Classes
union	ChopConfU

union	PWMConfU

Functions
constexpr uint32_t	PWMCONF_REG (uint32_t PWM_AMPL, uint32_t PWM_GRAD, uint32_t PWM_FREQ, uint32_t PWM_AUTO)
	Helper function to set bit shifts in one line.

uint16_t	tmc2130_rd_TSTEP (uint8_t axis)

uint16_t	tmc2130_rd_MSCNT (uint8_t axis)

uint32_t	tmc2130_rd_MSCURACT (uint8_t axis)

static void	tmc2130_tx (uint8_t axis, uint8_t addr, uint32_t wval)

static uint8_t	tmc2130_rx (uint8_t axis, uint8_t addr, uint32_t *rval)

uint16_t	__tcoolthrs (uint8_t axis)

static void	tmc2130_XYZ_reg_init (uint8_t axis)

void	tmc2130_init (TMCInitParams params)

uint8_t	tmc2130_sample_diag ()

void	tmc2130_st_isr ()

void	crashdet_use_eeprom_setting ()

bool	tmc2130_update_sg ()

void	tmc2130_home_enter (uint8_t axes_mask)

void	tmc2130_home_exit ()

void	tmc2130_sg_measure_start (uint8_t axis)

uint16_t	tmc2130_sg_measure_stop ()

bool	tmc2130_wait_standstill_xy (int timeout)

void	tmc2130_check_overtemp ()

static constexpr bool	getIntpolBit ([[maybe_unused]]const uint8_t axis, const uint8_t mres)
	Helper function to determine the value of the CHOPCONF intpol flag.

static void	SetCurrents (const uint8_t axis, const MotorCurrents &curr)

void	tmc2130_setup_chopper (uint8_t axis, uint8_t mres, const MotorCurrents *curr)

void	tmc2130_print_currents ()

void	tmc2130_set_pwm_ampl (uint8_t axis, uint8_t pwm_ampl)

void	tmc2130_set_pwm_grad (uint8_t axis, uint8_t pwm_grad)

void	tmc2130_wr_MSLUTSTART (uint8_t axis, uint8_t start_sin, uint8_t start_sin90)

void	tmc2130_wr_MSLUTSEL (uint8_t axis, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t w0, uint8_t w1, uint8_t w2, uint8_t w3)

void	tmc2130_wr_MSLUT (uint8_t axis, uint8_t i, uint32_t val)

uint8_t	tmc2130_usteps2mres (uint16_t usteps)

void	tmc2130_cs_low (uint8_t axis)

void	tmc2130_cs_high (uint8_t axis)

uint16_t	tmc2130_get_res (uint8_t axis)

void	tmc2130_set_res (uint8_t axis, uint16_t res)

uint8_t	tmc2130_get_pwr (uint8_t axis)

void	tmc2130_set_pwr (uint8_t axis, uint8_t pwr)

uint8_t	tmc2130_get_inv (uint8_t axis)

uint8_t	tmc2130_get_dir (uint8_t axis)

void	tmc2130_set_dir (uint8_t axis, uint8_t dir)

void	tmc2130_do_step (uint8_t axis)

void	tmc2130_do_steps (uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us)

void	tmc2130_goto_step (uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution)

void	tmc2130_get_wave (uint8_t axis, uint8_t *data)

void	tmc2130_set_wave (uint8_t axis, uint8_t amp, uint8_t fac1000)

void	bubblesort_uint8 (uint8_t data, uint8_t size, uint8_t data2)

uint8_t	clusterize_uint8 (uint8_t data, uint8_t size, uint8_t ccnt, uint8_t *cval, uint8_t tol)

bool	tmc2130_home_calibrate (uint8_t axis)

uint8_t	tmc2130_cur2val (float cur)
	Translate current to tmc2130 vsense and IHOLD or IRUN. More...

float	tmc2130_val2cur (uint8_t val)

Variables
static constexpr uint8_t	default_dedge_bit = 1

uint8_t	tmc2130_mode = TMC2130_MODE_NORMAL

static constexpr uint8_t	tmc2130_default_current_h [4] = TMC2130_CURRENTS_H

static constexpr uint8_t	tmc2130_default_current_r [4] = TMC2130_CURRENTS_R

static constexpr uint8_t	tmc2130_current_r_home [4] = TMC2130_CURRENTS_R_HOME

static constexpr MotorCurrents homing_currents_P[NUM_AXIS]	PROGMEM

MotorCurrents	currents [NUM_AXIS]

static constexpr uint32_t	PWM_AMPL [NUM_AXIS] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y, TMC2130_PWM_AMPL_Z, TMC2130_PWM_AMPL_E}

static constexpr uint32_t	PWM_GRAD [NUM_AXIS] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y, TMC2130_PWM_GRAD_Z, TMC2130_PWM_GRAD_E}

static constexpr uint32_t	PWM_FREQ [NUM_AXIS] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y, TMC2130_PWM_FREQ_Z, TMC2130_PWM_FREQ_E}

static constexpr uint32_t	PWM_AUTO [NUM_AXIS] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y, TMC2130_PWM_AUTO_Z, TMC2130_PWM_AUTO_E}

static PWMConfU	pwmconf [NUM_AXIS]

static constexpr PWMConfU	pwmconf_Ecool = PWMConfU(PWMCONF_REG(TMC2130_PWM_AMPL_Ecool, TMC2130_PWM_GRAD_Ecool, PWM_FREQ[E_AXIS], TMC2130_PWM_AUTO_Ecool))

uint8_t	tmc2130_mres [4] = {0, 0, 0, 0}

uint8_t	tmc2130_sg_thr [4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E}

static uint8_t	tmc2130_sg_thr_home [4] = TMC2130_SG_THRS_HOME

uint8_t	tmc2130_sg_homing_axes_mask = 0x00

static uint8_t	tmc2130_sg_measure = 0xff

static uint32_t	tmc2130_sg_measure_cnt = 0

static uint32_t	tmc2130_sg_measure_val = 0

uint8_t	tmc2130_home_enabled = 0

uint8_t	tmc2130_home_origin [2] = {0, 0}

uint8_t	tmc2130_home_bsteps [2] = {48, 48}

uint8_t	tmc2130_home_fsteps [2] = {48, 48}

uint8_t	tmc2130_wave_fac [4] = {0, 0, 0, 0}

tmc2130_chopper_config_t	tmc2130_chopper_config [NUM_AXIS]

bool	tmc2130_sg_stop_on_crash = true

uint8_t	tmc2130_sg_crash = 0

static ShortTimer	tmc2130_overtemp_timer

Function Documentation

◆ tmc2130_cur2val()

uint8_t tmc2130_cur2val ( float cur )

Parameters

cur	current in mA

Returns: 0 .. 63
most significant bit is CHOPCONF vsense bit (sense resistor voltage based current scaling)
rest is to be used in IRUN or IHOLD register

mA	trinamic register	note
0	0	doesn't mean current off, lowest current is 1/32 current with vsense low range
30	1
40	2
60	3
90	4
100	5
120	6
130	7
150	8
180	9
190	10
210	11
230	12
240	13
250	13
260	14
280	15
300	16
320	17
340	18
350	19
370	20
390	21
410	22
430	23
450	24
460	25
480	26
500	27
520	28
535	29
N/D	30	extruder default
540	33
560	34
580	35
590	36	farm mode extruder default
610	37
630	38
640	39
660	40
670	41
690	42
710	43
720	44
730	45
760	46
770	47
790	48
810	49
820	50
840	51
850	52
870	53
890	54
900	55
920	56
940	57
950	58
970	59
980	60
1000	61
1020	62
1029	63

◆ tmc2130_set_pwr()

void tmc2130_set_pwr	(	uint8_t	axis,
		uint8_t	pwr
	)

pwr motor power

0 disabled
non-zero enabled

Variable Documentation

◆ currents

MotorCurrents currents[NUM_AXIS]

Initial value:

= {
    MotorCurrents(tmc2130_default_current_r[0], tmc2130_default_current_h[0]),
    MotorCurrents(tmc2130_default_current_r[1], tmc2130_default_current_h[1]),
    MotorCurrents(tmc2130_default_current_r[2], tmc2130_default_current_h[2]),
    MotorCurrents(tmc2130_default_current_r[3], tmc2130_default_current_h[3])
}

◆ PROGMEM

const char eMotorCurrentScalingEnabled [] PROGMEM

staticconstexpr

Initial value:

= {
    MotorCurrents(tmc2130_current_r_home[0], tmc2130_current_r_home[0]),
    MotorCurrents(tmc2130_current_r_home[1], tmc2130_current_r_home[1]),
    MotorCurrents(tmc2130_current_r_home[2], tmc2130_current_r_home[2]),
    MotorCurrents(tmc2130_current_r_home[3], tmc2130_current_r_home[3])
}

◆ pwmconf

PWMConfU pwmconf[NUM_AXIS]

static

Initial value:

= {
    PWMConfU(PWMCONF_REG(PWM_AMPL[X_AXIS], PWM_GRAD[X_AXIS], PWM_FREQ[X_AXIS], PWM_AUTO[X_AXIS])),
    PWMConfU(PWMCONF_REG(PWM_AMPL[Y_AXIS], PWM_GRAD[Y_AXIS], PWM_FREQ[Y_AXIS], PWM_AUTO[Y_AXIS])),
    PWMConfU(PWMCONF_REG(PWM_AMPL[Z_AXIS], PWM_GRAD[Z_AXIS], PWM_FREQ[Z_AXIS], PWM_AUTO[Z_AXIS])),
    PWMConfU(PWMCONF_REG(PWM_AMPL[E_AXIS], PWM_GRAD[E_AXIS], PWM_FREQ[E_AXIS], PWM_AUTO[E_AXIS]))
}

Classes

Functions

Variables

Function Documentation

◆ tmc2130_cur2val()

◆ tmc2130_set_pwr()

Variable Documentation

◆ currents

◆ PROGMEM

◆ pwmconf