||
* \param value 0 for off, -1 for on |
|||
* |
|||
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. |
|||
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, |
|||
* thus it depends on the microstep position. With some motors a slightly audible beat can occur between the chopper |
|||
* frequencies, especially when they are near to each other. This typically occurs at a few microstep positions within |
|||
* each quarter wave. |
|||
* This effect normally is not audible when compared to mechanical noise generated by ball bearings, |
|||
* etc. Further factors which can cause a similar effect are a poor layout of sense resistor GND connection. |
|||
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. |
|||
* It modulates the slow decay time setting when switched on. The random off time feature further spreads the chopper spectrum, |
|||
* reducing electromagnetic emission on single frequencies. |
|||
*/ |
|||
void setRandomOffTime(char value); |
|||
|
|||
/*!
|
|||
* \brief set the maximum motor current in mA (1000 is 1 Amp) |
|||
* Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller |
|||
* by employing CoolStep. |
|||
* \param current the maximum motor current in mA |
|||
* \sa getCurrent(), getCurrentCurrent() |
|||
*/ |
|||
void setCurrent(unsigned int current); |
|||
|
|||
/*!
|
|||
* \brief readout the motor maximum current in mA (1000 is an Amp) |
|||
* This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent() |
|||
*\return the maximum motor current in milli amps |
|||
* \sa getCurrentCurrent() |
|||
*/ |
|||
unsigned int 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 |
|||
* |
|||
* 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) |
|||
* If you get Stall Gaurd readings of 0 without any load or with too little laod increase the value. |
|||
* If you get readings of 1023 even with load decrease the setting. |
|||
* |
|||
* If you switch on the filter the StallGuard reading is only updated each 4th full step to reduce the noise in the |
|||
* reading. |
|||
* |
|||
* \sa getCurrentStallGuardReading() to read out the current value. |
|||
*/ |
|||
void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled); |
|||
|
|||
/*!
|
|||
* \brief reads out the StallGuard threshold |
|||
* \return a number between -64 and 63. |
|||
*/ |
|||
char getStallGuardThreshold(void); |
|||
|
|||
/*!
|
|||
* \brief returns the current setting of the StallGuard filter |
|||
* \return 0 if not set, -1 if set |
|||
*/ |
|||
char getStallGuardFilter(void); |
|||
|
|||
/*!
|
|||
* \brief This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature. |
|||
* \param lower_SG_threshold Sets the lower threshold for stallGuard2TM reading. Below this value, the motor current becomes increased. Allowed values are 0...480 |
|||
* \param SG_hysteresis Sets the distance between the lower and the upper threshold for stallGuard2TM reading. Above the upper threshold (which is lower_SG_threshold+SG_hysteresis+1) the motor current becomes decreased. Allowed values are 0...480 |
|||
* \param current_decrement_step_size Sets the current decrement steps. If the StallGuard value is above the threshold the current gets decremented by this step size. 0...32 |
|||
* \param current_increment_step_size Sets the current increment step. The current becomes incremented for each measured stallGuard2TM value below the lower threshold. 0...8 |
|||
* \param lower_current_limit Sets the lower motor current limit for coolStepTM operation by scaling the CS value. Values can be COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT |
|||
* The CoolStep smart energy operation automatically adjust the current sent into the motor according to the current load, |
|||
* read out by the StallGuard in order to provide the optimum torque with the minimal current consumption. |
|||
* You configure the CoolStep current regulator by defining upper and lower bounds of StallGuard readouts. If the readout is above the |
|||
* limit the current gets increased, below the limit the current gets decreased. |
|||
* You can specify the upper an lower threshold of the StallGuard readout in order to adjust the current. You can also set the number of |
|||
* StallGuard readings neccessary above or below the limit to get a more stable current adjustement. |
|||
* The current adjustement itself is configured by the number of steps the current gests in- or decreased and the absolut minimum current |
|||
* (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); |
|||
|
|||
/*!
|
|||
* \brief enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it. |
|||
* \param enabled true if CoolStep should be enabled, false if not. |
|||
* \sa setCoolStepConfiguration() |
|||
*/ |
|||
void setCoolStepEnabled(boolean enabled); |
|||
|
|||
|
|||
/*!
|
|||
* \brief check if the CoolStep feature is enabled |
|||
* \sa setCoolStepEnabled() |
|||
*/ |
|||
boolean isCoolStepEnabled(); |
|||
|
|||
/*!
|
|||
* \brief returns the lower StallGuard threshold for the CoolStep operation |
|||
* \sa setCoolStepConfiguration() |
|||
*/ |
|||
unsigned int getCoolStepLowerSgThreshold(); |
|||
|
|||
/*!
|
|||
* \brief returns the upper StallGuard threshold for the CoolStep operation |
|||
* \sa setCoolStepConfiguration() |
|||
*/ |
|||
unsigned int getCoolStepUpperSgThreshold(); |
|||
|
|||
/*!
|
|||
* \brief returns the number of StallGuard readings befor CoolStep adjusts the motor current. |
|||
* \sa setCoolStepConfiguration() |
|||
*/ |
|||
unsigned char getCoolStepNumberOfSGReadings(); |
|||
|
|||
/*!
|
|||
* \brief returns the increment steps for the current for the CoolStep operation |
|||
* \sa setCoolStepConfiguration() |
|||
*/ |
|||
unsigned char 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(); |
|||
|
|||
/*!
|
|||
* \brief Get the current microstep position for phase A |
|||
* \return The current microstep position for phase A 0…255 |
|||
* |
|||
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time. |
|||
*/ |
|||
int getMotorPosition(void); |
|||
|
|||
/*!
|
|||
* \brief Reads the current StallGuard value. |
|||
* \return The current StallGuard value, lesser values indicate higher load, 0 means stall detected. |
|||
* 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); |
|||
|
|||
/*!
|
|||
* \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); |
|||
|
|||
|
|||
/*!
|
|||
*\brief a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference. |
|||
*\return false if 0.13V is the reference voltage, true if 0.165V is used. |
|||
*/ |
|||
boolean isCurrentScalingHalfed(); |
|||
|
|||
/*!
|
|||
* \brief Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000). |
|||
* This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs |
|||
* the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it |
|||
* may not be the fastest. |
|||
* \sa getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent() |
|||
*/ |
|||
unsigned int getCurrentCurrent(void); |
|||
|
|||
/*!
|
|||
* \brief checks if there is a StallGuard warning in the last status |
|||
* \return 0 if there was no warning, -1 if there was some warning. |
|||
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout. |
|||
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. |
|||
* |
|||
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges. |
|||
*/ |
|||
boolean isStallGuardOverThreshold(void); |
|||
|
|||
/*!
|
|||
* \brief Return over temperature status of the last status readout |
|||
* return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown. |
|||
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout. |
|||
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. |
|||
*/ |
|||
char getOverTemperature(void); |
|||
|
|||
/*!
|
|||
* \brief Is motor channel A shorted to ground detected in the last status readout. |
|||
* \return true is yes, false if not. |
|||
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout. |
|||
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. |
|||
*/ |
|||
|
|||
boolean isShortToGroundA(void); |
|||
|
|||
/*!
|
|||
* \brief Is motor channel B shorted to ground detected in the last status readout. |
|||
* \return true is yes, false if not. |
|||
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout. |
|||
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. |
|||
*/ |
|||
boolean isShortToGroundB(void); |
|||
/*!
|
|||
* \brief iIs motor channel A connected according to the last statu readout. |
|||
* \return true is yes, false if not. |
|||
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout. |
|||
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. |
|||
*/ |
|||
boolean isOpenLoadA(void); |
|||
|
|||
/*!
|
|||
* \brief iIs motor channel A connected according to the last statu readout. |
|||
* \return true is yes, false if not. |
|||
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout. |
|||
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. |
|||
*/ |
|||
boolean isOpenLoadB(void); |
|||
|
|||
/*!
|
|||
* \brief Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s |
|||
* \return true is yes, false if not. |
|||
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout. |
|||
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. |
|||
*/ |
|||
boolean isStandStill(void); |
|||
|
|||
/*!
|
|||
* \brief checks if there is a StallGuard warning in the last status |
|||
* \return 0 if there was no warning, -1 if there was some warning. |
|||
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout. |
|||
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. |
|||
* |
|||
* \sa isStallGuardOverThreshold() |
|||
* TODO why? |
|||
* |
|||
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges. |
|||
*/ |
|||
boolean isStallGuardReached(void); |
|||
|
|||
/*!
|
|||
*\brief enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not. |
|||
*\param enabled a boolean value true if the motor should be enabled, false otherwise. |
|||
*/ |
|||
void setEnabled(boolean enabled); |
|||
|
|||
/*!
|
|||
*\brief checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely |
|||
*\return true if the bridges and by that the motor driver are enabled, false if not. |
|||
*\sa setEnabled() |
|||
*/ |
|||
boolean isEnabled(); |
|||
|
|||
/*!
|
|||
* \brief Manually read out the status register |
|||
* This function sends a byte to the motor driver in order to get the current readout. The parameter read_value |
|||
* seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method |
|||
* automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method |
|||
* may take time to send and read one or two bits - depending on the previous readout. |
|||
* \param read_value selects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT |
|||
* \sa TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT |
|||
*/ |
|||
void readStatus(char read_value); |
|||
|
|||
/*!
|
|||
* \brief Returns the current sense resistor value in milliohm. |
|||
* The default value of ,15 Ohm will return 150. |
|||
*/ |
|||
int 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); |
|||
|
|||
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; // we need to store the current speed in order to change the speed after changing microstepping
|
|||
unsigned int 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
|
|||
|
|||
//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; |
|||
|
|||
//helper routione to get the top 10 bit of the readout
|
|||
inline int getReadoutValue(); |
|||
|
|||
//the pins for the stepper driver
|
|||
unsigned char cs_pin; |
|||
unsigned char step_pin; |
|||
unsigned char dir_pin; |
|||
|
|||
//status values
|
|||
boolean started; //if the stepper has been started yet
|
|||
int 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
|
|||
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); |
|||
}; |
|||
|
|||
#endif |
|||
|
|||
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<div class="textblock"><code>#include <WProgram.h></code><br/> |
|||
<code>#include <SPI.h></code><br/> |
|||
<code>#include "<a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>"</code><br/> |
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</div> |
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<p><a href="_t_m_c26_x_stepper_8cpp_source.html">Go to the source code of this file.</a></p> |
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<tr><td colspan="2"><h2><a name="define-members"></a> |
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Defines</h2></td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">DEFAULT_MICROSTEPPING_VALUE</a>   32</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">DRIVER_CONTROL_REGISTER</a>   0x0ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">CHOPPER_CONFIG_REGISTER</a>   0x80000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">COOL_STEP_REGISTER</a>   0xA0000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">STALL_GUARD2_LOAD_MEASURE_REGISTER</a>   0xC0000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">DRIVER_CONFIG_REGISTER</a>   0xE0000ul</td></tr> |
|||
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a3b02ee1f518b0c90c16488f937abd443">REGISTER_BIT_PATTERN</a>   0xFFFFFul</td></tr> |
|||
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8f5cb0c066109ffb18cefc0e85ee1d1b">MICROSTEPPING_PATTERN</a>   0xFul</td></tr> |
|||
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa64245f223209654c60588e4558e0bab">STEP_INTERPOLATION</a>   0x200ul</td></tr> |
|||
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a770601bf0153e4bc639b9c3005b15af7">DOUBLE_EDGE_STEP</a>   0x100ul</td></tr> |
|||
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">VSENSE</a>   0x40ul</td></tr> |
|||
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">READ_MICROSTEP_POSTION</a>   0x0ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">READ_STALL_GUARD_READING</a>   0x10ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">READ_STALL_GUARD_AND_COOL_STEP</a>   0x20ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">READ_SELECTION_PATTERN</a>   0x30ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a57418a67ff726d540b813230bca1d536">CHOPPER_MODE_STANDARD</a>   0x0ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">CHOPPER_MODE_T_OFF_FAST_DECAY</a>   0x4000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">T_OFF_PATTERN</a>   0xful</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">RANDOM_TOFF_TIME</a>   0x2000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">BLANK_TIMING_PATTERN</a>   0x18000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">BLANK_TIMING_SHIFT</a>   15</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">HYSTERESIS_DECREMENT_PATTERN</a>   0x1800ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">HYSTERESIS_DECREMENT_SHIFT</a>   11</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">HYSTERESIS_LOW_VALUE_PATTERN</a>   0x780ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">HYSTERESIS_LOW_SHIFT</a>   7</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">HYSTERESIS_START_VALUE_PATTERN</a>   0x78ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">HYSTERESIS_START_VALUE_SHIFT</a>   4</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">T_OFF_TIMING_PATERN</a>   0xFul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">MINIMUM_CURRENT_FOURTH</a>   0x8000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">CURRENT_DOWN_STEP_SPEED_PATTERN</a>   0x6000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">SE_MAX_PATTERN</a>   0xF00ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">SE_CURRENT_STEP_WIDTH_PATTERN</a>   0x60ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">SE_MIN_PATTERN</a>   0xful</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">STALL_GUARD_FILTER_ENABLED</a>   0x10000ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae631457932894a974334892704550ecc">STALL_GUARD_TRESHHOLD_VALUE_PATTERN</a>   0x17F00ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">CURRENT_SCALING_PATTERN</a>   0x1Ful</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">STALL_GUARD_CONFIG_PATTERN</a>   0x17F00ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">STALL_GUARD_VALUE_PATTERN</a>   0x7F00ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">STATUS_STALL_GUARD_STATUS</a>   0x1ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">STATUS_OVER_TEMPERATURE_SHUTDOWN</a>   0x2ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">STATUS_OVER_TEMPERATURE_WARNING</a>   0x4ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">STATUS_SHORT_TO_GROUND_A</a>   0x8ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a903c3eba99695a32c6736463dcfd93ae">STATUS_SHORT_TO_GROUND_B</a>   0x10ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">STATUS_OPEN_LOAD_A</a>   0x20ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">STATUS_OPEN_LOAD_B</a>   0x40ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">STATUS_STAND_STILL</a>   0x80ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">READOUT_VALUE_PATTERN</a>   0xFFC00ul</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">INITIAL_MICROSTEPPING</a>   0x3ul</td></tr> |
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<hr/><h2>Define Documentation</h2> |
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<a class="anchor" id="a42cb2ce84258587d514ec3268548ba89"></a><!-- doxytag: member="TMC26XStepper.cpp::BLANK_TIMING_PATTERN" ref="a42cb2ce84258587d514ec3268548ba89" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">BLANK_TIMING_PATTERN</a>   0x18000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00063">63</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="abdac78f7f2c506972265a8e5883e1eae"></a><!-- doxytag: member="TMC26XStepper.cpp::BLANK_TIMING_SHIFT" ref="abdac78f7f2c506972265a8e5883e1eae" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">BLANK_TIMING_SHIFT</a>   15</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00064">64</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a70a540d1090b989b8600b5e4776659fe"></a><!-- doxytag: member="TMC26XStepper.cpp::CHOPPER_CONFIG_REGISTER" ref="a70a540d1090b989b8600b5e4776659fe" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">CHOPPER_CONFIG_REGISTER</a>   0x80000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00041">41</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a57418a67ff726d540b813230bca1d536"></a><!-- doxytag: member="TMC26XStepper.cpp::CHOPPER_MODE_STANDARD" ref="a57418a67ff726d540b813230bca1d536" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a57418a67ff726d540b813230bca1d536">CHOPPER_MODE_STANDARD</a>   0x0ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00059">59</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="aaf1b564ced7de8ff3245c964e3775826"></a><!-- doxytag: member="TMC26XStepper.cpp::CHOPPER_MODE_T_OFF_FAST_DECAY" ref="aaf1b564ced7de8ff3245c964e3775826" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">CHOPPER_MODE_T_OFF_FAST_DECAY</a>   0x4000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00060">60</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ab9828bfaa075a0a8647c709136016317"></a><!-- doxytag: member="TMC26XStepper.cpp::COOL_STEP_REGISTER" ref="ab9828bfaa075a0a8647c709136016317" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">COOL_STEP_REGISTER</a>   0xA0000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00042">42</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="adbe13a0464355e42fbe786ca5f58ed8d"></a><!-- doxytag: member="TMC26XStepper.cpp::CURRENT_DOWN_STEP_SPEED_PATTERN" ref="adbe13a0464355e42fbe786ca5f58ed8d" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">CURRENT_DOWN_STEP_SPEED_PATTERN</a>   0x6000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00075">75</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a99dcb8c6d98b0b54c23699a3f90450e4"></a><!-- doxytag: member="TMC26XStepper.cpp::CURRENT_SCALING_PATTERN" ref="a99dcb8c6d98b0b54c23699a3f90450e4" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">CURRENT_SCALING_PATTERN</a>   0x1Ful</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00083">83</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a6560b3471273e99e280ba795e3469ede"></a><!-- doxytag: member="TMC26XStepper.cpp::DEFAULT_MICROSTEPPING_VALUE" ref="a6560b3471273e99e280ba795e3469ede" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">DEFAULT_MICROSTEPPING_VALUE</a>   32</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00037">37</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a770601bf0153e4bc639b9c3005b15af7"></a><!-- doxytag: member="TMC26XStepper.cpp::DOUBLE_EDGE_STEP" ref="a770601bf0153e4bc639b9c3005b15af7" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a770601bf0153e4bc639b9c3005b15af7">DOUBLE_EDGE_STEP</a>   0x100ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00051">51</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">DRIVER_CONFIG_REGISTER</a>   0xE0000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00044">44</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a108f18bf4a30a0e0f0991ac0e4ce0579"></a><!-- doxytag: member="TMC26XStepper.cpp::DRIVER_CONTROL_REGISTER" ref="a108f18bf4a30a0e0f0991ac0e4ce0579" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">DRIVER_CONTROL_REGISTER</a>   0x0ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00040">40</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a424c248097b38c1e29e6a58ad48e6bd9"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_DECREMENT_PATTERN" ref="a424c248097b38c1e29e6a58ad48e6bd9" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">HYSTERESIS_DECREMENT_PATTERN</a>   0x1800ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00065">65</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a36e554a87785ce6ba998b79aae9e74e0"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_DECREMENT_SHIFT" ref="a36e554a87785ce6ba998b79aae9e74e0" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">HYSTERESIS_DECREMENT_SHIFT</a>   11</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00066">66</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a38ce0bb0fa20db28351ac9167f28db98"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_LOW_SHIFT" ref="a38ce0bb0fa20db28351ac9167f28db98" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">HYSTERESIS_LOW_SHIFT</a>   7</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00068">68</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ad9d2302f6d61cd84a612a2e2bcdeb56e"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_LOW_VALUE_PATTERN" ref="ad9d2302f6d61cd84a612a2e2bcdeb56e" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">HYSTERESIS_LOW_VALUE_PATTERN</a>   0x780ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00067">67</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a0de4e98b412dced62c3a4452b7483af3"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_START_VALUE_PATTERN" ref="a0de4e98b412dced62c3a4452b7483af3" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">HYSTERESIS_START_VALUE_PATTERN</a>   0x78ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00069">69</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ac2c1c939256126e605396c4aaee3c804"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_START_VALUE_SHIFT" ref="ac2c1c939256126e605396c4aaee3c804" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">HYSTERESIS_START_VALUE_SHIFT</a>   4</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00070">70</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a54a6d12e96d851361974b10614a00e45"></a><!-- doxytag: member="TMC26XStepper.cpp::INITIAL_MICROSTEPPING" ref="a54a6d12e96d851361974b10614a00e45" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">INITIAL_MICROSTEPPING</a>   0x3ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00099">99</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a8f5cb0c066109ffb18cefc0e85ee1d1b"></a><!-- doxytag: member="TMC26XStepper.cpp::MICROSTEPPING_PATTERN" ref="a8f5cb0c066109ffb18cefc0e85ee1d1b" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8f5cb0c066109ffb18cefc0e85ee1d1b">MICROSTEPPING_PATTERN</a>   0xFul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00049">49</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a8a261a77d198b85f6dd8416387b354b3"></a><!-- doxytag: member="TMC26XStepper.cpp::MINIMUM_CURRENT_FOURTH" ref="a8a261a77d198b85f6dd8416387b354b3" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">MINIMUM_CURRENT_FOURTH</a>   0x8000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00074">74</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a64520580cffd416668f3b91bd60f84e1"></a><!-- doxytag: member="TMC26XStepper.cpp::RANDOM_TOFF_TIME" ref="a64520580cffd416668f3b91bd60f84e1" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">RANDOM_TOFF_TIME</a>   0x2000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00062">62</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a143b7757272f07866d9655bde8303d9a"></a><!-- doxytag: member="TMC26XStepper.cpp::READ_MICROSTEP_POSTION" ref="a143b7757272f07866d9655bde8303d9a" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">READ_MICROSTEP_POSTION</a>   0x0ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00053">53</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a88a4b45fa6385eba8aa4f0342334b832"></a><!-- doxytag: member="TMC26XStepper.cpp::READ_SELECTION_PATTERN" ref="a88a4b45fa6385eba8aa4f0342334b832" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">READ_SELECTION_PATTERN</a>   0x30ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00056">56</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="aef62b7fdcbac0b33b2d6e9cea4b5f9b2"></a><!-- doxytag: member="TMC26XStepper.cpp::READ_STALL_GUARD_AND_COOL_STEP" ref="aef62b7fdcbac0b33b2d6e9cea4b5f9b2" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">READ_STALL_GUARD_AND_COOL_STEP</a>   0x20ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00055">55</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ac1bd4da94fab7ce1049be2f866211819"></a><!-- doxytag: member="TMC26XStepper.cpp::READ_STALL_GUARD_READING" ref="ac1bd4da94fab7ce1049be2f866211819" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">READ_STALL_GUARD_READING</a>   0x10ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00054">54</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a5c3d76da63f585e37813c32be2e11ab7"></a><!-- doxytag: member="TMC26XStepper.cpp::READOUT_VALUE_PATTERN" ref="a5c3d76da63f585e37813c32be2e11ab7" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">READOUT_VALUE_PATTERN</a>   0xFFC00ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00096">96</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a3b02ee1f518b0c90c16488f937abd443"></a><!-- doxytag: member="TMC26XStepper.cpp::REGISTER_BIT_PATTERN" ref="a3b02ee1f518b0c90c16488f937abd443" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a3b02ee1f518b0c90c16488f937abd443">REGISTER_BIT_PATTERN</a>   0xFFFFFul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00046">46</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="aba6c07e5672e34e618bb3a550ab0d2bc"></a><!-- doxytag: member="TMC26XStepper.cpp::SE_CURRENT_STEP_WIDTH_PATTERN" ref="aba6c07e5672e34e618bb3a550ab0d2bc" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">SE_CURRENT_STEP_WIDTH_PATTERN</a>   0x60ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00077">77</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ac8f748bf735c447dbed7dd4c7b631a87"></a><!-- doxytag: member="TMC26XStepper.cpp::SE_MAX_PATTERN" ref="ac8f748bf735c447dbed7dd4c7b631a87" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">SE_MAX_PATTERN</a>   0xF00ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00076">76</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ae1862dfb958c03698b0abd95fda033ea"></a><!-- doxytag: member="TMC26XStepper.cpp::SE_MIN_PATTERN" ref="ae1862dfb958c03698b0abd95fda033ea" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">SE_MIN_PATTERN</a>   0xful</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00078">78</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a478d9bde09a6528eef6af6ffeeb6caba"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD2_LOAD_MEASURE_REGISTER" ref="a478d9bde09a6528eef6af6ffeeb6caba" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">STALL_GUARD2_LOAD_MEASURE_REGISTER</a>   0xC0000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00043">43</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a99ac04f0615556fc13c0c9f3e1c1b49d"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD_CONFIG_PATTERN" ref="a99ac04f0615556fc13c0c9f3e1c1b49d" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">STALL_GUARD_CONFIG_PATTERN</a>   0x17F00ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00084">84</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="afdbbefabd0c29c4b6e403c4663d0f0be"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD_FILTER_ENABLED" ref="afdbbefabd0c29c4b6e403c4663d0f0be" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">STALL_GUARD_FILTER_ENABLED</a>   0x10000ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00081">81</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ae631457932894a974334892704550ecc"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD_TRESHHOLD_VALUE_PATTERN" ref="ae631457932894a974334892704550ecc" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae631457932894a974334892704550ecc">STALL_GUARD_TRESHHOLD_VALUE_PATTERN</a>   0x17F00ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00082">82</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a6a1cb1fd61cf7c570f94376fa11fe55b"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD_VALUE_PATTERN" ref="a6a1cb1fd61cf7c570f94376fa11fe55b" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">STALL_GUARD_VALUE_PATTERN</a>   0x7F00ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00085">85</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ae9cbbe5af7188e6bff8fe412f8e42f59"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_OPEN_LOAD_A" ref="ae9cbbe5af7188e6bff8fe412f8e42f59" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">STATUS_OPEN_LOAD_A</a>   0x20ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00093">93</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ab29dc5cd6c6c4e5bf99e71bd563e1be1"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_OPEN_LOAD_B" ref="ab29dc5cd6c6c4e5bf99e71bd563e1be1" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">STATUS_OPEN_LOAD_B</a>   0x40ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00094">94</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="adbb23d2f055c9eab55eac29d1a75deb4"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_OVER_TEMPERATURE_SHUTDOWN" ref="adbb23d2f055c9eab55eac29d1a75deb4" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">STATUS_OVER_TEMPERATURE_SHUTDOWN</a>   0x2ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00089">89</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="aa317fd77f2f26fdfbfd331e21d9069e8"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_OVER_TEMPERATURE_WARNING" ref="aa317fd77f2f26fdfbfd331e21d9069e8" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">STATUS_OVER_TEMPERATURE_WARNING</a>   0x4ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00090">90</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a8e03041302a092174fa33b3cf837dca2"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_SHORT_TO_GROUND_A" ref="a8e03041302a092174fa33b3cf837dca2" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">STATUS_SHORT_TO_GROUND_A</a>   0x8ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00091">91</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a903c3eba99695a32c6736463dcfd93ae"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_SHORT_TO_GROUND_B" ref="a903c3eba99695a32c6736463dcfd93ae" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a903c3eba99695a32c6736463dcfd93ae">STATUS_SHORT_TO_GROUND_B</a>   0x10ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00092">92</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="aa09ef662fd19bf2d063d6bd0f48eca14"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_STALL_GUARD_STATUS" ref="aa09ef662fd19bf2d063d6bd0f48eca14" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">STATUS_STALL_GUARD_STATUS</a>   0x1ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00088">88</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="ab96ed1635faee6650e9cce73598a2773"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_STAND_STILL" ref="ab96ed1635faee6650e9cce73598a2773" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">STATUS_STAND_STILL</a>   0x80ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00095">95</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="aa64245f223209654c60588e4558e0bab"></a><!-- doxytag: member="TMC26XStepper.cpp::STEP_INTERPOLATION" ref="aa64245f223209654c60588e4558e0bab" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa64245f223209654c60588e4558e0bab">STEP_INTERPOLATION</a>   0x200ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00050">50</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="aa4e49237f2671e7f28aa34ae0e89da8d"></a><!-- doxytag: member="TMC26XStepper.cpp::T_OFF_PATTERN" ref="aa4e49237f2671e7f28aa34ae0e89da8d" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">T_OFF_PATTERN</a>   0xful</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00061">61</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a7659d842c803e47ba911a2a6e26327f3"></a><!-- doxytag: member="TMC26XStepper.cpp::T_OFF_TIMING_PATERN" ref="a7659d842c803e47ba911a2a6e26327f3" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">T_OFF_TIMING_PATERN</a>   0xFul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00071">71</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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<a class="anchor" id="a4fb1c008e2ff76eee9362600eed112e1"></a><!-- doxytag: member="TMC26XStepper.cpp::VSENSE" ref="a4fb1c008e2ff76eee9362600eed112e1" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">VSENSE</a>   0x40ul</td> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00052">52</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p> |
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Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html"> |
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<title>Trinamic TMC26X Stepper Driver for Arduino: TMC26XStepper.h File Reference</title> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Class representing a TMC26X stepper driver. <a href="class_t_m_c26_x_stepper.html#details">More...</a><br/></td></tr> |
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Defines</h2></td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">TMC26X_OVERTEMPERATURE_PREWARING</a>   1</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">return value for <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper.getOverTemperature()</a> if there is a overtemperature situation in the TMC chip <a href="#add42eee34f674f92c19bcd5266d2445f"></a><br/></td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">TMC26X_OVERTEMPERATURE_SHUTDOWN</a>   2</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">return value for <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper.getOverTemperature()</a> if there is a overtemperature shutdown in the TMC chip <a href="#adae814ce848677abd87758c7ac79a436"></a><br/></td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26X_READOUT_POSITION</a>   0</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26X_READOUT_STALLGUARD</a>   1</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26X_READOUT_CURRENT</a>   3</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">COOL_STEP_HALF_CS_LIMIT</a>   0</td></tr> |
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<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">COOL_STEP_QUARTDER_CS_LIMIT</a>   1</td></tr> |
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<hr/><h2>Define Documentation</h2> |
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<a class="anchor" id="a28b1774bd4aa854fb5e4b6dc7db96ecb"></a><!-- doxytag: member="TMC26XStepper.h::COOL_STEP_HALF_CS_LIMIT" ref="a28b1774bd4aa854fb5e4b6dc7db96ecb" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">COOL_STEP_HALF_CS_LIMIT</a>   0</td> |
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<p>Define to set the minimum current for CoolStep operation to 1/2 of the selected CS minium. </p> |
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<dl class="see"><dt><b>See also:</b></dt><dd>setCoolStepConfiguration() </dd></dl> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00070">70</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p> |
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<a class="anchor" id="a1a4db5eafd0a9247677153cb4c8b7d54"></a><!-- doxytag: member="TMC26XStepper.h::COOL_STEP_QUARTDER_CS_LIMIT" ref="a1a4db5eafd0a9247677153cb4c8b7d54" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">COOL_STEP_QUARTDER_CS_LIMIT</a>   1</td> |
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<p>Define to set the minimum current for CoolStep operation to 1/4 of the selected CS minium. </p> |
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<dl class="see"><dt><b>See also:</b></dt><dd>setCoolStepConfiguration() </dd></dl> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00075">75</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p> |
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<a class="anchor" id="add42eee34f674f92c19bcd5266d2445f"></a><!-- doxytag: member="TMC26XStepper.h::TMC26X_OVERTEMPERATURE_PREWARING" ref="add42eee34f674f92c19bcd5266d2445f" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">TMC26X_OVERTEMPERATURE_PREWARING</a>   1</td> |
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<p>return value for <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper.getOverTemperature()</a> if there is a overtemperature situation in the TMC chip </p> |
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<p>This warning indicates that the TCM chip is too warm. It is still working but some parameters may be inferior. You should do something against it. </p> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00039">39</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p> |
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<a class="anchor" id="adae814ce848677abd87758c7ac79a436"></a><!-- doxytag: member="TMC26XStepper.h::TMC26X_OVERTEMPERATURE_SHUTDOWN" ref="adae814ce848677abd87758c7ac79a436" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">TMC26X_OVERTEMPERATURE_SHUTDOWN</a>   2</td> |
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<p>return value for <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper.getOverTemperature()</a> if there is a overtemperature shutdown in the TMC chip </p> |
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<p>This warning indicates that the TCM chip is too warm to operate and has shut down to prevent damage. It will stop working until it cools down again. If you encouter this situation you must do something against it. Like reducing the current or improving the PCB layout and/or heat management. </p> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00047">47</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p> |
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<a class="anchor" id="a01760ad15e3846536526a990efe47094"></a><!-- doxytag: member="TMC26XStepper.h::TMC26X_READOUT_CURRENT" ref="a01760ad15e3846536526a990efe47094" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26X_READOUT_CURRENT</a>   3</td> |
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<p>Selects to read out the current current setting (acc. to CoolStep) and the upper bits of the StallGuard value from the motor. </p> |
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<dl class="see"><dt><b>See also:</b></dt><dd>readStatus(), setCurrent() </dd></dl> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00064">64</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p> |
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<a class="anchor" id="aff05d4a47ef8821322ccc2a20785fbee"></a><!-- doxytag: member="TMC26XStepper.h::TMC26X_READOUT_POSITION" ref="aff05d4a47ef8821322ccc2a20785fbee" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26X_READOUT_POSITION</a>   0</td> |
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<p>Selects to readout the microstep position from the motor. </p> |
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<dl class="see"><dt><b>See also:</b></dt><dd>readStatus() </dd></dl> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00054">54</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p> |
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<a class="anchor" id="ac864ff8886123039c7d2d3c617f7ef87"></a><!-- doxytag: member="TMC26XStepper.h::TMC26X_READOUT_STALLGUARD" ref="ac864ff8886123039c7d2d3c617f7ef87" args="" --> |
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26X_READOUT_STALLGUARD</a>   1</td> |
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<p>Selects to read out the StallGuard value of the motor. </p> |
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<dl class="see"><dt><b>See also:</b></dt><dd>readStatus() </dd></dl> |
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00059">59</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p> |
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<hr class="footer"/><address class="footer"><small> |
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Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html"> |
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<img class="footer" src="doxygen.png" alt="doxygen"/> |
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</a> 1.7.6.1 |
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<div id="projectname">Trinamic TMC26X Stepper Driver for Arduino |
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<a href="_t_m_c26_x_stepper_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> |
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<a name="l00002"></a>00002 <span class="comment"> TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - Version 0.1</span> |
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<a name="l00003"></a>00003 <span class="comment"> </span> |
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<a name="l00004"></a>00004 <span class="comment"> based on the stepper library by Tom Igoe, et. al.</span> |
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<a name="l00005"></a>00005 <span class="comment"></span> |
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<a name="l00006"></a>00006 <span class="comment"> Copyright (c) 2011, Interactive Matter, Marcus Nowotny</span> |
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<a name="l00007"></a>00007 <span class="comment"> </span> |
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<a name="l00008"></a>00008 <span class="comment"> Permission is hereby granted, free of charge, to any person obtaining a copy</span> |
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<a name="l00009"></a>00009 <span class="comment"> of this software and associated documentation files (the "Software"), to deal</span> |
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<a name="l00010"></a>00010 <span class="comment"> in the Software without restriction, including without limitation the rights</span> |
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<a name="l00011"></a>00011 <span class="comment"> to use, copy, modify, merge, publish, distribute, sublicense, and/or sell</span> |
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<a name="l00012"></a>00012 <span class="comment"> copies of the Software, and to permit persons to whom the Software is</span> |
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<a name="l00013"></a>00013 <span class="comment"> furnished to do so, subject to the following conditions:</span> |
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<a name="l00014"></a>00014 <span class="comment"> </span> |
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<a name="l00015"></a>00015 <span class="comment"> The above copyright notice and this permission notice shall be included in</span> |
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<a name="l00016"></a>00016 <span class="comment"> all copies or substantial portions of the Software.</span> |
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<a name="l00017"></a>00017 <span class="comment"> </span> |
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<a name="l00018"></a>00018 <span class="comment"> THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span> |
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<a name="l00019"></a>00019 <span class="comment"> IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span> |
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<a name="l00020"></a>00020 <span class="comment"> FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span> |
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<a name="l00021"></a>00021 <span class="comment"> AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span> |
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<a name="l00022"></a>00022 <span class="comment"> LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span> |
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<a name="l00023"></a>00023 <span class="comment"> OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN</span> |
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<a name="l00024"></a>00024 <span class="comment"> THE SOFTWARE.</span> |
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<a name="l00025"></a>00025 <span class="comment"></span> |
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<a name="l00026"></a>00026 <span class="comment"> */</span> |
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<a name="l00027"></a>00027 |
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<a name="l00028"></a>00028 |
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<a name="l00029"></a>00029 <span class="comment">// ensure this library description is only included once</span> |
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<a name="l00030"></a>00030 <span class="preprocessor">#ifndef TMC26XStepper_h</span> |
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<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define TMC26XStepper_h</span> |
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<a name="l00032"></a>00032 <span class="preprocessor"></span> |
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<a name="l00034"></a>00034 |
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<a name="l00039"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">00039</a> <span class="preprocessor">#define TMC26X_OVERTEMPERATURE_PREWARING 1</span> |
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<a name="l00040"></a>00040 <span class="preprocessor"></span> |
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<a name="l00041"></a>00041 |
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<a name="l00047"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">00047</a> <span class="preprocessor">#define TMC26X_OVERTEMPERATURE_SHUTDOWN 2</span> |
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<a name="l00048"></a>00048 <span class="preprocessor"></span> |
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<a name="l00049"></a>00049 <span class="comment">//which values can be read out</span> |
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<a name="l00054"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">00054</a> <span class="comment"></span><span class="preprocessor">#define TMC26X_READOUT_POSITION 0</span> |
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<a name="l00055"></a>00055 <span class="preprocessor"></span> |
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<a name="l00059"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">00059</a> <span class="preprocessor">#define TMC26X_READOUT_STALLGUARD 1</span> |
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<a name="l00060"></a>00060 <span class="preprocessor"></span> |
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<a name="l00064"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">00064</a> <span class="preprocessor">#define TMC26X_READOUT_CURRENT 3</span> |
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<a name="l00065"></a>00065 <span class="preprocessor"></span> |
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<a name="l00070"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">00070</a> <span class="preprocessor">#define COOL_STEP_HALF_CS_LIMIT 0</span> |
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<a name="l00071"></a>00071 <span class="preprocessor"></span> |
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<a name="l00075"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">00075</a> <span class="preprocessor">#define COOL_STEP_QUARTDER_CS_LIMIT 1</span> |
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<a name="l00076"></a>00076 <span class="preprocessor"></span> |
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<a name="l00101"></a><a class="code" href="class_t_m_c26_x_stepper.html">00101</a> <span class="keyword">class </span><a class="code" href="class_t_m_c26_x_stepper.html" title="Class representing a TMC26X stepper driver.">TMC26XStepper</a> { |
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<a name="l00102"></a>00102 <span class="keyword">public</span>: |
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<a name="l00124"></a>00124 <a class="code" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c" title="creates a new represenatation of a stepper motor connected to a TMC26X stepper driver">TMC26XStepper</a>(<span class="keywordtype">int</span> number_of_steps, <span class="keywordtype">int</span> cs_pin, <span class="keywordtype">int</span> dir_pin, <span class="keywordtype">int</span> step_pin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> resistor=150); |
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<a name="l00125"></a>00125 |
|||
<a name="l00133"></a>00133 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">start</a>(); |
|||
<a name="l00134"></a>00134 |
|||
<a name="l00145"></a>00145 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5" title="resets the stepper in unconfigured mode.">un_start</a>(); |
|||
<a name="l00146"></a>00146 |
|||
<a name="l00147"></a>00147 |
|||
<a name="l00152"></a>00152 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd" title="Sets the rotation speed in revolutions per minute.">setSpeed</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> whatSpeed); |
|||
<a name="l00153"></a>00153 |
|||
<a name="l00158"></a>00158 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29" title="reads out the currently selected speed in revolutions per minute.">getSpeed</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00159"></a>00159 |
|||
<a name="l00168"></a>00168 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps</a>(<span class="keywordtype">int</span> number_of_steps); |
|||
<a name="l00169"></a>00169 |
|||
<a name="l00178"></a>00178 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3" title="returns the effective current number of microsteps selected.">getMicrosteps</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00179"></a>00179 |
|||
<a name="l00195"></a>00195 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">step</a>(<span class="keywordtype">int</span> number_of_steps); |
|||
<a name="l00196"></a>00196 |
|||
<a name="l00215"></a>00215 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">move</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00216"></a>00216 |
|||
<a name="l00224"></a>00224 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00225"></a>00225 |
|||
<a name="l00230"></a>00230 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7" title="Get the number of steps left in the current movement.">getStepsLeft</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00231"></a>00231 |
|||
<a name="l00238"></a>00238 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">stop</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00239"></a>00239 |
|||
<a name="l00264"></a>00264 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649" title="Sets and configure the classical Constant Off Timer Chopper.">setConstantOffTimeChopper</a>(<span class="keywordtype">char</span> constant_off_time, <span class="keywordtype">char</span> blank_time, <span class="keywordtype">char</span> fast_decay_time_setting, <span class="keywordtype">char</span> sine_wave_offset, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> use_current_comparator); |
|||
<a name="l00265"></a>00265 |
|||
<a name="l00286"></a>00286 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2" title="Sets and configures with spread cycle chopper.">setSpreadCycleChopper</a>(<span class="keywordtype">char</span> constant_off_time, <span class="keywordtype">char</span> blank_time, <span class="keywordtype">char</span> hysteresis_start, <span class="keywordtype">char</span> hysteresis_end, <span class="keywordtype">char</span> hysteresis_decrement); |
|||
<a name="l00287"></a>00287 |
|||
<a name="l00303"></a>00303 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a" title="Use random off time for noise reduction (0 for off, -1 for on).">setRandomOffTime</a>(<span class="keywordtype">char</span> value); |
|||
<a name="l00304"></a>00304 |
|||
<a name="l00312"></a>00312 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2" title="set the maximum motor current in mA (1000 is 1 Amp) Keep in mind this is the maximum peak Current...">setCurrent</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current); |
|||
<a name="l00313"></a>00313 |
|||
<a name="l00320"></a>00320 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f" title="readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()">getCurrent</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00321"></a>00321 |
|||
<a name="l00337"></a>00337 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">setStallGuardThreshold</a>(<span class="keywordtype">char</span> stall_guard_threshold, <span class="keywordtype">char</span> stall_guard_filter_enabled); |
|||
<a name="l00338"></a>00338 |
|||
<a name="l00343"></a>00343 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def" title="reads out the StallGuard threshold">getStallGuardThreshold</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00344"></a>00344 |
|||
<a name="l00349"></a>00349 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a" title="returns the current setting of the StallGuard filter">getStallGuardFilter</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00350"></a>00350 |
|||
<a name="l00368"></a>00368 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lower_SG_threshold, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> SG_hysteresis, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> current_decrement_step_size, |
|||
<a name="l00369"></a>00369 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> current_increment_step_size, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> lower_current_limit); |
|||
<a name="l00370"></a>00370 |
|||
<a name="l00376"></a>00376 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157" title="enables or disables the CoolStep smart energy operation feature. It must be configured before enablin...">setCoolStepEnabled</a>(<span class="keywordtype">boolean</span> enabled); |
|||
<a name="l00377"></a>00377 |
|||
<a name="l00378"></a>00378 |
|||
<a name="l00383"></a>00383 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d" title="check if the CoolStep feature is enabled">isCoolStepEnabled</a>(); |
|||
<a name="l00384"></a>00384 |
|||
<a name="l00389"></a>00389 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8" title="returns the lower StallGuard threshold for the CoolStep operation">getCoolStepLowerSgThreshold</a>(); |
|||
<a name="l00390"></a>00390 |
|||
<a name="l00395"></a>00395 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f" title="returns the upper StallGuard threshold for the CoolStep operation">getCoolStepUpperSgThreshold</a>(); |
|||
<a name="l00396"></a>00396 |
|||
<a name="l00401"></a>00401 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46" title="returns the number of StallGuard readings befor CoolStep adjusts the motor current.">getCoolStepNumberOfSGReadings</a>(); |
|||
<a name="l00402"></a>00402 |
|||
<a name="l00407"></a>00407 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883" title="returns the increment steps for the current for the CoolStep operation">getCoolStepCurrentIncrementSize</a>(); |
|||
<a name="l00408"></a>00408 |
|||
<a name="l00414"></a>00414 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c" title="returns the absolut minium current for the CoolStep operation">getCoolStepLowerCurrentLimit</a>(); |
|||
<a name="l00415"></a>00415 |
|||
<a name="l00422"></a>00422 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00423"></a>00423 |
|||
<a name="l00430"></a>00430 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00431"></a>00431 |
|||
<a name="l00437"></a>00437 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1" title="Reads the current current setting value as fraction of the maximum current Returns values between 0 a...">getCurrentCSReading</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00438"></a>00438 |
|||
<a name="l00439"></a>00439 |
|||
<a name="l00444"></a>00444 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905" title="a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.">isCurrentScalingHalfed</a>(); |
|||
<a name="l00445"></a>00445 |
|||
<a name="l00453"></a>00453 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00454"></a>00454 |
|||
<a name="l00463"></a>00463 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41" title="checks if there is a StallGuard warning in the last status">isStallGuardOverThreshold</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00464"></a>00464 |
|||
<a name="l00471"></a>00471 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">getOverTemperature</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00472"></a>00472 |
|||
<a name="l00480"></a>00480 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf" title="Is motor channel A shorted to ground detected in the last status readout.">isShortToGroundA</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00481"></a>00481 |
|||
<a name="l00488"></a>00488 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b" title="Is motor channel B shorted to ground detected in the last status readout.">isShortToGroundB</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00495"></a>00495 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c" title="iIs motor channel A connected according to the last statu readout.">isOpenLoadA</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00496"></a>00496 |
|||
<a name="l00503"></a>00503 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303" title="iIs motor channel A connected according to the last statu readout.">isOpenLoadB</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00504"></a>00504 |
|||
<a name="l00511"></a>00511 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0" title="Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s.">isStandStill</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00512"></a>00512 |
|||
<a name="l00524"></a>00524 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7" title="checks if there is a StallGuard warning in the last status">isStallGuardReached</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00525"></a>00525 |
|||
<a name="l00530"></a>00530 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305" title="enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.">setEnabled</a>(<span class="keywordtype">boolean</span> enabled); |
|||
<a name="l00531"></a>00531 |
|||
<a name="l00537"></a>00537 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6" title="checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely...">isEnabled</a>(); |
|||
<a name="l00538"></a>00538 |
|||
<a name="l00548"></a>00548 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967" title="Manually read out the status register This function sends a byte to the motor driver in order to get ...">readStatus</a>(<span class="keywordtype">char</span> read_value); |
|||
<a name="l00549"></a>00549 |
|||
<a name="l00554"></a>00554 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e" title="Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150...">getResistor</a>(); |
|||
<a name="l00555"></a>00555 |
|||
<a name="l00560"></a>00560 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3" title="Prints out all the information that can be found in the last status read out - it does not force a st...">debugLastStatus</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00565"></a>00565 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215" title="library version">version</a>(<span class="keywordtype">void</span>); |
|||
<a name="l00566"></a>00566 |
|||
<a name="l00567"></a>00567 <span class="keyword">private</span>: |
|||
<a name="l00568"></a>00568 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps_left; <span class="comment">//the steps the motor has to do to complete the movement</span> |
|||
<a name="l00569"></a>00569 <span class="keywordtype">int</span> direction; <span class="comment">// Direction of rotation</span> |
|||
<a name="l00570"></a>00570 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> step_delay; <span class="comment">// delay between steps, in ms, based on speed</span> |
|||
<a name="l00571"></a>00571 <span class="keywordtype">int</span> number_of_steps; <span class="comment">// total number of steps this motor can take</span> |
|||
<a name="l00572"></a>00572 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> speed; <span class="comment">// we need to store the current speed in order to change the speed after changing microstepping</span> |
|||
<a name="l00573"></a>00573 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> resistor; <span class="comment">//current sense resitor value in milliohm</span> |
|||
<a name="l00574"></a>00574 |
|||
<a name="l00575"></a>00575 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> last_step_time; <span class="comment">// time stamp in ms of when the last step was taken</span> |
|||
<a name="l00576"></a>00576 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> next_step_time; <span class="comment">// time stamp in ms of when the last step was taken</span> |
|||
<a name="l00577"></a>00577 |
|||
<a name="l00578"></a>00578 <span class="comment">//driver control register copies to easily set & modify the registers</span> |
|||
<a name="l00579"></a>00579 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> driver_control_register_value; |
|||
<a name="l00580"></a>00580 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> chopper_config_register; |
|||
<a name="l00581"></a>00581 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> cool_step_register_value; |
|||
<a name="l00582"></a>00582 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> stall_guard2_current_register_value; |
|||
<a name="l00583"></a>00583 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> driver_configuration_register_value; |
|||
<a name="l00584"></a>00584 <span class="comment">//the driver status result</span> |
|||
<a name="l00585"></a>00585 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> driver_status_result; |
|||
<a name="l00586"></a>00586 |
|||
<a name="l00587"></a>00587 <span class="comment">//helper routione to get the top 10 bit of the readout</span> |
|||
<a name="l00588"></a>00588 <span class="keyword">inline</span> <span class="keywordtype">int</span> getReadoutValue(); |
|||
<a name="l00589"></a>00589 |
|||
<a name="l00590"></a>00590 <span class="comment">//the pins for the stepper driver</span> |
|||
<a name="l00591"></a>00591 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> cs_pin; |
|||
<a name="l00592"></a>00592 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> step_pin; |
|||
<a name="l00593"></a>00593 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> dir_pin; |
|||
<a name="l00594"></a>00594 |
|||
<a name="l00595"></a>00595 <span class="comment">//status values </span> |
|||
<a name="l00596"></a>00596 <span class="keywordtype">boolean</span> started; <span class="comment">//if the stepper has been started yet</span> |
|||
<a name="l00597"></a>00597 <span class="keywordtype">int</span> microsteps; <span class="comment">//the current number of micro steps</span> |
|||
<a name="l00598"></a>00598 <span class="keywordtype">char</span> constant_off_time; <span class="comment">//we need to remember this value in order to enable and disable the motor</span> |
|||
<a name="l00599"></a>00599 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> cool_step_lower_threshold; <span class="comment">// we need to remember the threshold to enable and disable the CoolStep feature</span> |
|||
<a name="l00600"></a>00600 <span class="keywordtype">boolean</span> cool_step_enabled; <span class="comment">//we need to remember this to configure the coolstep if it si enabled</span> |
|||
<a name="l00601"></a>00601 |
|||
<a name="l00602"></a>00602 <span class="comment">//SPI sender</span> |
|||
<a name="l00603"></a>00603 <span class="keyword">inline</span> <span class="keywordtype">void</span> send262(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> datagram); |
|||
<a name="l00604"></a>00604 }; |
|||
<a name="l00605"></a>00605 |
|||
<a name="l00606"></a>00606 <span class="preprocessor">#endif</span> |
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<a name="l00607"></a>00607 <span class="preprocessor"></span> |
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<tr><td class="indexkey"><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td class="indexvalue">Class representing a TMC26X stepper driver </td></tr> |
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<li><a href="index.html"><span>Main Page</span></a></li> |
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<div class="title">TMC26XStepper Member List</div> </div> |
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This is the complete list of members for <a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a>, including all inherited members.<table> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">debugLastStatus</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">getCoolStepCurrentIncrementSize</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">getCoolStepLowerCurrentLimit</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">getCoolStepLowerSgThreshold</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">getCoolStepNumberOfSGReadings</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">getCoolStepUpperSgThreshold</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">getCurrent</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">getCurrentCSReading</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">getCurrentCurrent</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">getCurrentStallGuardReading</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">getMicrosteps</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">getMotorPosition</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">getOverTemperature</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">getResistor</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">getSpeed</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">getStallGuardFilter</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">getStallGuardThreshold</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">getStepsLeft</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">isCoolStepEnabled</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">isCurrentScalingHalfed</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">isEnabled</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">isMoving</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">isOpenLoadA</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">isOpenLoadB</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">isShortToGroundA</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">isShortToGroundB</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">isStallGuardOverThreshold</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">isStallGuardReached</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
|||
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">isStandStill</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">move</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">readStatus</a>(char read_value)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">setConstantOffTimeChopper</a>(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">setCoolStepConfiguration</a>(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)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">setCoolStepEnabled</a>(boolean enabled)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">setCurrent</a>(unsigned int current)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">setEnabled</a>(boolean enabled)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">setMicrosteps</a>(int number_of_steps)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">setRandomOffTime</a>(char value)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">setSpeed</a>(unsigned int whatSpeed)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">setSpreadCycleChopper</a>(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">setStallGuardThreshold</a>(char stall_guard_threshold, char stall_guard_filter_enabled)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">start</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">step</a>(int number_of_steps)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">stop</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper</a>(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">un_start</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">version</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr> |
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</table></div><!-- contents --> |
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<hr class="footer"/><address class="footer"><small> |
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Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html"> |
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</a> 1.7.6.1 |
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<h3><a class="anchor" id="index_d"></a>- d -</h3><ul> |
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<li>debugLastStatus() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">TMC26XStepper</a> |
|||
</li> |
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|
|||
|
|||
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<li>getCoolStepCurrentIncrementSize() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCoolStepLowerCurrentLimit() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCoolStepLowerSgThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">TMC26XStepper</a> |
|||
</li> |
|||
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|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCoolStepUpperSgThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCurrent() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCurrentCSReading() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCurrentCurrent() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCurrentStallGuardReading() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">TMC26XStepper</a> |
|||
</li> |
|||
<li>getMicrosteps() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">TMC26XStepper</a> |
|||
</li> |
|||
<li>getMotorPosition() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">TMC26XStepper</a> |
|||
</li> |
|||
<li>getOverTemperature() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">TMC26XStepper</a> |
|||
</li> |
|||
<li>getResistor() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">TMC26XStepper</a> |
|||
</li> |
|||
<li>getSpeed() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">TMC26XStepper</a> |
|||
</li> |
|||
<li>getStallGuardFilter() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">TMC26XStepper</a> |
|||
</li> |
|||
<li>getStallGuardThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">TMC26XStepper</a> |
|||
</li> |
|||
<li>getStepsLeft() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul> |
|||
<li>isCoolStepEnabled() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">TMC26XStepper</a> |
|||
</li> |
|||
<li>isCurrentScalingHalfed() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">TMC26XStepper</a> |
|||
</li> |
|||
<li>isEnabled() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">TMC26XStepper</a> |
|||
</li> |
|||
<li>isMoving() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">TMC26XStepper</a> |
|||
</li> |
|||
<li>isOpenLoadA() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">TMC26XStepper</a> |
|||
</li> |
|||
<li>isOpenLoadB() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">TMC26XStepper</a> |
|||
</li> |
|||
<li>isShortToGroundA() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">TMC26XStepper</a> |
|||
</li> |
|||
<li>isShortToGroundB() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">TMC26XStepper</a> |
|||
</li> |
|||
<li>isStallGuardOverThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">TMC26XStepper</a> |
|||
</li> |
|||
<li>isStallGuardReached() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">TMC26XStepper</a> |
|||
</li> |
|||
<li>isStandStill() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul> |
|||
<li>move() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul> |
|||
<li>readStatus() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul> |
|||
<li>setConstantOffTimeChopper() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">TMC26XStepper</a> |
|||
</li> |
|||
<li>setCoolStepConfiguration() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">TMC26XStepper</a> |
|||
</li> |
|||
<li>setCoolStepEnabled() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">TMC26XStepper</a> |
|||
</li> |
|||
<li>setCurrent() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">TMC26XStepper</a> |
|||
</li> |
|||
<li>setEnabled() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">TMC26XStepper</a> |
|||
</li> |
|||
<li>setMicrosteps() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">TMC26XStepper</a> |
|||
</li> |
|||
<li>setRandomOffTime() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">TMC26XStepper</a> |
|||
</li> |
|||
<li>setSpeed() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">TMC26XStepper</a> |
|||
</li> |
|||
<li>setSpreadCycleChopper() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">TMC26XStepper</a> |
|||
</li> |
|||
<li>setStallGuardThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">TMC26XStepper</a> |
|||
</li> |
|||
<li>start() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">TMC26XStepper</a> |
|||
</li> |
|||
<li>step() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">TMC26XStepper</a> |
|||
</li> |
|||
<li>stop() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul> |
|||
<li>TMC26XStepper() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_u"></a>- u -</h3><ul> |
|||
<li>un_start() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_v"></a>- v -</h3><ul> |
|||
<li>version() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
</div><!-- contents --> |
|||
|
|||
|
|||
<hr class="footer"/><address class="footer"><small> |
|||
Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html"> |
|||
<img class="footer" src="doxygen.png" alt="doxygen"/> |
|||
</a> 1.7.6.1 |
|||
</small></address> |
|||
|
|||
</body> |
|||
</html> |
|||
@ -0,0 +1,261 @@ |
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> |
|||
<html xmlns="http://www.w3.org/1999/xhtml"> |
|||
<head> |
|||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> |
|||
<meta http-equiv="X-UA-Compatible" content="IE=9"/> |
|||
<title>Trinamic TMC26X Stepper Driver for Arduino: Class Members - Functions</title> |
|||
|
|||
<link href="tabs.css" rel="stylesheet" type="text/css"/> |
|||
<link href="doxygen.css" rel="stylesheet" type="text/css" /> |
|||
|
|||
|
|||
|
|||
</head> |
|||
<body> |
|||
<div id="top"><!-- do not remove this div! --> |
|||
|
|||
|
|||
<div id="titlearea"> |
|||
<table cellspacing="0" cellpadding="0"> |
|||
<tbody> |
|||
<tr style="height: 56px;"> |
|||
|
|||
|
|||
<td style="padding-left: 0.5em;"> |
|||
<div id="projectname">Trinamic TMC26X Stepper Driver for Arduino |
|||
|
|||
</div> |
|||
|
|||
</td> |
|||
|
|||
|
|||
|
|||
</tr> |
|||
</tbody> |
|||
</table> |
|||
</div> |
|||
|
|||
<!-- Generated by Doxygen 1.7.6.1 --> |
|||
<div id="navrow1" class="tabs"> |
|||
<ul class="tablist"> |
|||
<li><a href="index.html"><span>Main Page</span></a></li> |
|||
<li class="current"><a href="annotated.html"><span>Classes</span></a></li> |
|||
<li><a href="files.html"><span>Files</span></a></li> |
|||
</ul> |
|||
</div> |
|||
<div id="navrow2" class="tabs2"> |
|||
<ul class="tablist"> |
|||
<li><a href="annotated.html"><span>Class List</span></a></li> |
|||
<li><a href="classes.html"><span>Class Index</span></a></li> |
|||
<li class="current"><a href="functions.html"><span>Class Members</span></a></li> |
|||
</ul> |
|||
</div> |
|||
<div id="navrow3" class="tabs2"> |
|||
<ul class="tablist"> |
|||
<li><a href="functions.html"><span>All</span></a></li> |
|||
<li class="current"><a href="functions_func.html"><span>Functions</span></a></li> |
|||
</ul> |
|||
</div> |
|||
<div id="navrow4" class="tabs3"> |
|||
<ul class="tablist"> |
|||
<li><a href="#index_d"><span>d</span></a></li> |
|||
<li><a href="#index_g"><span>g</span></a></li> |
|||
<li><a href="#index_i"><span>i</span></a></li> |
|||
<li><a href="#index_m"><span>m</span></a></li> |
|||
<li><a href="#index_r"><span>r</span></a></li> |
|||
<li><a href="#index_s"><span>s</span></a></li> |
|||
<li><a href="#index_t"><span>t</span></a></li> |
|||
<li><a href="#index_u"><span>u</span></a></li> |
|||
<li><a href="#index_v"><span>v</span></a></li> |
|||
</ul> |
|||
</div> |
|||
</div> |
|||
<div class="contents"> |
|||
  |
|||
|
|||
<h3><a class="anchor" id="index_d"></a>- d -</h3><ul> |
|||
<li>debugLastStatus() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_g"></a>- g -</h3><ul> |
|||
<li>getCoolStepCurrentIncrementSize() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCoolStepLowerCurrentLimit() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCoolStepLowerSgThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCoolStepNumberOfSGReadings() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCoolStepUpperSgThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCurrent() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCurrentCSReading() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCurrentCurrent() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">TMC26XStepper</a> |
|||
</li> |
|||
<li>getCurrentStallGuardReading() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">TMC26XStepper</a> |
|||
</li> |
|||
<li>getMicrosteps() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">TMC26XStepper</a> |
|||
</li> |
|||
<li>getMotorPosition() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">TMC26XStepper</a> |
|||
</li> |
|||
<li>getOverTemperature() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">TMC26XStepper</a> |
|||
</li> |
|||
<li>getResistor() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">TMC26XStepper</a> |
|||
</li> |
|||
<li>getSpeed() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">TMC26XStepper</a> |
|||
</li> |
|||
<li>getStallGuardFilter() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">TMC26XStepper</a> |
|||
</li> |
|||
<li>getStallGuardThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">TMC26XStepper</a> |
|||
</li> |
|||
<li>getStepsLeft() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul> |
|||
<li>isCoolStepEnabled() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">TMC26XStepper</a> |
|||
</li> |
|||
<li>isCurrentScalingHalfed() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">TMC26XStepper</a> |
|||
</li> |
|||
<li>isEnabled() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">TMC26XStepper</a> |
|||
</li> |
|||
<li>isMoving() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">TMC26XStepper</a> |
|||
</li> |
|||
<li>isOpenLoadA() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">TMC26XStepper</a> |
|||
</li> |
|||
<li>isOpenLoadB() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">TMC26XStepper</a> |
|||
</li> |
|||
<li>isShortToGroundA() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">TMC26XStepper</a> |
|||
</li> |
|||
<li>isShortToGroundB() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">TMC26XStepper</a> |
|||
</li> |
|||
<li>isStallGuardOverThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">TMC26XStepper</a> |
|||
</li> |
|||
<li>isStallGuardReached() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">TMC26XStepper</a> |
|||
</li> |
|||
<li>isStandStill() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul> |
|||
<li>move() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul> |
|||
<li>readStatus() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul> |
|||
<li>setConstantOffTimeChopper() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">TMC26XStepper</a> |
|||
</li> |
|||
<li>setCoolStepConfiguration() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">TMC26XStepper</a> |
|||
</li> |
|||
<li>setCoolStepEnabled() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">TMC26XStepper</a> |
|||
</li> |
|||
<li>setCurrent() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">TMC26XStepper</a> |
|||
</li> |
|||
<li>setEnabled() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">TMC26XStepper</a> |
|||
</li> |
|||
<li>setMicrosteps() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">TMC26XStepper</a> |
|||
</li> |
|||
<li>setRandomOffTime() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">TMC26XStepper</a> |
|||
</li> |
|||
<li>setSpeed() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">TMC26XStepper</a> |
|||
</li> |
|||
<li>setSpreadCycleChopper() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">TMC26XStepper</a> |
|||
</li> |
|||
<li>setStallGuardThreshold() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">TMC26XStepper</a> |
|||
</li> |
|||
<li>start() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">TMC26XStepper</a> |
|||
</li> |
|||
<li>step() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">TMC26XStepper</a> |
|||
</li> |
|||
<li>stop() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul> |
|||
<li>TMC26XStepper() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_u"></a>- u -</h3><ul> |
|||
<li>un_start() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_v"></a>- v -</h3><ul> |
|||
<li>version() |
|||
: <a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">TMC26XStepper</a> |
|||
</li> |
|||
</ul> |
|||
</div><!-- contents --> |
|||
|
|||
|
|||
<hr class="footer"/><address class="footer"><small> |
|||
Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html"> |
|||
<img class="footer" src="doxygen.png" alt="doxygen"/> |
|||
</a> 1.7.6.1 |
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</small></address> |
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</body> |
|||
</html> |
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@ -0,0 +1,289 @@ |
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> |
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<html xmlns="http://www.w3.org/1999/xhtml"> |
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<head> |
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> |
|||
<meta http-equiv="X-UA-Compatible" content="IE=9"/> |
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<title>Trinamic TMC26X Stepper Driver for Arduino: File Members</title> |
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|||
<link href="tabs.css" rel="stylesheet" type="text/css"/> |
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<link href="doxygen.css" rel="stylesheet" type="text/css" /> |
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</head> |
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<body> |
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<div id="top"><!-- do not remove this div! --> |
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<div id="titlearea"> |
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<table cellspacing="0" cellpadding="0"> |
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<tbody> |
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<tr style="height: 56px;"> |
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|
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<td style="padding-left: 0.5em;"> |
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<div id="projectname">Trinamic TMC26X Stepper Driver for Arduino |
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</div> |
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</td> |
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</tr> |
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</tbody> |
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</table> |
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</div> |
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<!-- Generated by Doxygen 1.7.6.1 --> |
|||
<div id="navrow1" class="tabs"> |
|||
<ul class="tablist"> |
|||
<li><a href="index.html"><span>Main Page</span></a></li> |
|||
<li><a href="annotated.html"><span>Classes</span></a></li> |
|||
<li class="current"><a href="files.html"><span>Files</span></a></li> |
|||
</ul> |
|||
</div> |
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<div id="navrow2" class="tabs2"> |
|||
<ul class="tablist"> |
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<li><a href="files.html"><span>File List</span></a></li> |
|||
<li class="current"><a href="globals.html"><span>File Members</span></a></li> |
|||
</ul> |
|||
</div> |
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<div id="navrow3" class="tabs2"> |
|||
<ul class="tablist"> |
|||
<li class="current"><a href="globals.html"><span>All</span></a></li> |
|||
<li><a href="globals_defs.html"><span>Defines</span></a></li> |
|||
</ul> |
|||
</div> |
|||
<div id="navrow4" class="tabs3"> |
|||
<ul class="tablist"> |
|||
<li><a href="#index_b"><span>b</span></a></li> |
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<li><a href="#index_c"><span>c</span></a></li> |
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<li><a href="#index_d"><span>d</span></a></li> |
|||
<li><a href="#index_h"><span>h</span></a></li> |
|||
<li><a href="#index_i"><span>i</span></a></li> |
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<li><a href="#index_m"><span>m</span></a></li> |
|||
<li><a href="#index_r"><span>r</span></a></li> |
|||
<li><a href="#index_s"><span>s</span></a></li> |
|||
<li><a href="#index_t"><span>t</span></a></li> |
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<li><a href="#index_v"><span>v</span></a></li> |
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</ul> |
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</div> |
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</div> |
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<div class="contents"> |
|||
<div class="textblock">Here is a list of all file members with links to the files they belong to:</div> |
|||
|
|||
<h3><a class="anchor" id="index_b"></a>- b -</h3><ul> |
|||
<li>BLANK_TIMING_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>BLANK_TIMING_SHIFT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_c"></a>- c -</h3><ul> |
|||
<li>CHOPPER_CONFIG_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>CHOPPER_MODE_STANDARD |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a57418a67ff726d540b813230bca1d536">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>CHOPPER_MODE_T_OFF_FAST_DECAY |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>COOL_STEP_HALF_CS_LIMIT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">TMC26XStepper.h</a> |
|||
</li> |
|||
<li>COOL_STEP_QUARTDER_CS_LIMIT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">TMC26XStepper.h</a> |
|||
</li> |
|||
<li>COOL_STEP_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>CURRENT_DOWN_STEP_SPEED_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>CURRENT_SCALING_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_d"></a>- d -</h3><ul> |
|||
<li>DEFAULT_MICROSTEPPING_VALUE |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>DOUBLE_EDGE_STEP |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a770601bf0153e4bc639b9c3005b15af7">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>DRIVER_CONFIG_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>DRIVER_CONTROL_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_h"></a>- h -</h3><ul> |
|||
<li>HYSTERESIS_DECREMENT_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>HYSTERESIS_DECREMENT_SHIFT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>HYSTERESIS_LOW_SHIFT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>HYSTERESIS_LOW_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>HYSTERESIS_START_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>HYSTERESIS_START_VALUE_SHIFT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul> |
|||
<li>INITIAL_MICROSTEPPING |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul> |
|||
<li>MICROSTEPPING_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8f5cb0c066109ffb18cefc0e85ee1d1b">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>MINIMUM_CURRENT_FOURTH |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul> |
|||
<li>RANDOM_TOFF_TIME |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>READ_MICROSTEP_POSTION |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>READ_SELECTION_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>READ_STALL_GUARD_AND_COOL_STEP |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>READ_STALL_GUARD_READING |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>READOUT_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>REGISTER_BIT_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a3b02ee1f518b0c90c16488f937abd443">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul> |
|||
<li>SE_CURRENT_STEP_WIDTH_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>SE_MAX_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>SE_MIN_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STALL_GUARD2_LOAD_MEASURE_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STALL_GUARD_CONFIG_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STALL_GUARD_FILTER_ENABLED |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STALL_GUARD_TRESHHOLD_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae631457932894a974334892704550ecc">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STALL_GUARD_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_OPEN_LOAD_A |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_OPEN_LOAD_B |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_OVER_TEMPERATURE_SHUTDOWN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_OVER_TEMPERATURE_WARNING |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_SHORT_TO_GROUND_A |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_SHORT_TO_GROUND_B |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a903c3eba99695a32c6736463dcfd93ae">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_STALL_GUARD_STATUS |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_STAND_STILL |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STEP_INTERPOLATION |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa64245f223209654c60588e4558e0bab">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul> |
|||
<li>T_OFF_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">TMC26XStepper.cpp</a> |
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<li>T_OFF_TIMING_PATERN |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">TMC26XStepper.cpp</a> |
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</li> |
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<li>TMC26X_OVERTEMPERATURE_PREWARING |
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: <a class="el" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">TMC26XStepper.h</a> |
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</li> |
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<li>TMC26X_OVERTEMPERATURE_SHUTDOWN |
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: <a class="el" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">TMC26XStepper.h</a> |
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</li> |
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<li>TMC26X_READOUT_CURRENT |
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: <a class="el" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26XStepper.h</a> |
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</li> |
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<li>TMC26X_READOUT_POSITION |
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: <a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26XStepper.h</a> |
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</li> |
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<li>TMC26X_READOUT_STALLGUARD |
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: <a class="el" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26XStepper.h</a> |
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<h3><a class="anchor" id="index_v"></a>- v -</h3><ul> |
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<li>VSENSE |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">TMC26XStepper.cpp</a> |
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</div><!-- contents --> |
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<hr class="footer"/><address class="footer"><small> |
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Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html"> |
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<img class="footer" src="doxygen.png" alt="doxygen"/> |
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</a> 1.7.6.1 |
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<title>Trinamic TMC26X Stepper Driver for Arduino: File Members</title> |
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  |
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|
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<h3><a class="anchor" id="index_b"></a>- b -</h3><ul> |
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<li>BLANK_TIMING_PATTERN |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">TMC26XStepper.cpp</a> |
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</li> |
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<li>BLANK_TIMING_SHIFT |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">TMC26XStepper.cpp</a> |
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</li> |
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</ul> |
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|
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<h3><a class="anchor" id="index_c"></a>- c -</h3><ul> |
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<li>CHOPPER_CONFIG_REGISTER |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">TMC26XStepper.cpp</a> |
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</li> |
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<li>CHOPPER_MODE_STANDARD |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a57418a67ff726d540b813230bca1d536">TMC26XStepper.cpp</a> |
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</li> |
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<li>CHOPPER_MODE_T_OFF_FAST_DECAY |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">TMC26XStepper.cpp</a> |
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</li> |
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<li>COOL_STEP_HALF_CS_LIMIT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">TMC26XStepper.h</a> |
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</li> |
|||
<li>COOL_STEP_QUARTDER_CS_LIMIT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">TMC26XStepper.h</a> |
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</li> |
|||
<li>COOL_STEP_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>CURRENT_DOWN_STEP_SPEED_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>CURRENT_SCALING_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">TMC26XStepper.cpp</a> |
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</li> |
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</ul> |
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|
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<h3><a class="anchor" id="index_d"></a>- d -</h3><ul> |
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<li>DEFAULT_MICROSTEPPING_VALUE |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">TMC26XStepper.cpp</a> |
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</li> |
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<li>DOUBLE_EDGE_STEP |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a770601bf0153e4bc639b9c3005b15af7">TMC26XStepper.cpp</a> |
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</li> |
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<li>DRIVER_CONFIG_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">TMC26XStepper.cpp</a> |
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</li> |
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<li>DRIVER_CONTROL_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">TMC26XStepper.cpp</a> |
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</li> |
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</ul> |
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<h3><a class="anchor" id="index_h"></a>- h -</h3><ul> |
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<li>HYSTERESIS_DECREMENT_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">TMC26XStepper.cpp</a> |
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</li> |
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<li>HYSTERESIS_DECREMENT_SHIFT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">TMC26XStepper.cpp</a> |
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</li> |
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<li>HYSTERESIS_LOW_SHIFT |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">TMC26XStepper.cpp</a> |
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</li> |
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<li>HYSTERESIS_LOW_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">TMC26XStepper.cpp</a> |
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</li> |
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<li>HYSTERESIS_START_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>HYSTERESIS_START_VALUE_SHIFT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">TMC26XStepper.cpp</a> |
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</li> |
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</ul> |
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|
|||
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul> |
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<li>INITIAL_MICROSTEPPING |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">TMC26XStepper.cpp</a> |
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</li> |
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</ul> |
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|
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<h3><a class="anchor" id="index_m"></a>- m -</h3><ul> |
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<li>MICROSTEPPING_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8f5cb0c066109ffb18cefc0e85ee1d1b">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>MINIMUM_CURRENT_FOURTH |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">TMC26XStepper.cpp</a> |
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</li> |
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</ul> |
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|
|||
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul> |
|||
<li>RANDOM_TOFF_TIME |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>READ_MICROSTEP_POSTION |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>READ_SELECTION_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">TMC26XStepper.cpp</a> |
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</li> |
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<li>READ_STALL_GUARD_AND_COOL_STEP |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">TMC26XStepper.cpp</a> |
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</li> |
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<li>READ_STALL_GUARD_READING |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">TMC26XStepper.cpp</a> |
|||
</li> |
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<li>READOUT_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>REGISTER_BIT_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a3b02ee1f518b0c90c16488f937abd443">TMC26XStepper.cpp</a> |
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</li> |
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</ul> |
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<h3><a class="anchor" id="index_s"></a>- s -</h3><ul> |
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<li>SE_CURRENT_STEP_WIDTH_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">TMC26XStepper.cpp</a> |
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</li> |
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<li>SE_MAX_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">TMC26XStepper.cpp</a> |
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</li> |
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<li>SE_MIN_PATTERN |
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: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">TMC26XStepper.cpp</a> |
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</li> |
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<li>STALL_GUARD2_LOAD_MEASURE_REGISTER |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STALL_GUARD_CONFIG_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">TMC26XStepper.cpp</a> |
|||
</li> |
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<li>STALL_GUARD_FILTER_ENABLED |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STALL_GUARD_TRESHHOLD_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae631457932894a974334892704550ecc">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STALL_GUARD_VALUE_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>STATUS_OPEN_LOAD_A |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>STATUS_OPEN_LOAD_B |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>STATUS_OVER_TEMPERATURE_SHUTDOWN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>STATUS_OVER_TEMPERATURE_WARNING |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>STATUS_SHORT_TO_GROUND_A |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">TMC26XStepper.cpp</a> |
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</li> |
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<li>STATUS_SHORT_TO_GROUND_B |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a903c3eba99695a32c6736463dcfd93ae">TMC26XStepper.cpp</a> |
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</li> |
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<li>STATUS_STALL_GUARD_STATUS |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>STATUS_STAND_STILL |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">TMC26XStepper.cpp</a> |
|||
</li> |
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<li>STEP_INTERPOLATION |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa64245f223209654c60588e4558e0bab">TMC26XStepper.cpp</a> |
|||
</li> |
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</ul> |
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|
|||
|
|||
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul> |
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<li>T_OFF_PATTERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">TMC26XStepper.cpp</a> |
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</li> |
|||
<li>T_OFF_TIMING_PATERN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">TMC26XStepper.cpp</a> |
|||
</li> |
|||
<li>TMC26X_OVERTEMPERATURE_PREWARING |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">TMC26XStepper.h</a> |
|||
</li> |
|||
<li>TMC26X_OVERTEMPERATURE_SHUTDOWN |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">TMC26XStepper.h</a> |
|||
</li> |
|||
<li>TMC26X_READOUT_CURRENT |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26XStepper.h</a> |
|||
</li> |
|||
<li>TMC26X_READOUT_POSITION |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26XStepper.h</a> |
|||
</li> |
|||
<li>TMC26X_READOUT_STALLGUARD |
|||
: <a class="el" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26XStepper.h</a> |
|||
</li> |
|||
</ul> |
|||
|
|||
|
|||
<h3><a class="anchor" id="index_v"></a>- v -</h3><ul> |
|||
<li>VSENSE |
|||
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">TMC26XStepper.cpp</a> |
|||
</li> |
|||
</ul> |
|||
</div><!-- contents --> |
|||
|
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|
|||
<hr class="footer"/><address class="footer"><small> |
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Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html"> |
|||
<img class="footer" src="doxygen.png" alt="doxygen"/> |
|||
</a> 1.7.6.1 |
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</small></address> |
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<title>Trinamic TMC26X Stepper Driver for Arduino: TMC 260, 261, 262 Stepper Driver for Arduino</title> |
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<div class="title">TMC 260, 261, 262 Stepper Driver for Arduino </div> </div> |
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</div><!--header--> |
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<div class="contents"> |
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<div class="textblock"><dl class="author"><dt><b>Author:</b></dt><dd>Interactive MAtter, MArcus Nowotny, <a href="mailto:marcus@interactive-matter.eu">marcus@interactive-matter.eu</a> </dd></dl> |
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<h2><a class="anchor" id="HOWTO"></a> |
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How to use the driver</h2> |
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<p>Here we go with aminial how to description</p> |
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<h2><a class="anchor" id="COPYRIGHT_NOTIFICATION"></a> |
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COPYRIGHT NOTIFICATION</h2> |
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<dl class="user"><dt><b>(c) 2011 Interactive MAtter, Marcus Nowotny </b></dt><dd></dd></dl> |
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<dl class="user"><dt><b></b></dt><dd>Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:</dd></dl> |
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<p>The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.</p> |
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<p>THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. </p> |
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<hr class="footer"/><address class="footer"><small> |
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Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html"> |
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/*
|
|||
TMC26XExample.ino - - TMC26X Stepper library Example for Wiring/Arduino |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
#include <SPI.h> |
|||
#include <TMC26XStepper.h> |
|||
|
|||
//we have a stepper motor with 200 steps per rotation, CS pin 2, dir pin 6, step pin 7 and a current of 300mA
|
|||
TMC26XStepper tmc26XStepper = TMC26XStepper(200,2,6,7,700); |
|||
int curr_step; |
|||
int speed = 0; |
|||
int speedDirection = 100; |
|||
int maxSpeed = 1000; |
|||
|
|||
void setup() { |
|||
Serial.begin(9600); |
|||
Serial.println("=============================="); |
|||
Serial.println("TMC26X Stepper Driver Demo App"); |
|||
Serial.println("=============================="); |
|||
//set this according to you stepper
|
|||
Serial.println("Configuring stepper driver"); |
|||
//char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement
|
|||
tmc26XStepper.setSpreadCycleChopper(2,24,8,6,0); |
|||
tmc26XStepper.setRandomOffTime(0); |
|||
|
|||
tmc26XStepper.setMicrosteps(32); |
|||
tmc26XStepper.setStallGuardThreshold(4,0); |
|||
Serial.println("config finished, starting"); |
|||
tmc26XStepper.start(); |
|||
Serial.println("started"); |
|||
} |
|||
|
|||
void loop() { |
|||
if (!tmc26XStepper.isMoving()) { |
|||
speed+=speedDirection; |
|||
if (speed>maxSpeed) { |
|||
speed = maxSpeed; |
|||
speedDirection = -speedDirection; |
|||
} else if (speed<0) { |
|||
speedDirection = -speedDirection; |
|||
speed=speedDirection; |
|||
} |
|||
//setting the speed
|
|||
Serial.print("setting speed to "); |
|||
Serial.println(speed); |
|||
tmc26XStepper.setSpeed(speed); |
|||
//we want some kind of constant running time - so the length is just a product of speed
|
|||
Serial.print("Going "); |
|||
Serial.print(10*speed); |
|||
Serial.println(" steps"); |
|||
tmc26XStepper.step(10*speed); |
|||
} else { |
|||
//we put out the status every 100 steps
|
|||
if (tmc26XStepper.getStepsLeft()%100==0) { |
|||
Serial.print("Stall Guard: "); |
|||
Serial.println(tmc26XStepper.getCurrentStallGuardReading()); |
|||
} |
|||
} |
|||
tmc26XStepper.move(); |
|||
} |
|||
|
|||
|
|||
@ -0,0 +1,176 @@ |
|||
/*
|
|||
TMC26XMotorTest.ino - - TMC26X Stepper library tester for Wiring/Arduino |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
unsigned int motor_counter = 0; |
|||
unsigned char motor_moved = 0; |
|||
int sgThreshold = 4; |
|||
int sgFilter = 0; |
|||
int direction = 1; |
|||
|
|||
unsigned int lower_SG_threshold = 0; |
|||
unsigned int upper_SG_threshold = 0; |
|||
unsigned char number_of_SG_readings=0; |
|||
unsigned char current_increment_step_size=0; |
|||
unsigned char lower_current_limit=0; |
|||
|
|||
|
|||
char chopperMode = 0; //0 for spread, 1 for constant off
|
|||
char t_off = 2; |
|||
char t_blank = 24; |
|||
char h_start = 8; |
|||
char h_end = 6; |
|||
char h_decrement = 0; |
|||
|
|||
|
|||
void startMotor() { |
|||
Serial.println(F("Configuring stepper driver")); |
|||
//char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement
|
|||
tmc26XStepper.setSpreadCycleChopper(t_off,t_blank,h_start,h_end,h_decrement); |
|||
tmc26XStepper.setRandomOffTime(0); |
|||
|
|||
tmc26XStepper.setMicrosteps(32); |
|||
tmc26XStepper.setStallGuardThreshold(sgThreshold,sgFilter); |
|||
// Serial.println("config finished, starting");
|
|||
digitalWrite(ENABLE_PIN,LOW); |
|||
tmc26XStepper.start(); |
|||
tmc26XStepper.setSpeed(10); |
|||
TCNT2=setupTimer2(10000); |
|||
sei(); |
|||
} |
|||
|
|||
void runMotor() { |
|||
if (running && !tmc26XStepper.isMoving()) { |
|||
tmc26XStepper.step(direction*10000); |
|||
Serial.println("run"); |
|||
} |
|||
if (!running & tmc26XStepper.isMoving()) { |
|||
tmc26XStepper.stop(); |
|||
Serial.println("stop"); |
|||
} |
|||
} |
|||
|
|||
void setSpeed(unsigned int targetSpeed) { |
|||
if (targetSpeed>0 && targetSpeed<MAX_SPEED) { |
|||
Serial.print(F("Setting speed: ")); |
|||
Serial.println(targetSpeed); |
|||
tmc26XStepper.setSpeed(targetSpeed); |
|||
} |
|||
else { |
|||
Serial.print(F("improper speed ")); |
|||
Serial.println(targetSpeed); |
|||
} |
|||
} |
|||
|
|||
void setMicrostepping(int microstepping) { |
|||
if (microstepping<1 || microstepping>256) { |
|||
Serial.print(F("Improperd microstepping setting [1...256]: ")); |
|||
Serial.print(microstepping); |
|||
} |
|||
else { |
|||
tmc26XStepper.setMicrosteps(microstepping); |
|||
} |
|||
} |
|||
|
|||
void setStallGuardThreshold(int threshold) { |
|||
if (threshold<-64 || threshold > 63) { |
|||
Serial.print(F("Improper Stall Guard Threshold [-64...63]: ")); |
|||
Serial.println(threshold); |
|||
} |
|||
else { |
|||
sgThreshold = threshold; |
|||
tmc26XStepper.setStallGuardThreshold(threshold,sgFilter); |
|||
} |
|||
} |
|||
|
|||
void setStallGuardFilter(int filter) { |
|||
if (filter) { |
|||
sgFilter=1; |
|||
} |
|||
else { |
|||
sgFilter=0; |
|||
} |
|||
tmc26XStepper.setStallGuardThreshold(sgThreshold,sgFilter); |
|||
} |
|||
|
|||
void setCurrent(int current) { |
|||
if (current>0 && current <1700) { |
|||
tmc26XStepper.setCurrent(current); |
|||
} |
|||
else { |
|||
Serial.print(F("Improper current {0 ... 1200}: ")); |
|||
Serial.print(current); |
|||
} |
|||
} |
|||
|
|||
void updateChopper() { |
|||
//we can do only spread now
|
|||
if (chopperMode==0) { |
|||
tmc26XStepper.setSpreadCycleChopper(t_off,t_blank,h_start,h_end,h_decrement); |
|||
} |
|||
} |
|||
|
|||
void updateCoolStep() { |
|||
tmc26XStepper.setCoolStepConfiguration( |
|||
lower_SG_threshold, upper_SG_threshold, number_of_SG_readings, |
|||
current_increment_step_size, lower_current_limit); |
|||
} |
|||
|
|||
//from http://www.uchobby.com/index.php/2007/11/24/arduino-interrupts/
|
|||
//Setup Timer2.s
|
|||
//Configures the ATMega168 8-Bit Timer2 to generate an interrupt
|
|||
//at the specified frequency.
|
|||
//Returns the timer load value which must be loaded into TCNT2
|
|||
//inside your ISR routine.
|
|||
//See the example usage below.
|
|||
unsigned char setupTimer2(float timeoutFrequency){ |
|||
unsigned char result; //The timer load value.
|
|||
|
|||
//Calculate the timer load value
|
|||
result=(int)((257.0-(TIMER_CLOCK_FREQ/timeoutFrequency))+0.5); |
|||
//The 257 really should be 256 but I get better results with 257.
|
|||
|
|||
//Timer2 Settings: Timer Prescaler /8, mode 0
|
|||
//Timer clock = 16MHz/8 = 2Mhz or 0.5us
|
|||
//The /8 prescale gives us a good range to work with
|
|||
//so we just hard code this for now.
|
|||
TCCR2A = 0; |
|||
TCCR2B = 0<<CS22 | 1<<CS21 | 0<<CS20; |
|||
|
|||
//Timer2 Overflow Interrupt Enable
|
|||
TIMSK2 = 1<<TOIE2; |
|||
|
|||
//load the timer for its first cycle
|
|||
TCNT2=result; |
|||
|
|||
return(result); |
|||
} |
|||
|
|||
ISR(TIMER2_OVF_vect) { |
|||
motor_moved = tmc26XStepper.move(); |
|||
motor_counter++; |
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
@ -0,0 +1,369 @@ |
|||
/*
|
|||
TMC26XMotorTest.ino - - TMC26X Stepper library tester for Wiring/Arduino |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
#define INPUT_BUFFER_LENGTH 32 |
|||
|
|||
#define SERIAL_SPEED 115200 |
|||
#define STATUS_COUNTER 100 |
|||
|
|||
char inputBuffer[INPUT_BUFFER_LENGTH+1]; //ad on character to keep the trainling 0
|
|||
unsigned char inputBufferPosition; |
|||
|
|||
void startSerial() { |
|||
Serial.begin(SERIAL_SPEED); |
|||
Serial.println(F("=================================")); |
|||
Serial.println(F("TMC26X Stepper Driver Motor Tester")); |
|||
Serial.println(F("=================================")); |
|||
//empty the input buffer
|
|||
for (unsigned char i=0; i< INPUT_BUFFER_LENGTH+1; i++) { |
|||
inputBuffer[i]=0; |
|||
} |
|||
inputBufferPosition=0; |
|||
} |
|||
|
|||
void loopSerial() { |
|||
if (Serial.available()>0 && inputBufferPosition<INPUT_BUFFER_LENGTH) { |
|||
char c = Serial.read(); |
|||
//Read the char
|
|||
inputBuffer[inputBufferPosition]=c; |
|||
inputBufferPosition++; |
|||
//always terminate the string
|
|||
inputBuffer[inputBufferPosition]=0; |
|||
//and if the line ended we execute the command
|
|||
if (c=='\n') { |
|||
executeSerialCommand(); |
|||
} |
|||
} |
|||
if (motor_moved) { |
|||
Serial.print("#sg"); |
|||
Serial.print(tmc26XStepper.getCurrentStallGuardReading(),DEC); |
|||
Serial.print(",p"); |
|||
Serial.print(tmc26XStepper.getMotorPosition(),DEC); |
|||
Serial.print(",k"); |
|||
Serial.print(tmc26XStepper.getCurrentCurrent(),DEC); |
|||
Serial.println(','); |
|||
motor_moved=0; |
|||
} |
|||
if (motor_counter>STATUS_COUNTER) { |
|||
motor_counter=0; |
|||
char moving = tmc26XStepper.isMoving(); |
|||
Serial.print('#'); |
|||
if (moving) { |
|||
Serial.print('r'); |
|||
} |
|||
else { |
|||
Serial.print('s'); |
|||
} |
|||
Serial.print(','); |
|||
Serial.print('d'); |
|||
Serial.print(direction); |
|||
Serial.print(','); |
|||
Serial.print("c"); |
|||
Serial.print(tmc26XStepper.getCurrent(),DEC); |
|||
Serial.print(','); |
|||
Serial.print('S'); |
|||
Serial.print(tmc26XStepper.getSpeed(),DEC); |
|||
Serial.print(','); |
|||
Serial.print('m'); |
|||
Serial.print(tmc26XStepper.getMicrosteps(),DEC); |
|||
Serial.print(','); |
|||
Serial.print("t"); |
|||
Serial.print(tmc26XStepper.getStallGuardThreshold(),DEC); |
|||
Serial.print(','); |
|||
Serial.print('f'); |
|||
Serial.print(tmc26XStepper.getStallGuardFilter(),DEC); |
|||
Serial.print(','); |
|||
//print out the general cool step config
|
|||
if (tmc26XStepper.isCoolStepEnabled()) { |
|||
Serial.print("Ke+,"); |
|||
} |
|||
else { |
|||
Serial.print("Ke-,"); |
|||
} |
|||
Serial.print("Kl"); |
|||
Serial.print(tmc26XStepper.getCoolStepLowerSgThreshold(),DEC); |
|||
Serial.print(",Ku"); |
|||
Serial.print(tmc26XStepper.getCoolStepUpperSgThreshold(),DEC); |
|||
Serial.print(",Kn"); |
|||
Serial.print(tmc26XStepper.getCoolStepNumberOfSGReadings(),DEC); |
|||
Serial.print(",Ki"); |
|||
Serial.print(tmc26XStepper.getCoolStepCurrentIncrementSize(),DEC); |
|||
Serial.print(",Km"); |
|||
Serial.print(tmc26XStepper.getCoolStepLowerCurrentLimit(),DEC); |
|||
Serial.print(','); |
|||
//detect the winding status
|
|||
if (tmc26XStepper.isOpenLoadA()) { |
|||
Serial.print("ao,"); |
|||
} |
|||
else if(tmc26XStepper.isShortToGroundA()) { |
|||
Serial.print("ag,"); |
|||
} |
|||
else { |
|||
Serial.print("a-,"); |
|||
} |
|||
//detect the winding status
|
|||
if (tmc26XStepper.isOpenLoadB()) { |
|||
Serial.print("bo,"); |
|||
} |
|||
else if(tmc26XStepper.isShortToGroundB()) { |
|||
Serial.print("bg,"); |
|||
} |
|||
else { |
|||
Serial.print("b-,"); |
|||
} |
|||
char temperature = tmc26XStepper.getOverTemperature(); |
|||
if (temperature==0) { |
|||
Serial.print("x-,"); |
|||
} |
|||
else if (temperature==TMC26X_OVERTEMPERATURE_PREWARING) { |
|||
Serial.print("xw,"); |
|||
} |
|||
else { |
|||
Serial.print("xe,"); |
|||
} |
|||
if (tmc26XStepper.isEnabled()) { |
|||
Serial.print("e1,"); |
|||
} |
|||
else { |
|||
Serial.print("e0,"); |
|||
} |
|||
//write out the current chopper config
|
|||
Serial.print("Cm"); |
|||
Serial.print(chopperMode,DEC); |
|||
Serial.print(",Co"); |
|||
Serial.print(t_off,DEC); |
|||
Serial.print(",Cb"); |
|||
Serial.print(t_blank,DEC); |
|||
if (chopperMode==0) { |
|||
Serial.print(",Cs"); |
|||
Serial.print(h_start,DEC); |
|||
Serial.print(",Ce"); |
|||
Serial.print(h_end,DEC); |
|||
Serial.print(",Cd"); |
|||
Serial.print(h_decrement,DEC); |
|||
} |
|||
Serial.print(','); |
|||
Serial.println(); |
|||
} |
|||
} |
|||
|
|||
void executeSerialCommand() { |
|||
Serial.print("Executing "); |
|||
Serial.println(inputBuffer); |
|||
//stimple runn & stop commands
|
|||
switch(inputBuffer[0]) { |
|||
case 's': |
|||
running = 0; |
|||
break; |
|||
case 'r': |
|||
running = -1; |
|||
break; |
|||
case 'S': |
|||
{ |
|||
int targetSpeed = decode(1); |
|||
setSpeed(targetSpeed); |
|||
} |
|||
break; |
|||
case 'm': |
|||
{ |
|||
int microstepping = decode(1); |
|||
setMicrostepping(microstepping); |
|||
} |
|||
break; |
|||
case 't': |
|||
{ |
|||
int threshold = decode(1); |
|||
setStallGuardThreshold(threshold); |
|||
} |
|||
break; |
|||
case 'f': |
|||
{ |
|||
int filter = decode(1); |
|||
setStallGuardFilter(filter); |
|||
} |
|||
break; |
|||
case 'd': |
|||
{ |
|||
int value = decode(1); |
|||
tmc26XStepper.stop(); |
|||
if (value<0) { |
|||
direction=-1; |
|||
} |
|||
else { |
|||
direction=1; |
|||
} |
|||
} |
|||
break; |
|||
case 'c': |
|||
{ |
|||
int current = decode(1); |
|||
setCurrent(current); |
|||
} |
|||
break; |
|||
case 'e': |
|||
{ |
|||
int enabled = decode(1); |
|||
if (enabled) { |
|||
tmc26XStepper.setEnabled(true); |
|||
} |
|||
else { |
|||
tmc26XStepper.setEnabled(false); |
|||
} |
|||
} |
|||
break; |
|||
case 'C': |
|||
switch(inputBuffer[1]) { |
|||
case 'o': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>0 && value<16) { |
|||
t_off=value; |
|||
updateChopper(); |
|||
} |
|||
} |
|||
break; |
|||
case 'b': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=0 && value<=3) { |
|||
t_blank=value; |
|||
updateChopper(); |
|||
} |
|||
} |
|||
break; |
|||
case 's': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=0 && value<=8) { |
|||
h_start=value; |
|||
updateChopper(); |
|||
} |
|||
} |
|||
break; |
|||
case 'e': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=-3 && value<=12) { |
|||
h_end=value; |
|||
updateChopper(); |
|||
} |
|||
} |
|||
break; |
|||
case 'd': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=0 && value<=3) { |
|||
h_decrement=value; |
|||
updateChopper(); |
|||
} |
|||
} |
|||
break; |
|||
} |
|||
break; |
|||
case 'K': |
|||
switch(inputBuffer[1]) { |
|||
case '+': |
|||
tmc26XStepper.setCoolStepEnabled(true); |
|||
break; |
|||
case '-': |
|||
tmc26XStepper.setCoolStepEnabled(false); |
|||
break; |
|||
case 'l': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=0 && value<480) { |
|||
lower_SG_threshold=value; |
|||
updateCoolStep(); |
|||
} |
|||
} |
|||
break; |
|||
case 'u': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=0 && value<480) { |
|||
upper_SG_threshold=value; |
|||
updateCoolStep(); |
|||
} |
|||
} |
|||
break; |
|||
case 'n': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=0 && value<4) { |
|||
number_of_SG_readings=value; |
|||
updateCoolStep(); |
|||
} |
|||
} |
|||
break; |
|||
case 'i': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=0 && value<4) { |
|||
current_increment_step_size=value; |
|||
updateCoolStep(); |
|||
} |
|||
} |
|||
break; |
|||
case 'm': |
|||
{ |
|||
int value = decode(2); |
|||
if (value>=0 && value<2) { |
|||
lower_current_limit=value; |
|||
updateCoolStep(); |
|||
} |
|||
} |
|||
break; |
|||
} |
|||
break; |
|||
} |
|||
//at the end delete buffer
|
|||
inputBufferPosition=0; |
|||
inputBuffer[0]=0; |
|||
} |
|||
|
|||
int decode(unsigned char startPosition) { |
|||
int result=0; |
|||
boolean negative = false; |
|||
if (inputBuffer[startPosition]=='-') { |
|||
negative=true; |
|||
startPosition++; |
|||
} |
|||
for (unsigned char i=startPosition; i< (INPUT_BUFFER_LENGTH+1) && inputBuffer[i]!=0; i++) { |
|||
char number = inputBuffer[i]; |
|||
//this very dumb approac can lead to errors, but we expect only numbers after the command anyway
|
|||
if (number <= '9' && number >='0') { |
|||
result *= 10; |
|||
result += number - '0'; |
|||
} |
|||
} |
|||
if (negative) { |
|||
return -result; |
|||
} |
|||
else { |
|||
return result; |
|||
} |
|||
} |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,61 @@ |
|||
/*
|
|||
TMC26XMotorTest.ino - - TMC26X Stepper library Example for Wiring/Arduino |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
#include <SPI.h> |
|||
#include <TMC26XStepper.h> |
|||
|
|||
//you may adapt this to your shield or breakout board connection
|
|||
#define CS_PIN 2 |
|||
#define DIR_PIN 6 |
|||
#define STEP_PIN 7 |
|||
#define ENABLE_PIN 8 //if it is not connected it won't be a problem
|
|||
|
|||
|
|||
#define TIMER_CLOCK_FREQ 2000000.0 //2MHz for /8 prescale from 16MHz
|
|||
#define INITIAL_CURRENT 500 //in mA
|
|||
#define MAX_SPEED 1000 |
|||
|
|||
|
|||
//we have a stepper motor with 200 steps per rotation, CS pin 2, dir pin 3, step pin 4 and a current of 300mA
|
|||
TMC26XStepper tmc26XStepper = TMC26XStepper(200,CS_PIN,DIR_PIN,STEP_PIN,INITIAL_CURRENT); |
|||
char running; |
|||
|
|||
void setup() { |
|||
//configure the enable pin
|
|||
pinMode(ENABLE_PIN, OUTPUT); |
|||
digitalWrite(ENABLE_PIN,HIGH); |
|||
|
|||
startSerial(); |
|||
startMotor(); |
|||
//set this according to you stepper
|
|||
Serial.println(F("started")); |
|||
} |
|||
|
|||
void loop() { |
|||
loopSerial(); |
|||
runMotor(); |
|||
} |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,306 @@ |
|||
/* |
|||
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
|
|||
String channelAStatus=null; |
|||
String channelBStatus=null; |
|||
String temperatureStatus=null; |
|||
boolean motor_connected = false; |
|||
|
|||
RadioButton serialButtons; |
|||
Button serialOkButton; |
|||
Button helpButton; |
|||
Textarea statusArea; |
|||
String[] ports; |
|||
int activePortIndex = -1; |
|||
|
|||
String identString="TMC26X Stepper Driver Motor Tester"; |
|||
int connectTimeout=10*1000; //how long do we wait until the Arduino is connected |
|||
|
|||
StringBuilder serialStringBuilder = new StringBuilder(); |
|||
|
|||
void setupSerialConfig() { |
|||
Tab defaultTab = controlP5.getTab("default"); |
|||
//add the list of serial interfaces - it get's populated later |
|||
serialButtons = controlP5.addRadioButton("serialport", 200, 100+TMCLogo.height*2+50); |
|||
serialConfigElements.add(serialButtons); |
|||
serialButtons.captionLabel().set("Select Serial Port"); |
|||
serialButtons.showBar(); |
|||
serialButtons.moveTo(defaultTab); |
|||
//ad the ok button |
|||
serialOkButton = controlP5.addButton("serialOk", 1, 200, height-300, 30, 30); |
|||
serialConfigElements.add(serialOkButton); |
|||
serialOkButton.setCaptionLabel("OK"); |
|||
runToggle.moveTo(defaultTab); |
|||
//add the status area |
|||
statusArea = controlP5.addTextarea("statusArea","",200,height-250,300,50); |
|||
serialConfigElements.add(statusArea); |
|||
statusArea.moveTo(defaultTab); |
|||
|
|||
helpButton = controlP5.addButton("help", 1, 200, height-250, 80, 30); |
|||
serialConfigElements.add(helpButton); |
|||
helpButton.moveTo(defaultTab); |
|||
|
|||
|
|||
//finally update the list of serial ports |
|||
updateSerialPortList(); |
|||
} |
|||
|
|||
void updateSerialPortList() { |
|||
//first remove all present serial ports |
|||
List items = serialButtons.getItems(); |
|||
for (Object i:items) { |
|||
Toggle item = (Toggle) i; |
|||
serialButtons.removeItem(item.getName()); |
|||
} |
|||
//add the serial ports |
|||
ports = Serial.list(); |
|||
for (int i=0; i< ports.length; i++) { |
|||
serialButtons.addItem(ports[i],i); |
|||
} |
|||
serialButtons.setValue(-1); |
|||
serialOkButton.setVisible(false); |
|||
} |
|||
|
|||
void serialport(int value) { |
|||
//ok button is only active if a serial port is selected |
|||
serialOkButton.setVisible(value>-1); |
|||
if (value>-1) { |
|||
statusArea.setText(""); |
|||
} |
|||
activePortIndex = value; |
|||
} |
|||
|
|||
void serialOk(int value) { |
|||
String error = null; |
|||
if (value!=0 && activePortIndex>-1) { |
|||
try { |
|||
arduinoPort = new Serial(this, ports[activePortIndex], 115200); |
|||
int timeStarted = millis(); |
|||
StringBuilder identBuffer = new StringBuilder(); |
|||
while (!motor_connected && (millis()-timeStarted)<connectTimeout) { |
|||
if (arduinoPort.available ()>0) { |
|||
char c = arduinoPort.readChar(); |
|||
identBuffer.append(c); |
|||
if (c=='\n') { |
|||
if (identString.contains(identString)) { |
|||
motor_connected = true; |
|||
toggleUi(true); |
|||
return; |
|||
} |
|||
identBuffer = new StringBuilder(); |
|||
} |
|||
} |
|||
} |
|||
} catch (RuntimeException e) { |
|||
//we simply do nothing |
|||
//TODO set status label |
|||
error = "There was a problem with serial port "+ports[activePortIndex]+": "+e.getMessage(); |
|||
} |
|||
//ok appearantly we did not find an motor tester - so lets deselect that port |
|||
if (error == null) { |
|||
error = "Could not find TMC26XMotorTester on serial port "+ports[activePortIndex]; |
|||
} |
|||
statusArea.setText(error); |
|||
Toggle selected = serialButtons.getItem(activePortIndex); |
|||
selected.setState(false); |
|||
serialOkButton.setVisible(false); |
|||
} |
|||
} |
|||
|
|||
|
|||
void decodeSerial() { |
|||
if (motor_connected) { |
|||
while (arduinoPort.available ()>0) { |
|||
char c = arduinoPort.readChar(); |
|||
serialStringBuilder.append(c); |
|||
if (c=='\n') { |
|||
decodeSerial(serialStringBuilder.toString()); |
|||
serialStringBuilder = new StringBuilder(); |
|||
} |
|||
} |
|||
} |
|||
} |
|||
|
|||
void sendCommand(String command) { |
|||
if (motor_connected) { |
|||
arduinoPort.write(command+"\n"); |
|||
} |
|||
} |
|||
|
|||
void decodeSerial(String line) { |
|||
settingStatus=true; |
|||
if (line.startsWith("#")) { |
|||
String status = line.substring(1); |
|||
StringTokenizer statusTokenizer = new StringTokenizer(status, ","); |
|||
while (statusTokenizer.hasMoreTokens ()) { |
|||
String statusToken = statusTokenizer.nextToken(); |
|||
if ("s".equals(statusToken)) { |
|||
runToggle.setValue(0); |
|||
} |
|||
else if ("r".equals(statusToken)) { |
|||
runToggle.setValue(1); |
|||
} |
|||
else if (statusToken.startsWith("e")) { |
|||
int enabled = getValueOfToken(statusToken, 1); |
|||
if (enabled!=0) { |
|||
enabledToggle.setValue(1); |
|||
} |
|||
else { |
|||
enabledToggle.setValue(0); |
|||
} |
|||
} |
|||
else if (statusToken.startsWith("S")) { |
|||
speedSlider.setValue(getValueOfToken(statusToken, 1)); |
|||
} |
|||
else if (statusToken.startsWith("m")) { |
|||
microsteppingButtons.activate("m_1/"+String.valueOf(getValueOfToken(statusToken, 1))); |
|||
} |
|||
else if (statusToken.startsWith("sg")) { |
|||
addStallGuardReading(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("p")) { |
|||
addPositionReading(getValueOfToken(statusToken, 1)); |
|||
} |
|||
else if (statusToken.startsWith("k")) { |
|||
addCurrentReading(getValueOfToken(statusToken, 1)); |
|||
} |
|||
else if (statusToken.startsWith("t")) { |
|||
sgtSlider.setValue(getValueOfToken(statusToken, 1)); |
|||
} |
|||
else if (statusToken.startsWith("f")) { |
|||
sgFilterToggle.setValue(getValueOfToken(statusToken, 1)); |
|||
} |
|||
else if (statusToken.startsWith("d")) { |
|||
setDirection(getValueOfToken(statusToken, 1)); |
|||
} |
|||
else if (statusToken.startsWith("c")) { |
|||
setCurrent(getValueOfToken(statusToken, 1)); |
|||
} |
|||
else if (statusToken.startsWith("a")) { |
|||
if (statusToken.charAt(1)=='o') { |
|||
channelAStatus="Open Load"; |
|||
} |
|||
else if (statusToken.charAt(1)=='g') { |
|||
channelAStatus="Short to Ground!"; |
|||
} |
|||
else { |
|||
channelAStatus=null; |
|||
} |
|||
} |
|||
else if (statusToken.startsWith("b")) { |
|||
if (statusToken.charAt(1)=='o') { |
|||
channelBStatus="Open Load"; |
|||
} |
|||
else if (statusToken.charAt(1)=='g') { |
|||
channelBStatus="Short to Ground!"; |
|||
} |
|||
else { |
|||
channelBStatus=null; |
|||
} |
|||
} |
|||
else if (statusToken.startsWith("x")) { |
|||
if (statusToken.charAt(1)=='w') { |
|||
temperatureStatus="Prewarning!"; |
|||
} |
|||
else if (statusToken.charAt(1)=='e') { |
|||
temperatureStatus="Error"; |
|||
} |
|||
else { |
|||
temperatureStatus=null; |
|||
} |
|||
} |
|||
else if (statusToken.startsWith("Cm")) { |
|||
//chopper mode is currently ignored |
|||
} |
|||
else if (statusToken.startsWith("Co")) { |
|||
constantOffSlider.setValue(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("Cb")) { |
|||
blankTimeSlider.setValue(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("Cs")) { |
|||
hysteresisStartSlider.setValue(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("Ce")) { |
|||
hysteresisEndSlider.setValue(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("Cd")) { |
|||
setHystDecrement(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if ("Ke+".equals(statusToken)) { |
|||
coolStepActiveToggle.setValue(1); |
|||
} |
|||
else if ("Ke-".equals(statusToken)) { |
|||
coolStepActiveToggle.setValue(0); |
|||
} |
|||
else if (statusToken.startsWith("Kl")) { |
|||
coolStepMinSlider.setValue(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("Ku")) { |
|||
coolStepMaxSlider.setValue(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("Kn")) { |
|||
coolStepDecrementButtons.activate(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("Ki")) { |
|||
coolStepIncrementButtons.activate(getValueOfToken(statusToken, 2)); |
|||
} |
|||
else if (statusToken.startsWith("Km")) { |
|||
coolStepMinButtons.activate(getValueOfToken(statusToken, 2)); |
|||
} |
|||
} |
|||
} |
|||
else { |
|||
println(line); |
|||
} |
|||
settingStatus=false; |
|||
} |
|||
|
|||
int getValueOfToken(String token, int position) { |
|||
String value = token.substring(position); |
|||
try { |
|||
return Integer.valueOf(value); |
|||
} |
|||
catch (NumberFormatException e) { |
|||
println("Unable to decode '"+value+"'of '"+token+"' !"); |
|||
return 0; |
|||
} |
|||
} |
|||
|
|||
void drawSerial() { |
|||
//draw the logo and some epxlaining text while setting up the serial port |
|||
if (!motor_connected) { |
|||
image(TMCLogo,200, 100); |
|||
fill(uiTextColor); |
|||
text("Select the serial port where your Arduino is connected\nIf in doubt check it in the Arduino IDE.\nThe Motor Tester will automatically verify if it can find an Motor tester ath the port.",200,100+TMCLogo.height+50); |
|||
} |
|||
} |
|||
|
|||
void help(float value) { |
|||
if (value!=0) { |
|||
link(helpUrl); |
|||
} |
|||
} |
|||
|
|||
@ -0,0 +1,175 @@ |
|||
/* |
|||
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
|
|||
Slider constantOffSlider; |
|||
Slider blankTimeSlider; |
|||
Toggle randomOffTimeToggle; |
|||
RadioButton ChopperModeButtons; |
|||
//for constant off time chopeer |
|||
Slider fastDecaySlider; |
|||
Slider sineWaveOffsetSlider; |
|||
Toggle currentComparatorToggle; |
|||
//for spread chopper |
|||
Slider hysteresisStartSlider; |
|||
Slider hysteresisEndSlider; |
|||
Numberbox motorVoltageBox; |
|||
Numberbox motorCurrentBox; |
|||
Numberbox motorResistanceBox; |
|||
Numberbox motorInductanceBox; |
|||
|
|||
RadioButton hysteresisDecrementButtons; |
|||
|
|||
PImage spreadChopperImage; |
|||
|
|||
void setupChooperConfig() { |
|||
//add input fields for the various motor parameters |
|||
motorVoltageBox = controlP5.addNumberbox("motorvoltage",12.0,20,40,100,20); |
|||
motorVoltageBox.setCaptionLabel("Motor Voltage (V)"); |
|||
motorVoltageBox.setMultiplier(0.025); |
|||
motorVoltageBox.setMin(0); |
|||
motorVoltageBox.setMax(40.0); |
|||
motorVoltageBox.moveTo(configureTab); |
|||
|
|||
motorCurrentBox = controlP5.addNumberbox("motorcurrent",0.5,140,40,100,20); |
|||
motorCurrentBox.setCaptionLabel("Motor Current (A)"); |
|||
motorCurrentBox.setMultiplier(0.025); |
|||
motorCurrentBox.setMin(0.46); |
|||
motorCurrentBox.setMax(1.7); |
|||
motorCurrentBox.moveTo(configureTab); |
|||
|
|||
motorResistanceBox = controlP5.addNumberbox("motorresistance",2,260,40,100,20); |
|||
motorResistanceBox.setCaptionLabel("Motor Resistance (Ohm)"); |
|||
motorResistanceBox.setMultiplier(0.1); |
|||
motorResistanceBox.setMin(0); |
|||
motorResistanceBox.setMax(250); |
|||
motorResistanceBox.moveTo(configureTab); |
|||
|
|||
motorInductanceBox = controlP5.addNumberbox("motorinductance",2,380,40,100,20); |
|||
motorInductanceBox.setMultiplier(0.1); |
|||
motorInductanceBox.setMin(0); |
|||
motorInductanceBox.setMax(250); |
|||
motorInductanceBox.setCaptionLabel("Motor Inductance (mH)"); |
|||
motorInductanceBox.moveTo(configureTab); |
|||
// add a vertical slider for speed |
|||
constantOffSlider = controlP5.addSlider("constantoff", 1, 15, 1, 20, 80, 400, 20); |
|||
constantOffSlider.setCaptionLabel("Constant Off Time"); |
|||
constantOffSlider.setSliderMode(Slider.FIX); |
|||
constantOffSlider.moveTo(configureTab); |
|||
|
|||
blankTimeSlider = controlP5.addSlider("blanktime", 0, 3, 2, 20, 120, 400, 20); |
|||
blankTimeSlider.setCaptionLabel("Blank Time"); |
|||
blankTimeSlider.moveTo(configureTab); |
|||
|
|||
hysteresisStartSlider = controlP5.addSlider("hysteresisstart", 0, 8, 2, 20, 160, 400, 20); |
|||
hysteresisStartSlider.setCaptionLabel("Hysteresis Start"); |
|||
hysteresisStartSlider.moveTo(configureTab); |
|||
|
|||
hysteresisEndSlider = controlP5.addSlider("hysteresisend", -3, 12, 2, 20, 200, 400, 20); |
|||
hysteresisEndSlider.setCaptionLabel("Hysteresis End"); |
|||
hysteresisEndSlider.moveTo(configureTab); |
|||
|
|||
hysteresisDecrementButtons =controlP5.addRadioButton("decrement", 20, 240); |
|||
hysteresisDecrementButtons.addItem("fastest", 0); |
|||
hysteresisDecrementButtons.addItem("fast", 1); |
|||
hysteresisDecrementButtons.addItem("medium", 2); |
|||
hysteresisDecrementButtons.addItem("slow", 3); |
|||
hysteresisDecrementButtons.showBar(); |
|||
hysteresisDecrementButtons.moveTo(configureTab); |
|||
|
|||
spreadChopperImage = loadImage("hysteresis.png"); |
|||
} |
|||
|
|||
void drawChopper() { |
|||
if (activeTab!=null && configureTab.equals(activeTab)) { |
|||
image(spreadChopperImage, 200, 400); |
|||
} |
|||
} |
|||
|
|||
void constantoff(int theValue) { |
|||
if (!settingStatus) { |
|||
if (theValue>0 && theValue<16) { |
|||
println("Constant off "+theValue); |
|||
sendCommand("cO"+theValue); |
|||
} |
|||
else { |
|||
println("invalid blank time of "+theValue); |
|||
} |
|||
} |
|||
} |
|||
|
|||
void blanktime(int theValue) { |
|||
if (!settingStatus) { |
|||
if (theValue>=0 && theValue<=3) { |
|||
println("blank time "+theValue); |
|||
sendCommand("Cb"+theValue); |
|||
} |
|||
} |
|||
} |
|||
|
|||
void hysteresisstart(int start) { |
|||
if (!settingStatus) { |
|||
if (start>=1 && start<=8) { |
|||
println("hystereis start "+start); |
|||
sendCommand("Cs"+start); |
|||
} |
|||
} |
|||
} |
|||
|
|||
void hysteresisend(int end) { |
|||
if (!settingStatus) { |
|||
if (end>=-3 && end<=12) { |
|||
println("hystereis end "+end); |
|||
sendCommand("Ce"+end); |
|||
} |
|||
} |
|||
} |
|||
|
|||
void setHysteresisDecrement(int theValue) { |
|||
if (!settingStatus) { |
|||
if (theValue>=0 && theValue<=3) { |
|||
println("Hysteresis decrement "+theValue); |
|||
sendCommand("Cd"+theValue); |
|||
} |
|||
else { |
|||
println("cannot set decrement to "+theValue); |
|||
} |
|||
} |
|||
} |
|||
|
|||
void setHystDecrement(int value) { |
|||
if (value>=0 && value<=3) { |
|||
hysteresisDecrementButtons.activate(value); |
|||
} |
|||
else { |
|||
println("this is no proper hysteresis decerement value: "+value); |
|||
} |
|||
} |
|||
|
|||
void motorcurrent(float value) { |
|||
if (activeTab!=null && "default".equals(activeTab.name())) { |
|||
currentSlider.setValue(value); |
|||
} |
|||
} |
|||
|
|||
@ -0,0 +1,327 @@ |
|||
/* |
|||
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
|
|||
//our graph dimensions |
|||
int plotBottom, plotTop; |
|||
int plotLeft, plotRight; |
|||
|
|||
|
|||
//we already know the minima and maxima of certain dates |
|||
int stallGuardMin = 0; |
|||
int stallGuardMax =1024; |
|||
|
|||
int positionMin = 0; |
|||
int positionMax = 1024; |
|||
|
|||
int dataPointsWidth = 3; |
|||
int dataLineWidth = 2; |
|||
int highLightWidth = 7; |
|||
|
|||
int numberOfDataPoints=1000; |
|||
|
|||
int legendTitleSize = 10; |
|||
int legendTextSize = 10; |
|||
int currentLabelInterval = 500; |
|||
int currentMinorTickInterval = 25; |
|||
DecimalFormat currentLabelFormat = new DecimalFormat("#0.0A"); |
|||
|
|||
int stallGuardLabelInterval = 100; |
|||
int stallGuardMinorTickInterval = 10; |
|||
int positionLabelInterval = 64; |
|||
int positionMinorTickInterval = 8; |
|||
|
|||
int coolStepActiveStroke = 2; |
|||
int coolStepInactiveStroke = 1; |
|||
int stallGuardHighLightDistance = 1; |
|||
int positionHighLightDistance = 3; |
|||
int currentHighLightDistance = 3; |
|||
|
|||
DataTable stallGuardTable = new DataTable(numberOfDataPoints); |
|||
DataTable positionTable = new DataTable(numberOfDataPoints); |
|||
DataTable currentTable = new DataTable(numberOfDataPoints); |
|||
|
|||
int logoLeft = 10; |
|||
int logoTop = 50; |
|||
int logoWidth = 75; |
|||
int logoHeight = 75; |
|||
|
|||
void setupData() { |
|||
plotBottom = height-50; |
|||
plotTop = 300; |
|||
|
|||
plotLeft = 150; |
|||
plotRight= width-50; |
|||
//recalculate the image dimension for the Logo |
|||
logoHeight = (int)((float)logoWidth/(float)TMCLogo.width*(float)TMCLogo.height); |
|||
logoTop = height - 10 - logoHeight; |
|||
} |
|||
|
|||
void drawData() { |
|||
|
|||
if (motor_connected && activeTab!=null && runTab.equals(activeTab)) { |
|||
fill(diagramBackgroundColor); |
|||
noStroke(); |
|||
rect(plotLeft, plotTop, plotRight, plotBottom); |
|||
noFill(); |
|||
rectMode(CORNERS); |
|||
noStroke(); |
|||
//rect(plotLeft, plotBottom, plotRight, plotTop); |
|||
|
|||
strokeWeight(dataLineWidth); |
|||
stroke(positionColor); |
|||
drawDataLine(positionTable, positionMin, positionMax); |
|||
drawDataHighLight(positionTable, positionMin, positionMax, positionHighLightDistance, labelColor, "Microstep Position", false); |
|||
|
|||
strokeWeight(dataLineWidth); |
|||
stroke(coolStepColor); |
|||
drawCurrentLine(currentTable); |
|||
drawCurrentHighLight(positionTable, currentHighLightDistance, labelColor, "Current Ratio", false); |
|||
|
|||
strokeWeight(dataPointsWidth); |
|||
stroke(stallGuardColor); |
|||
drawDataPoints(stallGuardTable, stallGuardMin, stallGuardMax); |
|||
drawDataHighLight(stallGuardTable, stallGuardMin, stallGuardMax, stallGuardHighLightDistance, labelColor, "Stall Guard", true); |
|||
|
|||
if (coolStepActive) { |
|||
strokeWeight(coolStepActiveStroke); |
|||
} else { |
|||
strokeWeight(coolStepInactiveStroke); |
|||
} |
|||
stroke(coolStepColor); |
|||
float coolStepMinHeight = map(coolStepMin, 0, stallGuardMax, plotBottom, plotTop); |
|||
line(plotLeft,coolStepMinHeight, plotRight, coolStepMinHeight); |
|||
float coolStepMaxHeight = map(coolStepMin+coolStepMax+1, 0, stallGuardMax, plotBottom, plotTop); |
|||
line(plotLeft,coolStepMaxHeight, plotRight, coolStepMaxHeight); |
|||
|
|||
textSize(legendTitleSize); |
|||
textAlign(RIGHT); |
|||
fill(coolStepColor); |
|||
text("Motor Current", plotLeft - 50, plotTop - 10); |
|||
textSize(legendTextSize); |
|||
textAlign(RIGHT); |
|||
strokeWeight(1); |
|||
stroke(coolStepColor); |
|||
int currentScaleMax = (int)(maxCurrent*1000.0); |
|||
for (int i=0; i<=currentScaleMax; i++) { |
|||
float y = map(i, 0, currentScaleMax, plotBottom, plotTop); |
|||
if (i % currentLabelInterval == 0) { |
|||
if (i==0) { |
|||
textAlign(RIGHT, BOTTOM); |
|||
} |
|||
else if (i==currentScaleMax) { |
|||
textAlign(RIGHT, TOP); |
|||
} |
|||
else { |
|||
textAlign(RIGHT, CENTER); |
|||
} |
|||
text(currentLabelFormat.format((float)i/1000.0), plotLeft-58, y); |
|||
line (plotLeft-55, y, plotLeft-50, y); |
|||
} |
|||
else if (i % currentMinorTickInterval == 0) { |
|||
line (plotLeft-53, y, plotLeft-50, y); |
|||
} |
|||
|
|||
} |
|||
|
|||
textSize(legendTitleSize); |
|||
textAlign(LEFT); |
|||
fill(stallGuardColor); |
|||
text("Stall Guard Reading", plotLeft - 30, plotTop - 10); |
|||
textSize(legendTextSize); |
|||
textAlign(RIGHT); |
|||
strokeWeight(1); |
|||
stroke(stallGuardColor); |
|||
for (int i=stallGuardMin; i<=stallGuardMax; i++) { |
|||
float y = map(i, stallGuardMin, stallGuardMax, plotBottom, plotTop); |
|||
if (i % stallGuardLabelInterval == 0) { |
|||
if (i==stallGuardMin) { |
|||
textAlign(RIGHT, BOTTOM); |
|||
} |
|||
else if (i==stallGuardMax) { |
|||
textAlign(RIGHT, TOP); |
|||
} |
|||
else { |
|||
textAlign(RIGHT, CENTER); |
|||
} |
|||
text(i, plotLeft-8, y); |
|||
line (plotLeft-5, y, plotLeft, y); |
|||
} |
|||
else if (i % stallGuardMinorTickInterval == 0) { |
|||
line (plotLeft-3, y, plotLeft, y); |
|||
} |
|||
} |
|||
|
|||
textSize(legendTitleSize); |
|||
fill(positionColor); |
|||
textAlign(RIGHT); |
|||
text("Position", plotRight + 30, plotTop - 10); |
|||
textSize(legendTextSize); |
|||
textAlign(LEFT); |
|||
strokeWeight(1); |
|||
stroke(positionColor); |
|||
for (int i=positionMin; i<=positionMax; i++) { |
|||
float y = map(i, positionMin, positionMax, plotBottom, plotTop); |
|||
if (i % positionLabelInterval == 0) { |
|||
if (i==positionMin) { |
|||
textAlign(LEFT, BOTTOM); |
|||
} |
|||
else if (i==stallGuardMax) { |
|||
textAlign(LEFT, TOP); |
|||
} |
|||
else { |
|||
textAlign(LEFT, CENTER); |
|||
} |
|||
text(i, plotRight+8, y); |
|||
line (plotRight, y, plotRight+5, y); |
|||
} |
|||
else if (i % positionMinorTickInterval == 0) { |
|||
line (plotRight, y, plotRight+3, y); |
|||
} |
|||
} |
|||
//draw the channel status |
|||
textSize(legendTextSize); |
|||
textAlign(CENTER); |
|||
strokeWeight(1); |
|||
int statusY = height - 20; |
|||
int channelAX = width/4; |
|||
int temperatureX = width/2; |
|||
int channelBX = width/4*3; |
|||
if (channelAStatus==null) { |
|||
fill(goodStatusColor); |
|||
text("Channel A: OK", channelAX, statusY); |
|||
} |
|||
else { |
|||
fill(badStatusColor); |
|||
text("Channel A: "+channelAStatus, channelAX, statusY); |
|||
} |
|||
if (channelBStatus==null) { |
|||
fill(goodStatusColor); |
|||
text("Channel B: OK", channelBX, statusY); |
|||
} |
|||
else { |
|||
fill(badStatusColor); |
|||
text("Channel B: "+channelBStatus, channelBX, statusY); |
|||
} |
|||
if (temperatureStatus==null) { |
|||
fill(goodStatusColor); |
|||
text("Temperature: OK", temperatureX, statusY); |
|||
} |
|||
else { |
|||
fill(badStatusColor); |
|||
text("Temperature: "+temperatureStatus, temperatureX, statusY); |
|||
} |
|||
} |
|||
} |
|||
void drawDataPoints(DataTable table, int minValue, int maxValue) { |
|||
int dataCount = table.getSize(); |
|||
for (int i=0; i<dataCount; i++) { |
|||
int value = table.getEntry(i); |
|||
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth); |
|||
float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth); |
|||
point(x, y); |
|||
} |
|||
} |
|||
|
|||
void drawDataLine(DataTable table, int minValue, int maxValue) { |
|||
beginShape(); |
|||
int dataCount = table.getSize(); |
|||
for (int i=0; i<dataCount; i++) { |
|||
int value = table.getEntry(i); |
|||
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth); |
|||
float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth); |
|||
vertex(x, y); |
|||
} |
|||
endShape(); |
|||
} |
|||
|
|||
void drawDataHighLight(DataTable table, int minValue, int maxValue, int distance, color textColor, String name, boolean top) { |
|||
int dataCount = table.getSize(); |
|||
for (int i=0; i<dataCount; i++) { |
|||
int value = table.getEntry(i); |
|||
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth); |
|||
float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth); |
|||
if (dist(mouseX, mouseY, x, y) < distance) { |
|||
strokeWeight(highLightWidth); |
|||
point(x, y); |
|||
fill(textColor); |
|||
textSize(10); |
|||
textAlign(CENTER); |
|||
if (top) { |
|||
text(name+": "+value, x, y-8); |
|||
} |
|||
else { |
|||
text(name+": "+value, x, y+8); |
|||
} |
|||
} |
|||
} |
|||
} |
|||
|
|||
void drawCurrentLine(DataTable table) { |
|||
noFill(); |
|||
beginShape(); |
|||
int dataCount = table.getSize(); |
|||
for (int i=0; i<dataCount; i++) { |
|||
float value = (table.getEntry(i)+1)/1000.0; |
|||
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth); |
|||
float y = map(value, 0.0, maxCurrent, (float)plotBottom-dataPointsWidth, (float)plotTop+dataPointsWidth); |
|||
vertex(x, y); |
|||
} |
|||
endShape(); |
|||
} |
|||
|
|||
void drawCurrentHighLight(DataTable table, int distance, color textColor, String name, boolean top) { |
|||
int dataCount = table.getSize(); |
|||
for (int i=0; i<dataCount; i++) { |
|||
float value = (table.getEntry(i)+1)/1000.0; |
|||
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth); |
|||
float y = map(value, 0.0, maxCurrent, plotBottom-dataPointsWidth, plotTop+dataPointsWidth); |
|||
if (dist(mouseX, mouseY, x, y) < distance) { |
|||
strokeWeight(highLightWidth); |
|||
point(x, y); |
|||
fill(textColor); |
|||
textSize(10); |
|||
textAlign(CENTER); |
|||
if (top) { |
|||
text(name+": "+value, x, y-8); |
|||
} |
|||
else { |
|||
text(name+": "+value, x, y+8); |
|||
} |
|||
} |
|||
} |
|||
} |
|||
|
|||
void addStallGuardReading(int value) { |
|||
stallGuardTable.addData(value); |
|||
} |
|||
|
|||
void addPositionReading(int value) { |
|||
positionTable.addData(value); |
|||
} |
|||
|
|||
void addCurrentReading(int value) { |
|||
currentTable.addData(value); |
|||
} |
|||
|
|||
@ -0,0 +1,49 @@ |
|||
/* |
|||
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
|
|||
class DataTable { |
|||
|
|||
LinkedList<Integer> dataList = new LinkedList<Integer>(); |
|||
int maxEntries; |
|||
|
|||
DataTable(int maxEntries) { |
|||
this.maxEntries = maxEntries; |
|||
} |
|||
|
|||
void addData(int value) { |
|||
dataList.add(value); |
|||
if (dataList.size()>maxEntries) { |
|||
dataList.remove(); |
|||
} |
|||
} |
|||
|
|||
int getSize() { |
|||
return dataList.size(); |
|||
} |
|||
|
|||
int getEntry(int position) { |
|||
return dataList.get(position); |
|||
} |
|||
} |
|||
@ -0,0 +1,335 @@ |
|||
/* |
|||
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
|
|||
Slider speedSlider; |
|||
Toggle runToggle; |
|||
RadioButton directionButtons; |
|||
Toggle enabledToggle; |
|||
RadioButton microsteppingButtons; |
|||
Slider sgtSlider; |
|||
Button sgtPlus; |
|||
Button sgtMinus; |
|||
Toggle sgFilterToggle; |
|||
Slider currentSlider; |
|||
Slider coolStepMinSlider; |
|||
Slider coolStepMaxSlider; |
|||
Toggle coolStepActiveToggle; |
|||
RadioButton coolStepIncrementButtons; |
|||
RadioButton coolStepDecrementButtons; |
|||
RadioButton coolStepMinButtons; |
|||
List runControls = new LinkedList(); |
|||
|
|||
Button trinamicButton; |
|||
Button motionControlButton; |
|||
|
|||
void setupRunConfig() { |
|||
//the run configuration |
|||
//controlP5.getControlFont().setSize(10); - the font is too small, try to increase it! |
|||
//add a button te let the motor run |
|||
runToggle = controlP5.addToggle("run", false, 20, 40, 30, 30); |
|||
controlElements.add(runToggle); |
|||
runToggle.moveTo(runTab); |
|||
//add some directions buttons |
|||
directionButtons = controlP5.addRadioButton("direction", 20, 90); |
|||
controlElements.add(directionButtons); |
|||
directionButtons.addItem("forward", 1); |
|||
directionButtons.addItem("backward", -1); |
|||
directionButtons.activate(0); |
|||
directionButtons.moveTo(runTab); |
|||
enabledToggle = controlP5.addToggle("enabled", false, 20, 220, 30, 30); |
|||
controlElements.add(enabledToggle); |
|||
enabledToggle.moveTo(runTab); |
|||
|
|||
// add a vertical slider for speed |
|||
speedSlider = controlP5.addSlider("speed", 1, 100, 10, 85, 40, 20, 210); |
|||
controlElements.add(speedSlider); |
|||
speedSlider.moveTo(runTab); |
|||
|
|||
//ad a multilist for the microstepping setting |
|||
microsteppingButtons = controlP5.addRadioButton("microstepping", 150, 40); |
|||
controlElements.add(microsteppingButtons); |
|||
microsteppingButtons.addItem("m_1/1", 1); |
|||
microsteppingButtons.addItem("m_1/2", 2); |
|||
microsteppingButtons.addItem("m_1/4", 4); |
|||
microsteppingButtons.addItem("m_1/8", 8); |
|||
microsteppingButtons.addItem("m_1/16", 16); |
|||
microsteppingButtons.addItem("m_1/32", 32); |
|||
microsteppingButtons.addItem("m_1/64", 64); |
|||
microsteppingButtons.addItem("m_1/128", 128); |
|||
microsteppingButtons.addItem("m_1/256", 256); |
|||
for (Object o:microsteppingButtons.getItems()) { |
|||
Toggle t = (Toggle) o; |
|||
t.setCaptionLabel(t.getName().substring(2)); |
|||
} |
|||
microsteppingButtons.showBar(); |
|||
microsteppingButtons.moveTo(runTab); |
|||
|
|||
|
|||
|
|||
currentSlider = controlP5.addSlider("current", 0.46, maxCurrent, 0.4, 250, 40, 20, 210); |
|||
controlElements.add(currentSlider); |
|||
currentSlider.moveTo(runTab); |
|||
|
|||
// add a vertical slider for stallGuard threshold |
|||
sgtPlus = controlP5.addButton("sgtplus", 0, 400, 40, 20, 20); |
|||
controlElements.add(sgtPlus); |
|||
sgtPlus.setCaptionLabel("+"); |
|||
sgtPlus.moveTo(runTab); |
|||
sgtMinus = controlP5.addButton("sgtminus", 1, 400, 70, 20, 20); |
|||
controlElements.add(sgtMinus); |
|||
sgtMinus.setCaptionLabel("-"); |
|||
sgtMinus.moveTo(runTab); |
|||
sgtSlider = controlP5.addSlider("stallguardthreshold", -64, 63, 0, 350, 40, 20, 150); |
|||
controlElements.add(sgtSlider); |
|||
sgtSlider.setSliderMode(Slider.FIX); |
|||
sgtSlider.setCaptionLabel("Stall Guard Threshold"); |
|||
sgtSlider.moveTo(runTab); |
|||
//ading some buttons to have finer sg control |
|||
//adding a button for the filter |
|||
sgFilterToggle = controlP5.addToggle("sgfilter", false, 350, 220, 30, 30); |
|||
controlElements.add(sgFilterToggle); |
|||
sgFilterToggle.setCaptionLabel("Stall GuardFilter"); |
|||
sgFilterToggle.moveTo(runTab); |
|||
|
|||
//add the coolstep sliders |
|||
coolStepMaxSlider = controlP5.addSlider("coolStepUpper", 0, 480, 0, 500, 40, 20, 90); |
|||
controlElements.add(coolStepMaxSlider); |
|||
coolStepMaxSlider.setCaptionLabel("Cool Step Hysteresis"); |
|||
coolStepMaxSlider.moveTo(runTab); |
|||
|
|||
coolStepMinSlider = controlP5.addSlider("coolStepLower", 0, 480, 0, 500, 160, 20, 90); |
|||
controlElements.add(coolStepMinSlider); |
|||
coolStepMinSlider.setCaptionLabel("Cool Step Minimum"); |
|||
coolStepMinSlider.moveTo(runTab); |
|||
|
|||
coolStepActiveToggle = controlP5.addToggle("coolStepActive", false, 600, 220, 30, 30); |
|||
controlElements.add(coolStepActiveToggle); |
|||
coolStepActiveToggle.setCaptionLabel("Enable CoolStep"); |
|||
coolStepActiveToggle.moveTo(runTab); |
|||
|
|||
coolStepIncrementButtons = controlP5.addRadioButton("coolStepIncrement", 600, 40); |
|||
controlElements.add(coolStepIncrementButtons); |
|||
coolStepIncrementButtons.captionLabel().set("Cool Step Increment"); |
|||
coolStepIncrementButtons.addItem("i_1", 0); |
|||
coolStepIncrementButtons.addItem("i_2", 1); |
|||
coolStepIncrementButtons.addItem("i_4", 2); |
|||
coolStepIncrementButtons.addItem("i_8", 3); |
|||
for (Object o:coolStepIncrementButtons.getItems()) { |
|||
Toggle t = (Toggle) o; |
|||
t.setCaptionLabel(t.getName().substring(2)); |
|||
} |
|||
coolStepIncrementButtons.showBar(); |
|||
coolStepIncrementButtons.moveTo(runTab); |
|||
|
|||
coolStepDecrementButtons = controlP5.addRadioButton("coolStepDecrement", 600, 110); |
|||
controlElements.add(coolStepDecrementButtons); |
|||
coolStepDecrementButtons.captionLabel().set("Cool Step Decrement"); |
|||
coolStepDecrementButtons.addItem("d_32", 0); |
|||
coolStepDecrementButtons.addItem("d_8", 1); |
|||
coolStepDecrementButtons.addItem("d_2", 2); |
|||
coolStepDecrementButtons.addItem("d_1", 3); |
|||
for (Object o:coolStepDecrementButtons.getItems()) { |
|||
Toggle t = (Toggle) o; |
|||
t.setCaptionLabel(t.getName().substring(2)); |
|||
} |
|||
coolStepDecrementButtons.showBar(); |
|||
coolStepDecrementButtons.moveTo(runTab); |
|||
|
|||
coolStepMinButtons = controlP5.addRadioButton("coolStepMin", 600, 180); |
|||
controlElements.add(coolStepMinButtons); |
|||
coolStepMinButtons.addItem("s_1/2", 0); |
|||
coolStepMinButtons.addItem("s_1/4", 1); |
|||
for (Object o:coolStepMinButtons.getItems()) { |
|||
Toggle t = (Toggle) o; |
|||
t.setCaptionLabel(t.getName().substring(2)); |
|||
} |
|||
coolStepMinButtons.showBar(); |
|||
coolStepMinButtons.moveTo(runTab); |
|||
|
|||
trinamicButton = controlP5.addButton("trinamicLogo", 1.0, 750, 40, 200, 100); |
|||
trinamicButton.setImage(TMCLogo); |
|||
trinamicButton.moveTo(runTab); |
|||
controlElements.add(trinamicButton); |
|||
|
|||
motionControlButton = controlP5.addButton("mcLogo", 1.0, 750, 150, 200, 100); |
|||
motionControlButton.setImage(MCLogo); |
|||
motionControlButton.moveTo(runTab); |
|||
controlElements.add(motionControlButton); |
|||
} |
|||
|
|||
void speed(int theSpeed) { |
|||
if (!settingStatus) { |
|||
int speed = (int) theSpeed; |
|||
println("setting speed to "+speed); |
|||
sendCommand("S"+speed); |
|||
} |
|||
} |
|||
|
|||
void run(int value) { |
|||
if (!settingStatus) { |
|||
println("button pressed"); |
|||
if (running) { |
|||
println("stopping motor"); |
|||
sendCommand("s"); |
|||
running = false; |
|||
} |
|||
else { |
|||
println("starting motor"); |
|||
sendCommand("r"); |
|||
running = true; |
|||
} |
|||
} |
|||
} |
|||
|
|||
void enabled(int value) { |
|||
if (!settingStatus) { |
|||
println("enabled: "+value); |
|||
sendCommand("e"+value); |
|||
} |
|||
} |
|||
|
|||
void microstepping(int value) { |
|||
if (!settingStatus) { |
|||
println("microstepping: "+value); |
|||
sendCommand("m"+value); |
|||
} |
|||
} |
|||
|
|||
void stallguardthreshold(int value) { |
|||
if (!settingStatus) { |
|||
println("stall guard threshold: "+value); |
|||
sendCommand("t"+value); |
|||
} |
|||
if (value==sgtSlider.max()) { |
|||
sgtPlus.lock(); |
|||
} |
|||
else { |
|||
sgtPlus.unlock(); |
|||
} |
|||
if (value==sgtSlider.min()) { |
|||
sgtMinus.lock(); |
|||
} |
|||
else { |
|||
sgtMinus.unlock(); |
|||
} |
|||
} |
|||
|
|||
void sgtplus(int value) { |
|||
sgtSlider.setValue(sgtSlider.value()+1); |
|||
} |
|||
|
|||
void sgtminus(int value) { |
|||
sgtSlider.setValue(sgtSlider.value()-1); |
|||
} |
|||
|
|||
void sgfilter(int value) { |
|||
if (!settingStatus) { |
|||
println("filter: "+value); |
|||
sendCommand("f"+value); |
|||
} |
|||
} |
|||
|
|||
void current(float value) { |
|||
if (!settingStatus) { |
|||
int realValue=(int)(value*1000.0); |
|||
println("current: "+((float)realValue/1000.0)+" = "+realValue); |
|||
sendCommand("c"+realValue); |
|||
if (activeTab!=null && "run".equals(activeTab.name())) { |
|||
motorCurrentBox.setValue(value); |
|||
} |
|||
} |
|||
} |
|||
|
|||
void coolStepUpper(int value) { |
|||
coolStepMax=value; |
|||
if (!settingStatus) { |
|||
sendCommand("Ku"+value); |
|||
} |
|||
} |
|||
|
|||
void coolStepLower(int value) { |
|||
coolStepMin = value; |
|||
if (!settingStatus) { |
|||
sendCommand("Kl"+value); |
|||
} |
|||
} |
|||
|
|||
|
|||
void setCoolStepIncrement(int value) { |
|||
if (!settingStatus) { |
|||
println("cool step increment :"+value); |
|||
sendCommand("Ki"+value); |
|||
} |
|||
} |
|||
|
|||
void setCoolStepDecrement(int value) { |
|||
if (!settingStatus) { |
|||
println("cool step decrement :"+value); |
|||
sendCommand("Kn"+value); |
|||
} |
|||
} |
|||
|
|||
void setCoolStepMin(int value) { |
|||
if (!settingStatus) { |
|||
println("cool step minimum :"+value); |
|||
sendCommand("Km"+value); |
|||
} |
|||
} |
|||
|
|||
void coolStepActive(int value) { |
|||
if (!settingStatus) { |
|||
coolStepActive = (value!=0); |
|||
sendCommand(coolStepActive? "K+":"K-"); |
|||
} |
|||
} |
|||
|
|||
void setCurrent(int current) { |
|||
currentSlider.setValue((float)current/1000.0); |
|||
} |
|||
|
|||
void setDirection(int direction) { |
|||
if (!settingStatus) { |
|||
if (direction<0) { |
|||
println("back"); |
|||
sendCommand("d-1"); |
|||
} |
|||
else { |
|||
sendCommand("d1"); |
|||
} |
|||
} |
|||
} |
|||
|
|||
void trinamicLogo(float value){ |
|||
if (value!=0) { |
|||
link(trinamicUrl); |
|||
} |
|||
} |
|||
|
|||
void mcLogo(float value) { |
|||
if (value!=0) { |
|||
link(mcUrl); |
|||
} |
|||
} |
|||
|
|||
@ -0,0 +1,156 @@ |
|||
/* |
|||
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing |
|||
|
|||
Copyright (c) 2011, Interactive Matter, Marcus Nowotny |
|||
|
|||
Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
of this software and associated documentation files (the "Software"), to deal |
|||
in the Software without restriction, including without limitation the rights |
|||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
copies of the Software, and to permit persons to whom the Software is |
|||
furnished to do so, subject to the following conditions: |
|||
|
|||
The above copyright notice and this permission notice shall be included in |
|||
all copies or substantial portions of the Software. |
|||
|
|||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
THE SOFTWARE. |
|||
|
|||
*/ |
|||
import controlP5.*; |
|||
import processing.serial.*; |
|||
import java.util.*; |
|||
import java.text.*; |
|||
|
|||
ControlP5 controlP5; |
|||
|
|||
Serial arduinoPort; |
|||
|
|||
String helpUrl = "http://www.motioncontrol-community.org/"; |
|||
String trinamicUrl = "http://trinamic.com"; |
|||
String mcUrl = "http://www.motioncontrol-community.org/"; |
|||
|
|||
//TODO comde up with a nice color scheme |
|||
color activeColor = #01ADF1; |
|||
color foreGroundColor = #01ADF1; |
|||
color uiTextColor = #4D4D4F; |
|||
color uiElementColor = #ffffff; |
|||
color labelColor = #f0f0f0; |
|||
color valueColor = #f0f0f0; |
|||
color backgroundColor = #EDEEEF; |
|||
color stallGuardColor = #969696; |
|||
color positionColor = #01ADF1; |
|||
color goodStatusColor = labelColor; |
|||
color badStatusColor = stallGuardColor; |
|||
color coolStepColor = #4D4D4F; |
|||
color diagramBackgroundColor = #ffffff; |
|||
|
|||
CColor uiColor = new CColor( foreGroundColor, uiElementColor, activeColor, uiTextColor, uiTextColor); |
|||
|
|||
Tab configureTab; |
|||
Tab runTab; |
|||
Tab activeTab; |
|||
|
|||
boolean settingStatus=false; |
|||
|
|||
boolean running = false; |
|||
int coolStepMin = 0; |
|||
int coolStepMax = 0; |
|||
boolean coolStepActive = false; |
|||
|
|||
float maxCurrent = 1.7; |
|||
|
|||
List controlElements = new LinkedList(); |
|||
List serialConfigElements = new LinkedList(); |
|||
|
|||
PImage TMCLogo; |
|||
PImage MCLogo; |
|||
|
|||
void setup() { |
|||
size(1000, 800); |
|||
//load the logos |
|||
TMCLogo=loadImage("tmc_logo.jpg"); |
|||
MCLogo=loadImage("mc_logo.jpg"); |
|||
|
|||
//create the UI |
|||
controlP5 = new ControlP5(this); |
|||
controlP5.setColor(uiColor); |
|||
runTab = controlP5.getTab("default"); |
|||
configureTab =controlP5.addTab("configure"); |
|||
//customize the tabs a bit |
|||
configureTab.setLabel("configure"); |
|||
controlElements.add(configureTab); |
|||
activeTab = controlP5.getTab("default"); |
|||
controlP5.setTabEventsActive(true); |
|||
configureTab.activateEvent(true); |
|||
runTab.activateEvent(true); |
|||
|
|||
//configuring the general UI l&f |
|||
//the configuration UI |
|||
|
|||
setupRunConfig(); |
|||
setupChooperConfig(); |
|||
setupSerialConfig(); |
|||
//directly hide the controls again since we are not connected to the Arduino yet |
|||
toggleUi(motor_connected); |
|||
|
|||
smooth(); |
|||
setupData(); |
|||
} |
|||
|
|||
|
|||
void toggleUi(boolean show_controls) { |
|||
for (Object c:controlElements) { |
|||
ControllerInterface controller = (ControllerInterface) c; |
|||
if (show_controls) { |
|||
controller.show(); |
|||
} else { |
|||
controller.hide(); |
|||
} |
|||
} |
|||
for (Object c:serialConfigElements) { |
|||
ControllerInterface controller = (ControllerInterface) c; |
|||
if (show_controls) { |
|||
controller.hide(); |
|||
} else { |
|||
controller.show(); |
|||
} |
|||
} |
|||
} |
|||
|
|||
void draw() { |
|||
background(backgroundColor); |
|||
drawSerial(); |
|||
drawChopper(); |
|||
drawData(); |
|||
decodeSerial(); |
|||
} |
|||
|
|||
|
|||
void controlEvent(ControlEvent theEvent) { |
|||
if (theEvent.isGroup() && !settingStatus) { |
|||
if ("microstepping".equals(theEvent.group().name())) { |
|||
microstepping((int)theEvent.group().value()); |
|||
} else |
|||
if ("direction".equals(theEvent.group().name())) { |
|||
setDirection((int)theEvent.group().value()); |
|||
} else if ("decrement".equals(theEvent.group().name())) { |
|||
setHysteresisDecrement((int)theEvent.group().value()); |
|||
} else if ("coolStepIncrement".equals(theEvent.group().name())) { |
|||
setCoolStepIncrement((int)theEvent.group().value()); |
|||
} else if ("coolStepDecrement".equals(theEvent.group().name())) { |
|||
setCoolStepDecrement((int)theEvent.group().value()); |
|||
} else if ("coolStepMin".equals(theEvent.group().name())) { |
|||
setCoolStepMin((int)theEvent.group().value()); |
|||
} |
|||
} |
|||
else if (theEvent.isTab()) { |
|||
activeTab = theEvent.tab(); |
|||
println("Tab: "+activeTab.name()); |
|||
} |
|||
} |
|||
|
After Width: | Height: | Size: 8.6 KiB |
|
After Width: | Height: | Size: 7.9 KiB |
|
After Width: | Height: | Size: 32 KiB |
@ -0,0 +1,2 @@ |
|||
mode.id=processing.mode.java.JavaMode |
|||
mode=Java |
|||
@ -0,0 +1,75 @@ |
|||
####################################### |
|||
# Syntax Coloring Map For Test |
|||
####################################### |
|||
|
|||
####################################### |
|||
# Datatypes (KEYWORD1) |
|||
####################################### |
|||
|
|||
Stepper TMC26XStepper |
|||
|
|||
####################################### |
|||
# Methods and Functions (KEYWORD2) |
|||
####################################### |
|||
|
|||
start KEYWORD2 |
|||
step KEYWORD2 |
|||
setSpeed KEYWORD2 |
|||
getSpeed KEYWORD2 |
|||
setMicrosteps KEYWORD2 |
|||
getMicrosteps KEYWORD2 |
|||
move KEYWORD2 |
|||
isMoving KEYWORD2 |
|||
getStepsLeft KEYWORD2 |
|||
stop KEYWORD2 |
|||
setConstantOffTimeChopper KEYWORD2 |
|||
setSpreadCycleChopper KEYWORD2 |
|||
setRandomOffTime KEYWORD2 |
|||
setCurrent KEYWORD2 |
|||
getCurrent KEYWORD2 |
|||
setStallGuardThreshold KEYWORD2 |
|||
getStallGuardThreshold KEYWORD2 |
|||
getStallGuardFilter KEYWORD2 |
|||
setCoolStepConfiguration KEYWORD2 |
|||
setCoolStepEnabled KEYWORD2 |
|||
isCoolStepEnabled KEYWORD2 |
|||
getCoolStepLowerSgThreshold KEYWORD2 |
|||
getCoolStepUpperSgThreshold KEYWORD2 |
|||
getCoolStepNumberOfSGReadings KEYWORD2 |
|||
getCoolStepCurrentIncrementSize KEYWORD2 |
|||
getCoolStepLowerCurrentLimit KEYWORD2 |
|||
getMotorPosition KEYWORD2 |
|||
getCurrentStallGuardReading KEYWORD2 |
|||
getCurrentCSReading KEYWORD2 |
|||
isCurrentScalingHalfed KEYWORD2 |
|||
getCurrentCurrent KEYWORD2 |
|||
isStallGuardOverThreshold KEYWORD2 |
|||
getOverTemperature KEYWORD2 |
|||
isShortToGroundA KEYWORD2 |
|||
isShortToGroundB KEYWORD2 |
|||
isOpenLoadA KEYWORD2 |
|||
isOpenLoadB KEYWORD2 |
|||
isStandStill KEYWORD2 |
|||
isStallGuardReached KEYWORD2 |
|||
setEnabled KEYWORD2 |
|||
isEnabled KEYWORD2 |
|||
readStatus KEYWORD2 |
|||
getResistor KEYWORD2 |
|||
debugLastStatus KEYWORD2 |
|||
version KEYWORD2 |
|||
|
|||
###################################### |
|||
# Instances (KEYWORD2) |
|||
####################################### |
|||
|
|||
####################################### |
|||
# Constants (LITERAL1) |
|||
####################################### |
|||
|
|||
TMC262_OVERTEMPERATURE_PREWARING LITERAL1 |
|||
TMC262_OVERTEMPERATURE_SHUTDOWN LITERAL1 |
|||
TMC262_READOUT_POSITION LITERAL1 |
|||
TMC262_READOUT_STALLGUARD LITERAL1 |
|||
TMC262_READOUT_CURRENT LITERAL1 |
|||
COOL_STEP_HALF_CS_LIMIT LITERAL1 |
|||
COOL_STEP_QUARTDER_CS_LIMIT LITERAL1 |
|||
@ -0,0 +1,30 @@ |
|||
/*! |
|||
* \mainpage TMC 260, 261, 262 Stepper Driver for Arduino |
|||
* \author Interactive MAtter, MArcus Nowotny, marcus@interactive-matter.eu |
|||
* \section HOWTO How to use the driver |
|||
* Here we go with aminial how to description |
|||
* |
|||
* |
|||
* \section COPYRIGHT_NOTIFICATION COPYRIGHT NOTIFICATION |
|||
* \par (c) 2011 Interactive MAtter, Marcus Nowotny |
|||
* |
|||
* \par |
|||
* Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
* of this software and associated documentation files (the "Software"), to deal |
|||
* in the Software without restriction, including without limitation the rights |
|||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
* copies of the Software, and to permit persons to whom the Software is |
|||
* furnished to do so, subject to the following conditions: |
|||
* |
|||
* The above copyright notice and this permission notice shall be included in |
|||
* all copies or substantial portions of the Software. |
|||
|
|||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
* THE SOFTWARE. |
|||
* |
|||
*/ |
|||
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Reference in new issue