TMC26XStepper.h

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/*
 TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - Version 0.1
 
 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


#define TMC26X_OVERTEMPERATURE_PREWARING 1


#define TMC26X_OVERTEMPERATURE_SHUTDOWN 2

//which values can be read out
#define TMC26X_READOUT_POSITION 0

#define TMC26X_READOUT_STALLGUARD 1

#define TMC26X_READOUT_CURRENT 3

#define COOL_STEP_HALF_CS_LIMIT 0

#define COOL_STEP_QUARTDER_CS_LIMIT 1

class TMC26XStepper {
  public:
        TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150);
        
        void start();
    
        void un_start();


    void setSpeed(unsigned int whatSpeed);
    
    unsigned int getSpeed(void);

        void setMicrosteps(int number_of_steps);
    
        int getMicrosteps(void);

    char step(int number_of_steps);
    
    char move(void);

    char isMoving(void);
    
    unsigned int getStepsLeft(void);
    
    char stop(void);
    
        void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
    
        void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement);

        void setRandomOffTime(char value);
    
        void setCurrent(unsigned int current);
    
    unsigned int getCurrent(void);
    
        void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
    
    char getStallGuardThreshold(void);
    
    char getStallGuardFilter(void);
    
    void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
                                  unsigned char current_increment_step_size, unsigned char lower_current_limit);
    
    void setCoolStepEnabled(boolean enabled);
    
    
    boolean isCoolStepEnabled();

    unsigned int getCoolStepLowerSgThreshold();
    
    unsigned int getCoolStepUpperSgThreshold();
    
    unsigned char getCoolStepNumberOfSGReadings();
    
    unsigned char getCoolStepCurrentIncrementSize();
    
    unsigned char getCoolStepLowerCurrentLimit();
    
        int getMotorPosition(void);
    
        int getCurrentStallGuardReading(void);
    
    unsigned char getCurrentCSReading(void);
    
    
    boolean isCurrentScalingHalfed();

    unsigned int getCurrentCurrent(void);
    
        boolean isStallGuardOverThreshold(void);
    
        char getOverTemperature(void);
    
        boolean isShortToGroundA(void);

        boolean isShortToGroundB(void);
        boolean isOpenLoadA(void);

        boolean isOpenLoadB(void);
    
        boolean isStandStill(void);

        boolean isStallGuardReached(void);
    
    void setEnabled(boolean enabled);
    
    boolean isEnabled();

        void readStatus(char read_value);
    
    int getResistor();

        void debugLastStatus(void);
    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