diff --git a/.travis.yml b/.travis.yml index 8a378c787..6d59f63a0 100644 --- a/.travis.yml +++ b/.travis.yml @@ -13,6 +13,8 @@ install: - sudo apt-get update -q - sudo apt-get install arduino before_script: + # copy TMC and L6470 libraries to arduino dir, as conditional includes do not work in .ino files + - sudo cp -r ArduinoAddons/Arduino_1.x.x/libraries/ /usr/share/arduino # add U8glib, LiquidCrystal_I2C & LiquidTWI2 libraries - sudo unzip u8glib_arduino_v1.17.zip -d /usr/share/arduino/libraries/ - cd /usr/share/arduino/libraries/ diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/L6470/L6470.cpp b/ArduinoAddons/Arduino_1.x.x/libraries/L6470/L6470.cpp new file mode 100644 index 000000000..8278c19ae --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/L6470/L6470.cpp @@ -0,0 +1,723 @@ +//////////////////////////////////////////////////////////// +//ORIGINAL CODE 12/12/2011- Mike Hord, SparkFun Electronics +//LIBRARY Created by Adam Meyer of bildr Aug 18th 2012 +//Released as MIT license +//////////////////////////////////////////////////////////// + +#include +#include "L6470.h" +#include + +#define ENABLE_RESET_PIN 0 +#define K_VALUE 100 + +L6470::L6470(int SSPin){ + _SSPin = SSPin; + // Serial.begin(9600); +} + +void L6470::init(int k_value){ + // This is the generic initialization function to set up the Arduino to + // communicate with the dSPIN chip. + + // set up the input/output pins for the application. + pinMode(SLAVE_SELECT_PIN, OUTPUT); // The SPI peripheral REQUIRES the hardware SS pin- + // pin 10- to be an output. This is in here just + // in case some future user makes something other + // than pin 10 the SS pin. + + pinMode(_SSPin, OUTPUT); + digitalWrite(_SSPin, HIGH); + pinMode(MOSI, OUTPUT); + pinMode(MISO, INPUT); + pinMode(SCK, OUTPUT); + pinMode(BUSYN, INPUT); +#if (ENABLE_RESET_PIN == 1) + pinMode(RESET, OUTPUT); + // reset the dSPIN chip. This could also be accomplished by + // calling the "L6470::ResetDev()" function after SPI is initialized. + digitalWrite(RESET, HIGH); + delay(10); + digitalWrite(RESET, LOW); + delay(10); + digitalWrite(RESET, HIGH); + delay(10); +#endif + + + // initialize SPI for the dSPIN chip's needs: + // most significant bit first, + // SPI clock not to exceed 5MHz, + // SPI_MODE3 (clock idle high, latch data on rising edge of clock) + SPI.begin(); + SPI.setBitOrder(MSBFIRST); + SPI.setClockDivider(SPI_CLOCK_DIV16); // or 2, 8, 16, 32, 64 + SPI.setDataMode(SPI_MODE3); + + // First things first: let's check communications. The CONFIG register should + // power up to 0x2E88, so we can use that to check the communications. + if (GetParam(CONFIG) == 0x2E88){ + //Serial.println('good to go'); + } + else{ + //Serial.println('Comm issue'); + } + +#if (ENABLE_RESET_PIN == 0) + resetDev(); +#endif + // First, let's set the step mode register: + // - SYNC_EN controls whether the BUSY/SYNC pin reflects the step + // frequency or the BUSY status of the chip. We want it to be the BUSY + // status. + // - STEP_SEL_x is the microstepping rate- we'll go full step. + // - SYNC_SEL_x is the ratio of (micro)steps to toggles on the + // BUSY/SYNC pin (when that pin is used for SYNC). Make it 1:1, despite + // not using that pin. + //SetParam(STEP_MODE, !SYNC_EN | STEP_SEL_1 | SYNC_SEL_1); + + + SetParam(KVAL_RUN, k_value); + SetParam(KVAL_ACC, k_value); + SetParam(KVAL_DEC, k_value); + SetParam(KVAL_HOLD, k_value); + + // Set up the CONFIG register as follows: + // PWM frequency divisor = 1 + // PWM frequency multiplier = 2 (62.5kHz PWM frequency) + // Slew rate is 290V/us + // Do NOT shut down bridges on overcurrent + // Disable motor voltage compensation + // Hard stop on switch low + // 16MHz internal oscillator, nothing on output + SetParam(CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_SR_290V_us| CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ); + // Configure the RUN KVAL. This defines the duty cycle of the PWM of the bridges + // during running. 0xFF means that they are essentially NOT PWMed during run; this + // MAY result in more power being dissipated than you actually need for the task. + // Setting this value too low may result in failure to turn. + // There are ACC, DEC, and HOLD KVAL registers as well; you may need to play with + // those values to get acceptable performance for a given application. + //SetParam(KVAL_RUN, 0xFF); + // Calling GetStatus() clears the UVLO bit in the status register, which is set by + // default on power-up. The driver may not run without that bit cleared by this + // read operation. + getStatus(); + + hardStop(); //engage motors +} + +boolean L6470::isBusy(){ + int status = getStatus(); + return !((status >> 1) & 0b1); +} + +void L6470::setMicroSteps(int microSteps){ + byte stepVal = 0; + + for(stepVal = 0; stepVal < 8; stepVal++){ + if(microSteps == 1) break; + microSteps = microSteps >> 1; + } + + SetParam(STEP_MODE, !SYNC_EN | stepVal | SYNC_SEL_1); +} + +void L6470::setThresholdSpeed(float thresholdSpeed){ + // Configure the FS_SPD register- this is the speed at which the driver ceases + // microstepping and goes to full stepping. FSCalc() converts a value in steps/s + // to a value suitable for this register; to disable full-step switching, you + // can pass 0x3FF to this register. + + if(thresholdSpeed == 0.0){ + SetParam(FS_SPD, 0x3FF); + } + else{ + SetParam(FS_SPD, FSCalc(thresholdSpeed)); + } +} + + +void L6470::setCurrent(int current){} + + + +void L6470::setMaxSpeed(int speed){ + // Configure the MAX_SPEED register- this is the maximum number of (micro)steps per + // second allowed. You'll want to mess around with your desired application to see + // how far you can push it before the motor starts to slip. The ACTUAL parameter + // passed to this function is in steps/tick; MaxSpdCalc() will convert a number of + // steps/s into an appropriate value for this function. Note that for any move or + // goto type function where no speed is specified, this value will be used. + SetParam(MAX_SPEED, MaxSpdCalc(speed)); +} + + +void L6470::setMinSpeed(int speed){ + // Configure the MAX_SPEED register- this is the maximum number of (micro)steps per + // second allowed. You'll want to mess around with your desired application to see + // how far you can push it before the motor starts to slip. The ACTUAL parameter + // passed to this function is in steps/tick; MaxSpdCalc() will convert a number of + // steps/s into an appropriate value for this function. Note that for any move or + // goto type function where no speed is specified, this value will be used. + SetParam(MIN_SPEED, MinSpdCalc(speed)); +} + + + + +void L6470::setAcc(float acceleration){ + // Configure the acceleration rate, in steps/tick/tick. There is also a DEC register; + // both of them have a function (AccCalc() and DecCalc() respectively) that convert + // from steps/s/s into the appropriate value for the register. Writing ACC to 0xfff + // sets the acceleration and deceleration to 'infinite' (or as near as the driver can + // manage). If ACC is set to 0xfff, DEC is ignored. To get infinite deceleration + // without infinite acceleration, only hard stop will work. + unsigned long accelerationBYTES = AccCalc(acceleration); + SetParam(ACC, accelerationBYTES); +} + + +void L6470::setDec(float deceleration){ + unsigned long decelerationBYTES = DecCalc(deceleration); + SetParam(DEC, decelerationBYTES); +} + + +long L6470::getPos(){ + unsigned long position = GetParam(ABS_POS); + return convert(position); +} + +float L6470::getSpeed(){ + /* + SPEED + The SPEED register contains the current motor speed, expressed in step/tick (format unsigned fixed point 0.28). + In order to convert the SPEED value in step/s the following formula can be used: + Equation 4 + where SPEED is the integer number stored into the register and tick is 250 ns. + The available range is from 0 to 15625 step/s with a resolution of 0.015 step/s. + Note: The range effectively available to the user is limited by the MAX_SPEED parameter. + */ + + return (float) GetParam(SPEED); + //return (float) speed * pow(8, -22); + //return FSCalc(speed); NEEDS FIX +} + + +void L6470::setOverCurrent(unsigned int ma_current){ + // Configure the overcurrent detection threshold. + byte OCValue = floor(ma_current / 375); + if(OCValue > 0x0F)OCValue = 0x0F; + SetParam(OCD_TH, OCValue); +} + +void L6470::setStallCurrent(float ma_current){ + byte STHValue = (byte)floor(ma_current / 31.25); + if(STHValue > 0x80)STHValue = 0x80; + if(STHValue < 0)STHValue = 0; + SetParam(STALL_TH, STHValue); +} + +void L6470::SetLowSpeedOpt(boolean enable){ + // Enable or disable the low-speed optimization option. If enabling, + // the other 12 bits of the register will be automatically zero. + // When disabling, the value will have to be explicitly written by + // the user with a SetParam() call. See the datasheet for further + // information about low-speed optimization. + Xfer(SET_PARAM | MIN_SPEED); + if (enable) Param(0x1000, 13); + else Param(0, 13); +} + + +void L6470::run(byte dir, float spd){ + // RUN sets the motor spinning in a direction (defined by the constants + // FWD and REV). Maximum speed and minimum speed are defined + // by the MAX_SPEED and MIN_SPEED registers; exceeding the FS_SPD value + // will switch the device into full-step mode. + // The SpdCalc() function is provided to convert steps/s values into + // appropriate integer values for this function. + unsigned long speedVal = SpdCalc(spd); + + Xfer(RUN | dir); + if (speedVal > 0xFFFFF) speedVal = 0xFFFFF; + Xfer((byte)(speedVal >> 16)); + Xfer((byte)(speedVal >> 8)); + Xfer((byte)(speedVal)); +} + + +void L6470::Step_Clock(byte dir){ + // STEP_CLOCK puts the device in external step clocking mode. When active, + // pin 25, STCK, becomes the step clock for the device, and steps it in + // the direction (set by the FWD and REV constants) imposed by the call + // of this function. Motion commands (RUN, MOVE, etc) will cause the device + // to exit step clocking mode. + Xfer(STEP_CLOCK | dir); +} + +void L6470::move(long n_step){ + // MOVE will send the motor n_step steps (size based on step mode) in the + // direction imposed by dir (FWD or REV constants may be used). The motor + // will accelerate according the acceleration and deceleration curves, and + // will run at MAX_SPEED. Stepping mode will adhere to FS_SPD value, as well. + + byte dir; + + if(n_step >= 0){ + dir = FWD; + } + else{ + dir = REV; + } + + long n_stepABS = abs(n_step); + + Xfer(MOVE | dir); //set direction + if (n_stepABS > 0x3FFFFF) n_step = 0x3FFFFF; + Xfer((byte)(n_stepABS >> 16)); + Xfer((byte)(n_stepABS >> 8)); + Xfer((byte)(n_stepABS)); +} + +void L6470::goTo(long pos){ + // GOTO operates much like MOVE, except it produces absolute motion instead + // of relative motion. The motor will be moved to the indicated position + // in the shortest possible fashion. + + Xfer(GOTO); + if (pos > 0x3FFFFF) pos = 0x3FFFFF; + Xfer((byte)(pos >> 16)); + Xfer((byte)(pos >> 8)); + Xfer((byte)(pos)); +} + + +void L6470::goTo_DIR(byte dir, long pos){ + // Same as GOTO, but with user constrained rotational direction. + + Xfer(GOTO_DIR); + if (pos > 0x3FFFFF) pos = 0x3FFFFF; + Xfer((byte)(pos >> 16)); + Xfer((byte)(pos >> 8)); + Xfer((byte)(pos)); +} + +void L6470::goUntil(byte act, byte dir, unsigned long spd){ + // GoUntil will set the motor running with direction dir (REV or + // FWD) until a falling edge is detected on the SW pin. Depending + // on bit SW_MODE in CONFIG, either a hard stop or a soft stop is + // performed at the falling edge, and depending on the value of + // act (either RESET or COPY) the value in the ABS_POS register is + // either RESET to 0 or COPY-ed into the MARK register. + Xfer(GO_UNTIL | act | dir); + if (spd > 0x3FFFFF) spd = 0x3FFFFF; + Xfer((byte)(spd >> 16)); + Xfer((byte)(spd >> 8)); + Xfer((byte)(spd)); +} + +void L6470::releaseSW(byte act, byte dir){ + // Similar in nature to GoUntil, ReleaseSW produces motion at the + // higher of two speeds: the value in MIN_SPEED or 5 steps/s. + // The motor continues to run at this speed until a rising edge + // is detected on the switch input, then a hard stop is performed + // and the ABS_POS register is either COPY-ed into MARK or RESET to + // 0, depending on whether RESET or COPY was passed to the function + // for act. + Xfer(RELEASE_SW | act | dir); +} + +void L6470::goHome(){ + // GoHome is equivalent to GoTo(0), but requires less time to send. + // Note that no direction is provided; motion occurs through shortest + // path. If a direction is required, use GoTo_DIR(). + Xfer(GO_HOME); +} + +void L6470::goMark(){ + // GoMark is equivalent to GoTo(MARK), but requires less time to send. + // Note that no direction is provided; motion occurs through shortest + // path. If a direction is required, use GoTo_DIR(). + Xfer(GO_MARK); +} + + +void L6470::setMark(long value){ + + Xfer(MARK); + if (value > 0x3FFFFF) value = 0x3FFFFF; + if (value < -0x3FFFFF) value = -0x3FFFFF; + + + Xfer((byte)(value >> 16)); + Xfer((byte)(value >> 8)); + Xfer((byte)(value)); +} + + +void L6470::setMark(){ + long value = getPos(); + + Xfer(MARK); + if (value > 0x3FFFFF) value = 0x3FFFFF; + if (value < -0x3FFFFF) value = -0x3FFFFF; + + + Xfer((byte)(value >> 16)); + Xfer((byte)(value >> 8)); + Xfer((byte)(value)); +} + +void L6470::setAsHome(){ + // Sets the ABS_POS register to 0, effectively declaring the current + // position to be "HOME". + Xfer(RESET_POS); +} + +void L6470::resetDev(){ + // Reset device to power up conditions. Equivalent to toggling the STBY + // pin or cycling power. + Xfer(RESET_DEVICE); +} + +void L6470::softStop(){ + // Bring the motor to a halt using the deceleration curve. + Xfer(SOFT_STOP); +} + +void L6470::hardStop(){ + // Stop the motor right away. No deceleration. + Xfer(HARD_STOP); +} + +void L6470::softFree(){ + // Decelerate the motor and disengage + Xfer(SOFT_HIZ); +} + +void L6470::free(){ + // disengage the motor immediately with no deceleration. + Xfer(HARD_HIZ); +} + +int L6470::getStatus(){ + // Fetch and return the 16-bit value in the STATUS register. Resets + // any warning flags and exits any error states. Using GetParam() + // to read STATUS does not clear these values. + int temp = 0; + Xfer(GET_STATUS); + temp = Xfer(0)<<8; + temp |= Xfer(0); + return temp; +} + +unsigned long L6470::AccCalc(float stepsPerSecPerSec){ + // The value in the ACC register is [(steps/s/s)*(tick^2)]/(2^-40) where tick is + // 250ns (datasheet value)- 0x08A on boot. + // Multiply desired steps/s/s by .137438 to get an appropriate value for this register. + // This is a 12-bit value, so we need to make sure the value is at or below 0xFFF. + float temp = stepsPerSecPerSec * 0.137438; + if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF; + else return (unsigned long) long(temp); +} + + +unsigned long L6470::DecCalc(float stepsPerSecPerSec){ + // The calculation for DEC is the same as for ACC. Value is 0x08A on boot. + // This is a 12-bit value, so we need to make sure the value is at or below 0xFFF. + float temp = stepsPerSecPerSec * 0.137438; + if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF; + else return (unsigned long) long(temp); +} + +unsigned long L6470::MaxSpdCalc(float stepsPerSec){ + // The value in the MAX_SPD register is [(steps/s)*(tick)]/(2^-18) where tick is + // 250ns (datasheet value)- 0x041 on boot. + // Multiply desired steps/s by .065536 to get an appropriate value for this register + // This is a 10-bit value, so we need to make sure it remains at or below 0x3FF + float temp = stepsPerSec * .065536; + if( (unsigned long) long(temp) > 0x000003FF) return 0x000003FF; + else return (unsigned long) long(temp); +} + +unsigned long L6470::MinSpdCalc(float stepsPerSec){ + // The value in the MIN_SPD register is [(steps/s)*(tick)]/(2^-24) where tick is + // 250ns (datasheet value)- 0x000 on boot. + // Multiply desired steps/s by 4.1943 to get an appropriate value for this register + // This is a 12-bit value, so we need to make sure the value is at or below 0xFFF. + float temp = stepsPerSec * 4.1943; + if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF; + else return (unsigned long) long(temp); +} + +unsigned long L6470::FSCalc(float stepsPerSec){ + // The value in the FS_SPD register is ([(steps/s)*(tick)]/(2^-18))-0.5 where tick is + // 250ns (datasheet value)- 0x027 on boot. + // Multiply desired steps/s by .065536 and subtract .5 to get an appropriate value for this register + // This is a 10-bit value, so we need to make sure the value is at or below 0x3FF. + float temp = (stepsPerSec * .065536)-.5; + if( (unsigned long) long(temp) > 0x000003FF) return 0x000003FF; + else return (unsigned long) long(temp); +} + +unsigned long L6470::IntSpdCalc(float stepsPerSec){ + // The value in the INT_SPD register is [(steps/s)*(tick)]/(2^-24) where tick is + // 250ns (datasheet value)- 0x408 on boot. + // Multiply desired steps/s by 4.1943 to get an appropriate value for this register + // This is a 14-bit value, so we need to make sure the value is at or below 0x3FFF. + float temp = stepsPerSec * 4.1943; + if( (unsigned long) long(temp) > 0x00003FFF) return 0x00003FFF; + else return (unsigned long) long(temp); +} + +unsigned long L6470::SpdCalc(float stepsPerSec){ + // When issuing RUN command, the 20-bit speed is [(steps/s)*(tick)]/(2^-28) where tick is + // 250ns (datasheet value). + // Multiply desired steps/s by 67.106 to get an appropriate value for this register + // This is a 20-bit value, so we need to make sure the value is at or below 0xFFFFF. + + float temp = stepsPerSec * 67.106; + if( (unsigned long) long(temp) > 0x000FFFFF) return 0x000FFFFF; + else return (unsigned long)temp; +} + +unsigned long L6470::Param(unsigned long value, byte bit_len){ + // Generalization of the subsections of the register read/write functionality. + // We want the end user to just write the value without worrying about length, + // so we pass a bit length parameter from the calling function. + unsigned long ret_val=0; // We'll return this to generalize this function + // for both read and write of registers. + byte byte_len = bit_len/8; // How many BYTES do we have? + if (bit_len%8 > 0) byte_len++; // Make sure not to lose any partial byte values. + // Let's make sure our value has no spurious bits set, and if the value was too + // high, max it out. + unsigned long mask = 0xffffffff >> (32-bit_len); + if (value > mask) value = mask; + // The following three if statements handle the various possible byte length + // transfers- it'll be no less than 1 but no more than 3 bytes of data. + // L6470::Xfer() sends a byte out through SPI and returns a byte received + // over SPI- when calling it, we typecast a shifted version of the masked + // value, then we shift the received value back by the same amount and + // store it until return time. + if (byte_len == 3) { + ret_val |= long(Xfer((byte)(value>>16))) << 16; + //Serial.println(ret_val, HEX); + } + if (byte_len >= 2) { + ret_val |= long(Xfer((byte)(value>>8))) << 8; + //Serial.println(ret_val, HEX); + } + if (byte_len >= 1) { + ret_val |= Xfer((byte)value); + //Serial.println(ret_val, HEX); + } + // Return the received values. Mask off any unnecessary bits, just for + // the sake of thoroughness- we don't EXPECT to see anything outside + // the bit length range but better to be safe than sorry. + return (ret_val & mask); +} + +byte L6470::Xfer(byte data){ + // This simple function shifts a byte out over SPI and receives a byte over + // SPI. Unusually for SPI devices, the dSPIN requires a toggling of the + // CS (slaveSelect) pin after each byte sent. That makes this function + // a bit more reasonable, because we can include more functionality in it. + byte data_out; + digitalWrite(_SSPin,LOW); + // SPI.transfer() both shifts a byte out on the MOSI pin AND receives a + // byte in on the MISO pin. + data_out = SPI.transfer(data); + digitalWrite(_SSPin,HIGH); + return data_out; +} + + + +void L6470::SetParam(byte param, unsigned long value){ + Xfer(SET_PARAM | param); + ParamHandler(param, value); +} + +unsigned long L6470::GetParam(byte param){ + // Realize the "get parameter" function, to read from the various registers in + // the dSPIN chip. + Xfer(GET_PARAM | param); + return ParamHandler(param, 0); +} + +long L6470::convert(unsigned long val){ + //convert 22bit 2s comp to signed long + int MSB = val >> 21; + + val = val << 11; + val = val >> 11; + + if(MSB == 1) val = val | 0b11111111111000000000000000000000; + return val; +} + +unsigned long L6470::ParamHandler(byte param, unsigned long value){ + // Much of the functionality between "get parameter" and "set parameter" is + // very similar, so we deal with that by putting all of it in one function + // here to save memory space and simplify the program. + unsigned long ret_val = 0; // This is a temp for the value to return. + // This switch structure handles the appropriate action for each register. + // This is necessary since not all registers are of the same length, either + // bit-wise or byte-wise, so we want to make sure we mask out any spurious + // bits and do the right number of transfers. That is handled by the dSPIN_Param() + // function, in most cases, but for 1-byte or smaller transfers, we call + // Xfer() directly. + switch (param) + { + // ABS_POS is the current absolute offset from home. It is a 22 bit number expressed + // in two's complement. At power up, this value is 0. It cannot be written when + // the motor is running, but at any other time, it can be updated to change the + // interpreted position of the motor. + case ABS_POS: + ret_val = Param(value, 22); + break; + // EL_POS is the current electrical position in the step generation cycle. It can + // be set when the motor is not in motion. Value is 0 on power up. + case EL_POS: + ret_val = Param(value, 9); + break; + // MARK is a second position other than 0 that the motor can be told to go to. As + // with ABS_POS, it is 22-bit two's complement. Value is 0 on power up. + case MARK: + ret_val = Param(value, 22); + break; + // SPEED contains information about the current speed. It is read-only. It does + // NOT provide direction information. + case SPEED: + ret_val = Param(0, 20); + break; + // ACC and DEC set the acceleration and deceleration rates. Set ACC to 0xFFF + // to get infinite acceleration/decelaeration- there is no way to get infinite + // deceleration w/o infinite acceleration (except the HARD STOP command). + // Cannot be written while motor is running. Both default to 0x08A on power up. + // AccCalc() and DecCalc() functions exist to convert steps/s/s values into + // 12-bit values for these two registers. + case ACC: + ret_val = Param(value, 12); + break; + case DEC: + ret_val = Param(value, 12); + break; + // MAX_SPEED is just what it says- any command which attempts to set the speed + // of the motor above this value will simply cause the motor to turn at this + // speed. Value is 0x041 on power up. + // MaxSpdCalc() function exists to convert steps/s value into a 10-bit value + // for this register. + case MAX_SPEED: + ret_val = Param(value, 10); + break; + // MIN_SPEED controls two things- the activation of the low-speed optimization + // feature and the lowest speed the motor will be allowed to operate at. LSPD_OPT + // is the 13th bit, and when it is set, the minimum allowed speed is automatically + // set to zero. This value is 0 on startup. + // MinSpdCalc() function exists to convert steps/s value into a 12-bit value for this + // register. SetLowSpeedOpt() function exists to enable/disable the optimization feature. + case MIN_SPEED: + ret_val = Param(value, 12); + break; + // FS_SPD register contains a threshold value above which microstepping is disabled + // and the dSPIN operates in full-step mode. Defaults to 0x027 on power up. + // FSCalc() function exists to convert steps/s value into 10-bit integer for this + // register. + case FS_SPD: + ret_val = Param(value, 10); + break; + // KVAL is the maximum voltage of the PWM outputs. These 8-bit values are ratiometric + // representations: 255 for full output voltage, 128 for half, etc. Default is 0x29. + // The implications of different KVAL settings is too complex to dig into here, but + // it will usually work to max the value for RUN, ACC, and DEC. Maxing the value for + // HOLD may result in excessive power dissipation when the motor is not running. + case KVAL_HOLD: + ret_val = Xfer((byte)value); + break; + case KVAL_RUN: + ret_val = Xfer((byte)value); + break; + case KVAL_ACC: + ret_val = Xfer((byte)value); + break; + case KVAL_DEC: + ret_val = Xfer((byte)value); + break; + // INT_SPD, ST_SLP, FN_SLP_ACC and FN_SLP_DEC are all related to the back EMF + // compensation functionality. Please see the datasheet for details of this + // function- it is too complex to discuss here. Default values seem to work + // well enough. + case INT_SPD: + ret_val = Param(value, 14); + break; + case ST_SLP: + ret_val = Xfer((byte)value); + break; + case FN_SLP_ACC: + ret_val = Xfer((byte)value); + break; + case FN_SLP_DEC: + ret_val = Xfer((byte)value); + break; + // K_THERM is motor winding thermal drift compensation. Please see the datasheet + // for full details on operation- the default value should be okay for most users. + case K_THERM: + ret_val = Xfer((byte)value & 0x0F); + break; + // ADC_OUT is a read-only register containing the result of the ADC measurements. + // This is less useful than it sounds; see the datasheet for more information. + case ADC_OUT: + ret_val = Xfer(0); + break; + // Set the overcurrent threshold. Ranges from 375mA to 6A in steps of 375mA. + // A set of defined constants is provided for the user's convenience. Default + // value is 3.375A- 0x08. This is a 4-bit value. + case OCD_TH: + ret_val = Xfer((byte)value & 0x0F); + break; + // Stall current threshold. Defaults to 0x40, or 2.03A. Value is from 31.25mA to + // 4A in 31.25mA steps. This is a 7-bit value. + case STALL_TH: + ret_val = Xfer((byte)value & 0x7F); + break; + // STEP_MODE controls the microstepping settings, as well as the generation of an + // output signal from the dSPIN. Bits 2:0 control the number of microsteps per + // step the part will generate. Bit 7 controls whether the BUSY/SYNC pin outputs + // a BUSY signal or a step synchronization signal. Bits 6:4 control the frequency + // of the output signal relative to the full-step frequency; see datasheet for + // that relationship as it is too complex to reproduce here. + // Most likely, only the microsteps per step value will be needed; there is a set + // of constants provided for ease of use of these values. + case STEP_MODE: + ret_val = Xfer((byte)value); + break; + // ALARM_EN controls which alarms will cause the FLAG pin to fall. A set of constants + // is provided to make this easy to interpret. By default, ALL alarms will trigger the + // FLAG pin. + case ALARM_EN: + ret_val = Xfer((byte)value); + break; + // CONFIG contains some assorted configuration bits and fields. A fairly comprehensive + // set of reasonably self-explanatory constants is provided, but users should refer + // to the datasheet before modifying the contents of this register to be certain they + // understand the implications of their modifications. Value on boot is 0x2E88; this + // can be a useful way to verify proper start up and operation of the dSPIN chip. + case CONFIG: + ret_val = Param(value, 16); + break; + // STATUS contains read-only information about the current condition of the chip. A + // comprehensive set of constants for masking and testing this register is provided, but + // users should refer to the datasheet to ensure that they fully understand each one of + // the bits in the register. + case STATUS: // STATUS is a read-only register + ret_val = Param(0, 16); + break; + default: + ret_val = Xfer((byte)(value)); + break; + } + return ret_val; +} diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/L6470/L6470.h b/ArduinoAddons/Arduino_1.x.x/libraries/L6470/L6470.h new file mode 100644 index 000000000..8b5768646 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/L6470/L6470.h @@ -0,0 +1,286 @@ +//////////////////////////////////////////////////////////// +//ORIGINAL CODE 12/12/2011- Mike Hord, SparkFun Electronics +//LIBRARY Created by Adam Meyer of bildr Aug 18th 2012 +//Released as MIT license +//////////////////////////////////////////////////////////// +#ifndef L6470_h +#define L6470_h + +#include +#include + +#define SLAVE_SELECT_PIN 38 // Wire this to the CSN pin +// #define RESET 6 // Wire this to the STBY line +#define BUSYN 7 // Wire this to the BSYN line + +// constant definitions for overcurrent thresholds. Write these values to +// register dSPIN_OCD_TH to set the level at which an overcurrent even occurs. +#define OCD_TH_375mA 0x00 +#define OCD_TH_750mA 0x01 +#define OCD_TH_1125mA 0x02 +#define OCD_TH_1500mA 0x03 +#define OCD_TH_1875mA 0x04 +#define OCD_TH_2250mA 0x05 +#define OCD_TH_2625mA 0x06 +#define OCD_TH_3000mA 0x07 +#define OCD_TH_3375mA 0x08 +#define OCD_TH_3750mA 0x09 +#define OCD_TH_4125mA 0x0A +#define OCD_TH_4500mA 0x0B +#define OCD_TH_4875mA 0x0C +#define OCD_TH_5250mA 0x0D +#define OCD_TH_5625mA 0x0E +#define OCD_TH_6000mA 0x0F + +// STEP_MODE option values. +// First comes the "microsteps per step" options... +#define STEP_MODE_STEP_SEL 0x07 // Mask for these bits only. +#define STEP_SEL_1 0x00 +#define STEP_SEL_1_2 0x01 +#define STEP_SEL_1_4 0x02 +#define STEP_SEL_1_8 0x03 +#define STEP_SEL_1_16 0x04 +#define STEP_SEL_1_32 0x05 +#define STEP_SEL_1_64 0x06 +#define STEP_SEL_1_128 0x07 + +// ...next, define the SYNC_EN bit. When set, the BUSYN pin will instead +// output a clock related to the full-step frequency as defined by the +// SYNC_SEL bits below. +#define STEP_MODE_SYNC_EN 0x80 // Mask for this bit +#define SYNC_EN 0x80 + +// ...last, define the SYNC_SEL modes. The clock output is defined by +// the full-step frequency and the value in these bits- see the datasheet +// for a matrix describing that relationship (page 46). +#define STEP_MODE_SYNC_SEL 0x70 +#define SYNC_SEL_1_2 0x00 +#define SYNC_SEL_1 0x10 +#define SYNC_SEL_2 0x20 +#define SYNC_SEL_4 0x30 +#define SYNC_SEL_8 0x40 +#define SYNC_SEL_16 0x50 +#define SYNC_SEL_32 0x60 +#define SYNC_SEL_64 0x70 + +// Bit names for the ALARM_EN register. +// Each of these bits defines one potential alarm condition. +// When one of these conditions occurs and the respective bit in ALARM_EN is set, +// the FLAG pin will go low. The register must be queried to determine which event +// caused the alarm. +#define ALARM_EN_OVERCURRENT 0x01 +#define ALARM_EN_THERMAL_SHUTDOWN 0x02 +#define ALARM_EN_THERMAL_WARNING 0x04 +#define ALARM_EN_UNDER_VOLTAGE 0x08 +#define ALARM_EN_STALL_DET_A 0x10 +#define ALARM_EN_STALL_DET_B 0x20 +#define ALARM_EN_SW_TURN_ON 0x40 +#define ALARM_EN_WRONG_NPERF_CMD 0x80 + +// CONFIG register renames. + +// Oscillator options. +// The dSPIN needs to know what the clock frequency is because it uses that for some +// calculations during operation. +#define CONFIG_OSC_SEL 0x000F // Mask for this bit field. +#define CONFIG_INT_16MHZ 0x0000 // Internal 16MHz, no output +#define CONFIG_INT_16MHZ_OSCOUT_2MHZ 0x0008 // Default; internal 16MHz, 2MHz output +#define CONFIG_INT_16MHZ_OSCOUT_4MHZ 0x0009 // Internal 16MHz, 4MHz output +#define CONFIG_INT_16MHZ_OSCOUT_8MHZ 0x000A // Internal 16MHz, 8MHz output +#define CONFIG_INT_16MHZ_OSCOUT_16MHZ 0x000B // Internal 16MHz, 16MHz output +#define CONFIG_EXT_8MHZ_XTAL_DRIVE 0x0004 // External 8MHz crystal +#define CONFIG_EXT_16MHZ_XTAL_DRIVE 0x0005 // External 16MHz crystal +#define CONFIG_EXT_24MHZ_XTAL_DRIVE 0x0006 // External 24MHz crystal +#define CONFIG_EXT_32MHZ_XTAL_DRIVE 0x0007 // External 32MHz crystal +#define CONFIG_EXT_8MHZ_OSCOUT_INVERT 0x000C // External 8MHz crystal, output inverted +#define CONFIG_EXT_16MHZ_OSCOUT_INVERT 0x000D // External 16MHz crystal, output inverted +#define CONFIG_EXT_24MHZ_OSCOUT_INVERT 0x000E // External 24MHz crystal, output inverted +#define CONFIG_EXT_32MHZ_OSCOUT_INVERT 0x000F // External 32MHz crystal, output inverted + +// Configure the functionality of the external switch input +#define CONFIG_SW_MODE 0x0010 // Mask for this bit. +#define CONFIG_SW_HARD_STOP 0x0000 // Default; hard stop motor on switch. +#define CONFIG_SW_USER 0x0010 // Tie to the GoUntil and ReleaseSW + // commands to provide jog function. + // See page 25 of datasheet. + +// Configure the motor voltage compensation mode (see page 34 of datasheet) +#define CONFIG_EN_VSCOMP 0x0020 // Mask for this bit. +#define CONFIG_VS_COMP_DISABLE 0x0000 // Disable motor voltage compensation. +#define CONFIG_VS_COMP_ENABLE 0x0020 // Enable motor voltage compensation. + +// Configure overcurrent detection event handling +#define CONFIG_OC_SD 0x0080 // Mask for this bit. +#define CONFIG_OC_SD_DISABLE 0x0000 // Bridges do NOT shutdown on OC detect +#define CONFIG_OC_SD_ENABLE 0x0080 // Bridges shutdown on OC detect + +// Configure the slew rate of the power bridge output +#define CONFIG_POW_SR 0x0300 // Mask for this bit field. +#define CONFIG_SR_180V_us 0x0000 // 180V/us +#define CONFIG_SR_290V_us 0x0200 // 290V/us +#define CONFIG_SR_530V_us 0x0300 // 530V/us + +// Integer divisors for PWM sinewave generation +// See page 32 of the datasheet for more information on this. +#define CONFIG_F_PWM_DEC 0x1C00 // mask for this bit field +#define CONFIG_PWM_MUL_0_625 (0x00)<<10 +#define CONFIG_PWM_MUL_0_75 (0x01)<<10 +#define CONFIG_PWM_MUL_0_875 (0x02)<<10 +#define CONFIG_PWM_MUL_1 (0x03)<<10 +#define CONFIG_PWM_MUL_1_25 (0x04)<<10 +#define CONFIG_PWM_MUL_1_5 (0x05)<<10 +#define CONFIG_PWM_MUL_1_75 (0x06)<<10 +#define CONFIG_PWM_MUL_2 (0x07)<<10 + +// Multiplier for the PWM sinewave frequency +#define CONFIG_F_PWM_INT 0xE000 // mask for this bit field. +#define CONFIG_PWM_DIV_1 (0x00)<<13 +#define CONFIG_PWM_DIV_2 (0x01)<<13 +#define CONFIG_PWM_DIV_3 (0x02)<<13 +#define CONFIG_PWM_DIV_4 (0x03)<<13 +#define CONFIG_PWM_DIV_5 (0x04)<<13 +#define CONFIG_PWM_DIV_6 (0x05)<<13 +#define CONFIG_PWM_DIV_7 (0x06)<<13 + +// Status register bit renames- read-only bits conferring information about the +// device to the user. +#define STATUS_HIZ 0x0001 // high when bridges are in HiZ mode +#define STATUS_BUSY 0x0002 // mirrors BUSY pin +#define STATUS_SW_F 0x0004 // low when switch open, high when closed +#define STATUS_SW_EVN 0x0008 // active high, set on switch falling edge, + // cleared by reading STATUS +#define STATUS_DIR 0x0010 // Indicates current motor direction. + // High is FWD, Low is REV. +#define STATUS_NOTPERF_CMD 0x0080 // Last command not performed. +#define STATUS_WRONG_CMD 0x0100 // Last command not valid. +#define STATUS_UVLO 0x0200 // Undervoltage lockout is active +#define STATUS_TH_WRN 0x0400 // Thermal warning +#define STATUS_TH_SD 0x0800 // Thermal shutdown +#define STATUS_OCD 0x1000 // Overcurrent detected +#define STATUS_STEP_LOSS_A 0x2000 // Stall detected on A bridge +#define STATUS_STEP_LOSS_B 0x4000 // Stall detected on B bridge +#define STATUS_SCK_MOD 0x8000 // Step clock mode is active + +// Status register motor status field +#define STATUS_MOT_STATUS 0x0060 // field mask +#define STATUS_MOT_STATUS_STOPPED (0x0000)<<13 // Motor stopped +#define STATUS_MOT_STATUS_ACCELERATION (0x0001)<<13 // Motor accelerating +#define STATUS_MOT_STATUS_DECELERATION (0x0002)<<13 // Motor decelerating +#define STATUS_MOT_STATUS_CONST_SPD (0x0003)<<13 // Motor at constant speed + +// Register address redefines. +// See the Param_Handler() function for more info about these. +#define ABS_POS 0x01 +#define EL_POS 0x02 +#define MARK 0x03 +#define SPEED 0x04 +#define ACC 0x05 +#define DEC 0x06 +#define MAX_SPEED 0x07 +#define MIN_SPEED 0x08 +#define FS_SPD 0x15 +#define KVAL_HOLD 0x09 +#define KVAL_RUN 0x0A +#define KVAL_ACC 0x0B +#define KVAL_DEC 0x0C +#define INT_SPD 0x0D +#define ST_SLP 0x0E +#define FN_SLP_ACC 0x0F +#define FN_SLP_DEC 0x10 +#define K_THERM 0x11 +#define ADC_OUT 0x12 +#define OCD_TH 0x13 +#define STALL_TH 0x14 +#define STEP_MODE 0x16 +#define ALARM_EN 0x17 +#define CONFIG 0x18 +#define STATUS 0x19 + +//dSPIN commands +#define NOP 0x00 +#define SET_PARAM 0x00 +#define GET_PARAM 0x20 +#define RUN 0x50 +#define STEP_CLOCK 0x58 +#define MOVE 0x40 +#define GOTO 0x60 +#define GOTO_DIR 0x68 +#define GO_UNTIL 0x82 +#define RELEASE_SW 0x92 +#define GO_HOME 0x70 +#define GO_MARK 0x78 +#define RESET_POS 0xD8 +#define RESET_DEVICE 0xC0 +#define SOFT_STOP 0xB0 +#define HARD_STOP 0xB8 +#define SOFT_HIZ 0xA0 +#define HARD_HIZ 0xA8 +#define GET_STATUS 0xD0 + +/* dSPIN direction options */ +#define FWD 0x01 +#define REV 0x00 + +/* dSPIN action options */ +#define ACTION_RESET 0x00 +#define ACTION_COPY 0x01 + + +class L6470{ + + public: + + L6470(int SSPin); + void init(int k_value); + void setMicroSteps(int microSteps); + void setCurrent(int current); + void setMaxSpeed(int speed); + void setMinSpeed(int speed); + void setAcc(float acceleration); + void setDec(float deceleration); + void setOverCurrent(unsigned int ma_current); + void setThresholdSpeed(float threshold); + void setStallCurrent(float ma_current); + + unsigned long ParamHandler(byte param, unsigned long value); + void SetLowSpeedOpt(boolean enable); + void run(byte dir, float spd); + void Step_Clock(byte dir); + void goHome(); + void setAsHome(); + void goMark(); + void move(long n_step); + void goTo(long pos); + void goTo_DIR(byte dir, long pos); + void goUntil(byte act, byte dir, unsigned long spd); + boolean isBusy(); + void releaseSW(byte act, byte dir); + float getSpeed(); + long getPos(); + void setMark(); + void setMark(long value); + void resetPos(); + void resetDev(); + void softStop(); + void hardStop(); + void softFree(); + void free(); + int getStatus(); + void SetParam(byte param, unsigned long value); + + private: + long convert(unsigned long val); + unsigned long GetParam(byte param); + unsigned long AccCalc(float stepsPerSecPerSec); + unsigned long DecCalc(float stepsPerSecPerSec); + unsigned long MaxSpdCalc(float stepsPerSec); + unsigned long MinSpdCalc(float stepsPerSec); + unsigned long FSCalc(float stepsPerSec); + unsigned long IntSpdCalc(float stepsPerSec); + unsigned long SpdCalc(float stepsPerSec); + unsigned long Param(unsigned long value, byte bit_len); + byte Xfer(byte data); + int _SSPin; +}; + +#endif diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/L6470/keywords.txt b/ArduinoAddons/Arduino_1.x.x/libraries/L6470/keywords.txt new file mode 100644 index 000000000..7caa3d019 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/L6470/keywords.txt @@ -0,0 +1,53 @@ +####################################################### +# keywords.txt - keywords file for the L6470 library +# +# ORIGINAL CODE 12/12/2011- Mike Hord, SparkFun Electronics +# Library by Adam Meyer of bildr Aug 18th 2012 +# +# Released as MIT license +####################################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +L6470 KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### + +L6470 KEYWORD2 +init KEYWORD2 +setMicroSteps KEYWORD2 +setCurrent KEYWORD2 +setMaxSpeed KEYWORD2 +setMinSpeed KEYWORD2 +setAcc KEYWORD2 +setDec KEYWORD2 +setOverCurrent KEYWORD2 +setThresholdSpeed KEYWORD2 +setStallCurrent KEYWORD2 +ParamHandler KEYWORD2 +SetLowSpeedOpt KEYWORD2 +run KEYWORD2 +Step_Clock KEYWORD2 +goHome KEYWORD2 +goMark KEYWORD2 +move KEYWORD2 +goTo KEYWORD2 +goTo_DIR KEYWORD2 +goUntil KEYWORD2 +isBusy KEYWORD2 +releaseSW KEYWORD2 +resetPos KEYWORD2 +resetDev KEYWORD2 +softStop KEYWORD2 +hardStop KEYWORD2 +softHiZ KEYWORD2 +hardHiZ KEYWORD2 +getStatus KEYWORD2 + +####################################### +# Constants (LITERAL1) +####################################### \ No newline at end of file diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/.gitignore b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/.gitignore new file mode 100644 index 000000000..c0f77e480 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/.gitignore @@ -0,0 +1,17 @@ +#mac stuff +.DS_Store + +#eclipse stuff +.classpath +.project + +#processing stuff +generated/ +examples/TMC26XMotorTester/processing/TMC26XMotorTest/application.*/ +examples/TMC26XMotorTester/processing/TMC26XMotorTest/application.* + +#eagle stuff +schematics/*.b#? +schematics/*.s#? + +*.zip diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/Doxyfile b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/Doxyfile new file mode 100644 index 000000000..e169f0608 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/Doxyfile @@ -0,0 +1,1813 @@ +# Doxyfile 1.7.6.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. 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An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding +# "class=itcl::class" will allow you to use the command class in the +# itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or +# section (for LaTeX and RTF). + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and +# unions with only public data fields will be shown inline in the documentation +# of the scope in which they are defined (i.e. file, namespace, or group +# documentation), provided this scope is documented. If set to NO (the default), +# structs, classes, and unions are shown on a separate page (for HTML and Man +# pages) or section (for LaTeX and RTF). + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +SYMBOL_CACHE_SIZE = 0 + +# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be +# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given +# their name and scope. Since this can be an expensive process and often the +# same symbol appear multiple times in the code, doxygen keeps a cache of +# pre-resolved symbols. If the cache is too small doxygen will become slower. +# If the cache is too large, memory is wasted. The cache size is given by this +# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 28 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this +# feature you need bibtex and perl available in the search path. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = /Users/marcus/Arduino/libraries/TMC26XStepper + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.d \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.idl \ + *.odl \ + *.cs \ + *.php \ + *.php3 \ + *.inc \ + *.m \ + *.mm \ + *.dox \ + *.py \ + *.f90 \ + *.f \ + *.for \ + *.vhd \ + *.vhdl + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is advised to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when +# changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# style sheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the style sheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) +# at top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. Since the tabs have the same information as the +# navigation tree you can set this option to NO if you already set +# GENERATE_TREEVIEW to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. +# Since the tree basically has the same information as the tab index you +# could consider to set DISABLE_INDEX to NO when enabling this option. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax +# before deployment. + +MATHJAX_RELPATH = http://www.mathjax.org/mathjax + +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# names that should be enabled during MathJax rendering. + +MATHJAX_EXTENSIONS = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = NO + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# http://en.wikipedia.org/wiki/BibTeX for more info. + +LATEX_BIB_STYLE = plain + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load style sheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# pointed to by INCLUDE_PATH will be searched when a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to +# install and use dot, since it yields more powerful graphs. + +CLASS_DIAGRAMS = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = NO + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance +# between CPU load and processing speed. + +DOT_NUM_THREADS = 0 + +# By default doxygen will use the Helvetica font for all dot files that +# doxygen generates. When you want a differently looking font you can specify +# the font name using DOT_FONTNAME. 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This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/LICENSE b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/LICENSE new file mode 100644 index 000000000..11f5603ba --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/LICENSE @@ -0,0 +1,10 @@ + +Copyright (c) 2012 Interactive Matter + +based on the stepper library by Tom Igoe, et. al. + +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. diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/README.rst b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/README.rst new file mode 100644 index 000000000..648f3e253 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/README.rst @@ -0,0 +1,71 @@ +Arduino TMC26X Stepper Motor Controller Library +=============================================== + +License +------- + +TMC26XStepper.cpp - - TMC 260/261/262 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. + +About +----- + +The TMC26X is a stepper motor controller for bipolar stepper motors. From the trinamic web site: + + The TMC262 is the first energy efficient high current high precision microstepping driver + IC for bipolar stepper motors. The unique high resolution sensorless load detection stallGuard2™ + is used to for the world’s first integrated load dependent current control feature called coolStep™. + The ability to read out the load and detect an overload makes the TMC262 an optimum choice for + drives where a high reliability is desired at a low cost. The new patented spreadCycle PWM mixed + decay chopper scheme ensures best zero crossing performance as well as high speed operation. + The TMC262 can be driven with Step & Direction signals as well as by serial SPI™ interface. + Using the microPlyer allows to operate the motor with highest 256 μStep smoothness reducing the + input frequency to 16 μSteps. A full set of protection and diagnostic features makes this device + very rugged. It directly drives external MOSFETs for currents of up to 6A. This way it reaches + highest energy efficiency and allows driving of a high motor current without cooling measures + even at high environment temperatures. + + +The unique features of the TMC26X are that everything can (and must) be controlled in software: + +* the motor current +* microstepping +* stall protection +* current reduction according to load +* stallGuard2™ sensorless load detection +* coolStep™ load dependent current control +* spreadCycle hysteresis PWM chopper +* microPlyer 16-to-256 μStep multiplier +* full protection and diagnostics + +This makes the TMC26X a bit harder to use than other stepper motors but much more versatile. +This library resolves all the complicated stuff so that you can use TMC26X straight away. +Furthermore, all the settings are implemented in high level interfaces so that configuring your +motor is a breeze. + +How to use +---------- + +Check out the Setup Guide here: +And the How To here: \ No newline at end of file diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/TMC26XStepper.cpp b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/TMC26XStepper.cpp new file mode 100644 index 000000000..389264ca4 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/TMC26XStepper.cpp @@ -0,0 +1,999 @@ +/* + 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. + + */ + +#if defined(ARDUINO) && ARDUINO >= 100 + #include +#else + #include +#endif +#include +#include "TMC26XStepper.h" + +//some default values used in initialization +#define DEFAULT_MICROSTEPPING_VALUE 32 + +//TMC26X register definitions +#define DRIVER_CONTROL_REGISTER 0x0ul +#define CHOPPER_CONFIG_REGISTER 0x80000ul +#define COOL_STEP_REGISTER 0xA0000ul +#define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul +#define DRIVER_CONFIG_REGISTER 0xE0000ul + +#define REGISTER_BIT_PATTERN 0xFFFFFul + +//definitions for the driver control register +#define MICROSTEPPING_PATTERN 0xFul +#define STEP_INTERPOLATION 0x200ul +#define DOUBLE_EDGE_STEP 0x100ul +#define VSENSE 0x40ul +#define READ_MICROSTEP_POSTION 0x0ul +#define READ_STALL_GUARD_READING 0x10ul +#define READ_STALL_GUARD_AND_COOL_STEP 0x20ul +#define READ_SELECTION_PATTERN 0x30ul + +//definitions for the chopper config register +#define CHOPPER_MODE_STANDARD 0x0ul +#define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000ul +#define T_OFF_PATTERN 0xful +#define RANDOM_TOFF_TIME 0x2000ul +#define BLANK_TIMING_PATTERN 0x18000ul +#define BLANK_TIMING_SHIFT 15 +#define HYSTERESIS_DECREMENT_PATTERN 0x1800ul +#define HYSTERESIS_DECREMENT_SHIFT 11 +#define HYSTERESIS_LOW_VALUE_PATTERN 0x780ul +#define HYSTERESIS_LOW_SHIFT 7 +#define HYSTERESIS_START_VALUE_PATTERN 0x78ul +#define HYSTERESIS_START_VALUE_SHIFT 4 +#define T_OFF_TIMING_PATERN 0xFul + +//definitions for cool step register +#define MINIMUM_CURRENT_FOURTH 0x8000ul +#define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000ul +#define SE_MAX_PATTERN 0xF00ul +#define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul +#define SE_MIN_PATTERN 0xful + +//definitions for stall guard2 current register +#define STALL_GUARD_FILTER_ENABLED 0x10000ul +#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul +#define CURRENT_SCALING_PATTERN 0x1Ful +#define STALL_GUARD_CONFIG_PATTERN 0x17F00ul +#define STALL_GUARD_VALUE_PATTERN 0x7F00ul + +//definitions for the input from the TCM260 +#define STATUS_STALL_GUARD_STATUS 0x1ul +#define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2ul +#define STATUS_OVER_TEMPERATURE_WARNING 0x4ul +#define STATUS_SHORT_TO_GROUND_A 0x8ul +#define STATUS_SHORT_TO_GROUND_B 0x10ul +#define STATUS_OPEN_LOAD_A 0x20ul +#define STATUS_OPEN_LOAD_B 0x40ul +#define STATUS_STAND_STILL 0x80ul +#define READOUT_VALUE_PATTERN 0xFFC00ul + +//default values +#define INITIAL_MICROSTEPPING 0x3ul //32th microstepping + +//debuging output +//#define DEBUG + +/* + * Constructor + * number_of_steps - the steps per rotation + * cs_pin - the SPI client select pin + * dir_pin - the pin where the direction pin is connected + * step_pin - the pin where the step pin is connected + */ +TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor) +{ + //we are not started yet + started=false; + //by default cool step is not enabled + cool_step_enabled=false; + + //save the pins for later use + this->cs_pin=cs_pin; + this->dir_pin=dir_pin; + this->step_pin = step_pin; + + //store the current sense resistor value for later use + this->resistor = resistor; + + //initizalize our status values + this->steps_left = 0; + this->direction = 0; + + //initialize register values + driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING; + chopper_config_register=CHOPPER_CONFIG_REGISTER; + + //setting the default register values + driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING; + microsteps = (1 << INITIAL_MICROSTEPPING); + chopper_config_register=CHOPPER_CONFIG_REGISTER; + cool_step_register_value=COOL_STEP_REGISTER; + stall_guard2_current_register_value=STALL_GUARD2_LOAD_MEASURE_REGISTER; + driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING; + + //set the current + setCurrent(current); + //set to a conservative start value + setConstantOffTimeChopper(7, 54, 13,12,1); + //set a nice microstepping value + setMicrosteps(DEFAULT_MICROSTEPPING_VALUE); + //save the number of steps + this->number_of_steps = number_of_steps; +} + + +/* + * start & configure the stepper driver + * just must be called. + */ +void TMC26XStepper::start() { + +#ifdef DEBUG + Serial.println("TMC26X stepper library"); + Serial.print("CS pin: "); + Serial.println(cs_pin); + Serial.print("DIR pin: "); + Serial.println(dir_pin); + Serial.print("STEP pin: "); + Serial.println(step_pin); + Serial.print("current scaling: "); + Serial.println(current_scaling,DEC); +#endif + //set the pins as output & its initial value + pinMode(step_pin, OUTPUT); + pinMode(dir_pin, OUTPUT); + pinMode(cs_pin, OUTPUT); + digitalWrite(step_pin, LOW); + digitalWrite(dir_pin, LOW); + digitalWrite(cs_pin, HIGH); + + //configure the SPI interface + SPI.setBitOrder(MSBFIRST); + SPI.setClockDivider(SPI_CLOCK_DIV8); + //todo this does not work reliably - find a way to foolprof set it (e.g. while communicating + //SPI.setDataMode(SPI_MODE3); + SPI.begin(); + + //set the initial values + send262(driver_control_register_value); + send262(chopper_config_register); + send262(cool_step_register_value); + send262(stall_guard2_current_register_value); + send262(driver_configuration_register_value); + + //save that we are in running mode + started=true; +} + +/* + Mark the driver as unstarted to be able to start it again + */ +void TMC26XStepper::un_start() { + started=false; +} + + +/* + Sets the speed in revs per minute + +*/ +void TMC26XStepper::setSpeed(unsigned int whatSpeed) +{ + this->speed = whatSpeed; + this->step_delay = (60UL * 1000UL * 1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps); +#ifdef DEBUG + Serial.print("Step delay in micros: "); + Serial.println(this->step_delay); +#endif + //update the next step time + this->next_step_time = this->last_step_time+this->step_delay; + +} + +unsigned int TMC26XStepper::getSpeed(void) { + return this->speed; +} + +/* + Moves the motor steps_to_move steps. If the number is negative, + the motor moves in the reverse direction. + */ +char TMC26XStepper::step(int steps_to_move) +{ + if (this->steps_left==0) { + this->steps_left = abs(steps_to_move); // how many steps to take + + // determine direction based on whether steps_to_mode is + or -: + if (steps_to_move > 0) { + this->direction = 1; + } else if (steps_to_move < 0) { + this->direction = 0; + } + return 0; + } else { + return -1; + } +} + +char TMC26XStepper::move(void) { + // decrement the number of steps, moving one step each time: + if(this->steps_left>0) { + unsigned long time = micros(); + // move only if the appropriate delay has passed: + if (time >= this->next_step_time) { + // increment or decrement the step number, + // depending on direction: + if (this->direction == 1) { + digitalWrite(step_pin, HIGH); + } else { + digitalWrite(dir_pin, HIGH); + digitalWrite(step_pin, HIGH); + } + // get the timeStamp of when you stepped: + this->last_step_time = time; + this->next_step_time = time+this->step_delay; + // decrement the steps left: + steps_left--; + //disable the step & dir pins + digitalWrite(step_pin, LOW); + digitalWrite(dir_pin, LOW); + } + return -1; + } + return 0; +} + +char TMC26XStepper::isMoving(void) { + return (this->steps_left>0); +} + +unsigned int TMC26XStepper::getStepsLeft(void) { + return this->steps_left; +} + +char TMC26XStepper::stop(void) { + //note to self if the motor is currently moving + char state = isMoving(); + //stop the motor + this->steps_left = 0; + this->direction = 0; + //return if it was moving + return state; +} + +void TMC26XStepper::setCurrent(unsigned int current) { + unsigned char current_scaling = 0; + //calculate the current scaling from the max current setting (in mA) + double mASetting = (double)current; + double resistor_value = (double) this->resistor; + // remove vesense flag + this->driver_configuration_register_value &= ~(VSENSE); + //this is derrived from I=(cs+1)/32*(Vsense/Rsense) + //leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V and I = 1000*current) + //with Rsense=0,15 + //for vsense = 0,310V (VSENSE not set) + //or vsense = 0,165V (VSENSE set) + 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 + + //check if the current scalingis too low + if (current_scaling<16) { + //set the csense bit to get a use half the sense voltage (to support lower motor currents) + this->driver_configuration_register_value |= VSENSE; + //and recalculate the current setting + 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 +#ifdef DEBUG + Serial.print("CS (Vsense=1): "); + Serial.println(current_scaling); + } else { + Serial.print("CS: "); + Serial.println(current_scaling); +#endif + } + + //do some sanity checks + if (current_scaling>31) { + current_scaling=31; + } + //delete the old value + stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN); + //set the new current scaling + stall_guard2_current_register_value |= current_scaling; + //if started we directly send it to the motor + if (started) { + send262(driver_configuration_register_value); + send262(stall_guard2_current_register_value); + } +} + +unsigned int TMC26XStepper::getCurrent(void) { + //we calculate the current according to the datasheet to be on the safe side + //this is not the fastest but the most accurate and illustrative way + double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN); + 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; +} + +void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) { + if (stall_guard_threshold<-64) { + stall_guard_threshold = -64; + //We just have 5 bits + } else if (stall_guard_threshold > 63) { + stall_guard_threshold = 63; + } + //add trim down to 7 bits + stall_guard_threshold &=0x7f; + //delete old stall guard settings + stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN); + if (stall_guard_filter_enabled) { + stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED; + } + //Set the new stall guard threshold + stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN); + //if started we directly send it to the motor + if (started) { + send262(stall_guard2_current_register_value); + } +} + +char TMC26XStepper::getStallGuardThreshold(void) { + unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN; + //shift it down to bit 0 + stall_guard_threshold >>=8; + //convert the value to an int to correctly handle the negative numbers + char result = stall_guard_threshold; + //check if it is negative and fill it up with leading 1 for proper negative number representation + if (result & _BV(6)) { + result |= 0xC0; + } + return result; +} + +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))<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; +} \ No newline at end of file diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/TMC26XStepper.h b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/TMC26XStepper.h new file mode 100644 index 000000000..b5d51316a --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/TMC26XStepper.h @@ -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 + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8cpp.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8cpp.html new file mode 100644 index 000000000..a577ca3ea --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8cpp.html @@ -0,0 +1,848 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: TMC26XStepper.cpp File Reference + + + + + + + + +
+ + +
+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
+ +
+
+ + + + +
+
+
+Defines
+
+
TMC26XStepper.cpp File Reference
+
+
+
#include <WProgram.h>
+#include <SPI.h>
+#include "TMC26XStepper.h"
+
+

Go to the source code of this file.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Defines

#define DEFAULT_MICROSTEPPING_VALUE   32
#define DRIVER_CONTROL_REGISTER   0x0ul
#define CHOPPER_CONFIG_REGISTER   0x80000ul
#define COOL_STEP_REGISTER   0xA0000ul
#define STALL_GUARD2_LOAD_MEASURE_REGISTER   0xC0000ul
#define DRIVER_CONFIG_REGISTER   0xE0000ul
#define REGISTER_BIT_PATTERN   0xFFFFFul
#define MICROSTEPPING_PATTERN   0xFul
#define STEP_INTERPOLATION   0x200ul
#define DOUBLE_EDGE_STEP   0x100ul
#define VSENSE   0x40ul
#define READ_MICROSTEP_POSTION   0x0ul
#define READ_STALL_GUARD_READING   0x10ul
#define READ_STALL_GUARD_AND_COOL_STEP   0x20ul
#define READ_SELECTION_PATTERN   0x30ul
#define CHOPPER_MODE_STANDARD   0x0ul
#define CHOPPER_MODE_T_OFF_FAST_DECAY   0x4000ul
#define T_OFF_PATTERN   0xful
#define RANDOM_TOFF_TIME   0x2000ul
#define BLANK_TIMING_PATTERN   0x18000ul
#define BLANK_TIMING_SHIFT   15
#define HYSTERESIS_DECREMENT_PATTERN   0x1800ul
#define HYSTERESIS_DECREMENT_SHIFT   11
#define HYSTERESIS_LOW_VALUE_PATTERN   0x780ul
#define HYSTERESIS_LOW_SHIFT   7
#define HYSTERESIS_START_VALUE_PATTERN   0x78ul
#define HYSTERESIS_START_VALUE_SHIFT   4
#define T_OFF_TIMING_PATERN   0xFul
#define MINIMUM_CURRENT_FOURTH   0x8000ul
#define CURRENT_DOWN_STEP_SPEED_PATTERN   0x6000ul
#define SE_MAX_PATTERN   0xF00ul
#define SE_CURRENT_STEP_WIDTH_PATTERN   0x60ul
#define SE_MIN_PATTERN   0xful
#define STALL_GUARD_FILTER_ENABLED   0x10000ul
#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN   0x17F00ul
#define CURRENT_SCALING_PATTERN   0x1Ful
#define STALL_GUARD_CONFIG_PATTERN   0x17F00ul
#define STALL_GUARD_VALUE_PATTERN   0x7F00ul
#define STATUS_STALL_GUARD_STATUS   0x1ul
#define STATUS_OVER_TEMPERATURE_SHUTDOWN   0x2ul
#define STATUS_OVER_TEMPERATURE_WARNING   0x4ul
#define STATUS_SHORT_TO_GROUND_A   0x8ul
#define STATUS_SHORT_TO_GROUND_B   0x10ul
#define STATUS_OPEN_LOAD_A   0x20ul
#define STATUS_OPEN_LOAD_B   0x40ul
#define STATUS_STAND_STILL   0x80ul
#define READOUT_VALUE_PATTERN   0xFFC00ul
#define INITIAL_MICROSTEPPING   0x3ul
+

Define Documentation

+ +
+
+ + + + +
#define BLANK_TIMING_PATTERN   0x18000ul
+
+
+ +

Definition at line 63 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define BLANK_TIMING_SHIFT   15
+
+
+ +

Definition at line 64 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define CHOPPER_CONFIG_REGISTER   0x80000ul
+
+
+ +

Definition at line 41 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define CHOPPER_MODE_STANDARD   0x0ul
+
+
+ +

Definition at line 59 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define CHOPPER_MODE_T_OFF_FAST_DECAY   0x4000ul
+
+
+ +

Definition at line 60 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define COOL_STEP_REGISTER   0xA0000ul
+
+
+ +

Definition at line 42 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define CURRENT_DOWN_STEP_SPEED_PATTERN   0x6000ul
+
+
+ +

Definition at line 75 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define CURRENT_SCALING_PATTERN   0x1Ful
+
+
+ +

Definition at line 83 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define DEFAULT_MICROSTEPPING_VALUE   32
+
+
+ +

Definition at line 37 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define DOUBLE_EDGE_STEP   0x100ul
+
+
+ +

Definition at line 51 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define DRIVER_CONFIG_REGISTER   0xE0000ul
+
+
+ +

Definition at line 44 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define DRIVER_CONTROL_REGISTER   0x0ul
+
+
+ +

Definition at line 40 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define HYSTERESIS_DECREMENT_PATTERN   0x1800ul
+
+
+ +

Definition at line 65 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define HYSTERESIS_DECREMENT_SHIFT   11
+
+
+ +

Definition at line 66 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define HYSTERESIS_LOW_SHIFT   7
+
+
+ +

Definition at line 68 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define HYSTERESIS_LOW_VALUE_PATTERN   0x780ul
+
+
+ +

Definition at line 67 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define HYSTERESIS_START_VALUE_PATTERN   0x78ul
+
+
+ +

Definition at line 69 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define HYSTERESIS_START_VALUE_SHIFT   4
+
+
+ +

Definition at line 70 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define INITIAL_MICROSTEPPING   0x3ul
+
+
+ +

Definition at line 99 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define MICROSTEPPING_PATTERN   0xFul
+
+
+ +

Definition at line 49 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define MINIMUM_CURRENT_FOURTH   0x8000ul
+
+
+ +

Definition at line 74 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define RANDOM_TOFF_TIME   0x2000ul
+
+
+ +

Definition at line 62 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define READ_MICROSTEP_POSTION   0x0ul
+
+
+ +

Definition at line 53 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define READ_SELECTION_PATTERN   0x30ul
+
+
+ +

Definition at line 56 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define READ_STALL_GUARD_AND_COOL_STEP   0x20ul
+
+
+ +

Definition at line 55 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define READ_STALL_GUARD_READING   0x10ul
+
+
+ +

Definition at line 54 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define READOUT_VALUE_PATTERN   0xFFC00ul
+
+
+ +

Definition at line 96 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define REGISTER_BIT_PATTERN   0xFFFFFul
+
+
+ +

Definition at line 46 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define SE_CURRENT_STEP_WIDTH_PATTERN   0x60ul
+
+
+ +

Definition at line 77 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define SE_MAX_PATTERN   0xF00ul
+
+
+ +

Definition at line 76 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define SE_MIN_PATTERN   0xful
+
+
+ +

Definition at line 78 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STALL_GUARD2_LOAD_MEASURE_REGISTER   0xC0000ul
+
+
+ +

Definition at line 43 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STALL_GUARD_CONFIG_PATTERN   0x17F00ul
+
+
+ +

Definition at line 84 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STALL_GUARD_FILTER_ENABLED   0x10000ul
+
+
+ +

Definition at line 81 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN   0x17F00ul
+
+
+ +

Definition at line 82 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STALL_GUARD_VALUE_PATTERN   0x7F00ul
+
+
+ +

Definition at line 85 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STATUS_OPEN_LOAD_A   0x20ul
+
+
+ +

Definition at line 93 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STATUS_OPEN_LOAD_B   0x40ul
+
+
+ +

Definition at line 94 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STATUS_OVER_TEMPERATURE_SHUTDOWN   0x2ul
+
+
+ +

Definition at line 89 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STATUS_OVER_TEMPERATURE_WARNING   0x4ul
+
+
+ +

Definition at line 90 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STATUS_SHORT_TO_GROUND_A   0x8ul
+
+
+ +

Definition at line 91 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STATUS_SHORT_TO_GROUND_B   0x10ul
+
+
+ +

Definition at line 92 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STATUS_STALL_GUARD_STATUS   0x1ul
+
+
+ +

Definition at line 88 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STATUS_STAND_STILL   0x80ul
+
+
+ +

Definition at line 95 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define STEP_INTERPOLATION   0x200ul
+
+
+ +

Definition at line 50 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define T_OFF_PATTERN   0xful
+
+
+ +

Definition at line 61 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define T_OFF_TIMING_PATERN   0xFul
+
+
+ +

Definition at line 71 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + +
#define VSENSE   0x40ul
+
+
+ +

Definition at line 52 of file TMC26XStepper.cpp.

+ +
+
+
+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8cpp_source.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8cpp_source.html new file mode 100644 index 000000000..f7f4741ce --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8cpp_source.html @@ -0,0 +1,1067 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: TMC26XStepper.cpp Source File + + + + + + + + +
+ + +
+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
+ +
+
+ + + + +
+
+
+
TMC26XStepper.cpp
+
+
+Go to the documentation of this file.
00001 /*
+00002  TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - Version 0.1
+00003  
+00004  based on the stepper library by Tom Igoe, et. al.
+00005  
+00006  Copyright (c) 2011, Interactive Matter, Marcus Nowotny
+00007  
+00008  Permission is hereby granted, free of charge, to any person obtaining a copy
+00009  of this software and associated documentation files (the "Software"), to deal
+00010  in the Software without restriction, including without limitation the rights
+00011  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+00012  copies of the Software, and to permit persons to whom the Software is
+00013  furnished to do so, subject to the following conditions:
+00014  
+00015  The above copyright notice and this permission notice shall be included in
+00016  all copies or substantial portions of the Software.
+00017  
+00018  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+00019  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+00020  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+00021  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+00022  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+00023  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+00024  THE SOFTWARE.
+00025  
+00026  */
+00027 
+00028 #if defined(ARDUINO) && ARDUINO >= 100
+00029         #include <Arduino.h>
+00030 #else
+00031         #include <WProgram.h>
+00032 #endif
+00033 #include <SPI.h>
+00034 #include "TMC26XStepper.h"
+00035 
+00036 //some default values used in initialization
+00037 #define DEFAULT_MICROSTEPPING_VALUE 32
+00038 
+00039 //TMC26X register definitions
+00040 #define DRIVER_CONTROL_REGISTER 0x0ul
+00041 #define CHOPPER_CONFIG_REGISTER 0x80000ul
+00042 #define COOL_STEP_REGISTER  0xA0000ul
+00043 #define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul
+00044 #define DRIVER_CONFIG_REGISTER 0xE0000ul
+00045 
+00046 #define REGISTER_BIT_PATTERN 0xFFFFFul
+00047 
+00048 //definitions for the driver control register
+00049 #define MICROSTEPPING_PATTERN 0xFul
+00050 #define STEP_INTERPOLATION 0x200ul
+00051 #define DOUBLE_EDGE_STEP 0x100ul
+00052 #define VSENSE 0x40ul
+00053 #define READ_MICROSTEP_POSTION 0x0ul
+00054 #define READ_STALL_GUARD_READING 0x10ul
+00055 #define READ_STALL_GUARD_AND_COOL_STEP 0x20ul
+00056 #define READ_SELECTION_PATTERN 0x30ul
+00057 
+00058 //definitions for the chopper config register
+00059 #define CHOPPER_MODE_STANDARD 0x0ul
+00060 #define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000ul
+00061 #define T_OFF_PATTERN 0xful
+00062 #define RANDOM_TOFF_TIME 0x2000ul
+00063 #define BLANK_TIMING_PATTERN 0x18000ul
+00064 #define BLANK_TIMING_SHIFT 15
+00065 #define HYSTERESIS_DECREMENT_PATTERN 0x1800ul
+00066 #define HYSTERESIS_DECREMENT_SHIFT 11
+00067 #define HYSTERESIS_LOW_VALUE_PATTERN 0x780ul
+00068 #define HYSTERESIS_LOW_SHIFT 7
+00069 #define HYSTERESIS_START_VALUE_PATTERN 0x78ul
+00070 #define HYSTERESIS_START_VALUE_SHIFT 4
+00071 #define T_OFF_TIMING_PATERN 0xFul
+00072 
+00073 //definitions for cool step register
+00074 #define MINIMUM_CURRENT_FOURTH 0x8000ul
+00075 #define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000ul
+00076 #define SE_MAX_PATTERN 0xF00ul
+00077 #define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul
+00078 #define SE_MIN_PATTERN 0xful
+00079 
+00080 //definitions for stall guard2 current register
+00081 #define STALL_GUARD_FILTER_ENABLED 0x10000ul
+00082 #define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul
+00083 #define CURRENT_SCALING_PATTERN 0x1Ful
+00084 #define STALL_GUARD_CONFIG_PATTERN 0x17F00ul
+00085 #define STALL_GUARD_VALUE_PATTERN 0x7F00ul
+00086 
+00087 //definitions for the input from the TCM260
+00088 #define STATUS_STALL_GUARD_STATUS 0x1ul
+00089 #define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2ul
+00090 #define STATUS_OVER_TEMPERATURE_WARNING 0x4ul
+00091 #define STATUS_SHORT_TO_GROUND_A 0x8ul
+00092 #define STATUS_SHORT_TO_GROUND_B 0x10ul
+00093 #define STATUS_OPEN_LOAD_A 0x20ul
+00094 #define STATUS_OPEN_LOAD_B 0x40ul
+00095 #define STATUS_STAND_STILL 0x80ul
+00096 #define READOUT_VALUE_PATTERN 0xFFC00ul
+00097 
+00098 //default values
+00099 #define INITIAL_MICROSTEPPING 0x3ul //32th microstepping
+00100 
+00101 //debuging output
+00102 //#define DEBUG
+00103 
+00104 /*
+00105  * Constructor
+00106  * number_of_steps - the steps per rotation
+00107  * cs_pin - the SPI client select pin
+00108  * dir_pin - the pin where the direction pin is connected
+00109  * step_pin - the pin where the step pin is connected
+00110  */
+00111 TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor)
+00112 {
+00113         //we are not started yet
+00114         started=false;
+00115     //by default cool step is not enabled
+00116     cool_step_enabled=false;
+00117         
+00118         //save the pins for later use
+00119         this->cs_pin=cs_pin;
+00120         this->dir_pin=dir_pin;
+00121         this->step_pin = step_pin;
+00122     
+00123     //store the current sense resistor value for later use
+00124     this->resistor = resistor;
+00125         
+00126         //initizalize our status values
+00127         this->steps_left = 0;
+00128         this->direction = 0;
+00129         
+00130         //initialize register values
+00131         driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING;
+00132         chopper_config_register=CHOPPER_CONFIG_REGISTER;
+00133         
+00134         //setting the default register values
+00135         driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING;
+00136         microsteps = (1 << INITIAL_MICROSTEPPING);
+00137         chopper_config_register=CHOPPER_CONFIG_REGISTER;
+00138         cool_step_register_value=COOL_STEP_REGISTER;
+00139         stall_guard2_current_register_value=STALL_GUARD2_LOAD_MEASURE_REGISTER;
+00140         driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
+00141 
+00142         //set the current
+00143         setCurrent(current);
+00144         //set to a conservative start value
+00145         setConstantOffTimeChopper(7, 54, 13,12,1);
+00146     //set a nice microstepping value
+00147     setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
+00148     //save the number of steps
+00149     this->number_of_steps =   number_of_steps;
+00150 }
+00151 
+00152 
+00153 /*
+00154  * start & configure the stepper driver
+00155  * just must be called.
+00156  */
+00157 void TMC26XStepper::start() {
+00158 
+00159 #ifdef DEBUG    
+00160         Serial.println("TMC26X stepper library");
+00161         Serial.print("CS pin: ");
+00162         Serial.println(cs_pin);
+00163         Serial.print("DIR pin: ");
+00164         Serial.println(dir_pin);
+00165         Serial.print("STEP pin: ");
+00166         Serial.println(step_pin);
+00167         Serial.print("current scaling: ");
+00168         Serial.println(current_scaling,DEC);
+00169 #endif
+00170         //set the pins as output & its initial value
+00171         pinMode(step_pin, OUTPUT);     
+00172         pinMode(dir_pin, OUTPUT);     
+00173         pinMode(cs_pin, OUTPUT);     
+00174         digitalWrite(step_pin, LOW);     
+00175         digitalWrite(dir_pin, LOW);     
+00176         digitalWrite(cs_pin, HIGH);   
+00177         
+00178         //configure the SPI interface
+00179     SPI.setBitOrder(MSBFIRST);
+00180         SPI.setClockDivider(SPI_CLOCK_DIV8);
+00181         //todo this does not work reliably - find a way to foolprof set it (e.g. while communicating
+00182         //SPI.setDataMode(SPI_MODE3);
+00183         SPI.begin();
+00184                 
+00185         //set the initial values
+00186         send262(driver_control_register_value); 
+00187         send262(chopper_config_register);
+00188         send262(cool_step_register_value);
+00189         send262(stall_guard2_current_register_value);
+00190         send262(driver_configuration_register_value);
+00191         
+00192         //save that we are in running mode
+00193         started=true;
+00194 }
+00195 
+00196 /*
+00197  Mark the driver as unstarted to be able to start it again
+00198  */
+00199 void TMC26XStepper::un_start() {
+00200     started=false;
+00201 }
+00202 
+00203 
+00204 /*
+00205   Sets the speed in revs per minute
+00206 
+00207 */
+00208 void TMC26XStepper::setSpeed(unsigned int whatSpeed)
+00209 {
+00210   this->speed = whatSpeed;
+00211   this->step_delay = (60UL * 1000UL * 1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps);
+00212 #ifdef DEBUG
+00213     Serial.print("Step delay in micros: ");
+00214     Serial.println(this->step_delay);
+00215 #endif
+00216     //update the next step time
+00217     this->next_step_time = this->last_step_time+this->step_delay; 
+00218 
+00219 }
+00220 
+00221 unsigned int TMC26XStepper::getSpeed(void) {
+00222     return this->speed;
+00223 }
+00224 
+00225 /*
+00226   Moves the motor steps_to_move steps.  If the number is negative, 
+00227    the motor moves in the reverse direction.
+00228  */
+00229 char TMC26XStepper::step(int steps_to_move)
+00230 {  
+00231         if (this->steps_left==0) {
+00232                 this->steps_left = abs(steps_to_move);  // how many steps to take
+00233   
+00234                 // determine direction based on whether steps_to_mode is + or -:
+00235                 if (steps_to_move > 0) {
+00236                         this->direction = 1;
+00237                 } else if (steps_to_move < 0) {
+00238                         this->direction = 0;
+00239                 }
+00240                 return 0;
+00241     } else {
+00242         return -1;
+00243     }
+00244 }
+00245 
+00246 char TMC26XStepper::move(void) {
+00247   // decrement the number of steps, moving one step each time:
+00248   if(this->steps_left>0) {
+00249       unsigned long time = micros();  
+00250           // move only if the appropriate delay has passed:
+00251          if (time >= this->next_step_time) {
+00252                 // increment or decrement the step number,
+00253                 // depending on direction:
+00254                 if (this->direction == 1) {
+00255                         digitalWrite(step_pin, HIGH);
+00256         } else { 
+00257                   digitalWrite(dir_pin, HIGH);
+00258                   digitalWrite(step_pin, HIGH);
+00259             }
+00260         // get the timeStamp of when you stepped:
+00261         this->last_step_time = time;
+00262         this->next_step_time = time+this->step_delay; 
+00263         // decrement the steps left:
+00264         steps_left--;
+00265                 //disable the step & dir pins
+00266                 digitalWrite(step_pin, LOW);
+00267                 digitalWrite(dir_pin, LOW);
+00268         }
+00269         return -1;
+00270         }
+00271     return 0;
+00272 }
+00273 
+00274 char TMC26XStepper::isMoving(void) {
+00275         return (this->steps_left>0);
+00276 }
+00277 
+00278 unsigned int TMC26XStepper::getStepsLeft(void) {
+00279         return this->steps_left;
+00280 }
+00281 
+00282 char TMC26XStepper::stop(void) {
+00283         //note to self if the motor is currently moving
+00284         char state = isMoving();
+00285         //stop the motor
+00286         this->steps_left = 0;
+00287         this->direction = 0;
+00288         //return if it was moving
+00289         return state;
+00290 }
+00291 
+00292 void TMC26XStepper::setCurrent(unsigned int current) {
+00293     unsigned char current_scaling = 0;
+00294         //calculate the current scaling from the max current setting (in mA)
+00295         double mASetting = (double)current;
+00296     double resistor_value = (double) this->resistor;
+00297         // remove vesense flag
+00298         this->driver_configuration_register_value &= ~(VSENSE); 
+00299         //this is derrived from I=(cs+1)/32*(Vsense/Rsense)
+00300     //leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V  and I = 1000*current)
+00301         //with Rsense=0,15
+00302         //for vsense = 0,310V (VSENSE not set)
+00303         //or vsense = 0,165V (VSENSE set)
+00304         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
+00305         
+00306         //check if the current scalingis too low
+00307         if (current_scaling<16) {
+00308         //set the csense bit to get a use half the sense voltage (to support lower motor currents)
+00309                 this->driver_configuration_register_value |= VSENSE;
+00310         //and recalculate the current setting
+00311         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
+00312 #ifdef DEBUG
+00313                 Serial.print("CS (Vsense=1): ");
+00314                 Serial.println(current_scaling);
+00315         } else {
+00316         Serial.print("CS: ");
+00317         Serial.println(current_scaling);
+00318 #endif
+00319     }
+00320 
+00321         //do some sanity checks
+00322         if (current_scaling>31) {
+00323                 current_scaling=31;
+00324         }
+00325         //delete the old value
+00326         stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
+00327         //set the new current scaling
+00328         stall_guard2_current_register_value |= current_scaling;
+00329         //if started we directly send it to the motor
+00330         if (started) {
+00331         send262(driver_configuration_register_value);
+00332                 send262(stall_guard2_current_register_value);
+00333         }
+00334 }
+00335 
+00336 unsigned int TMC26XStepper::getCurrent(void) {
+00337     //we calculate the current according to the datasheet to be on the safe side
+00338     //this is not the fastest but the most accurate and illustrative way
+00339     double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN);
+00340     double resistor_value = (double)this->resistor;
+00341     double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31;
+00342     result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
+00343     return (unsigned int)result;
+00344 }
+00345 
+00346 void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) {
+00347         if (stall_guard_threshold<-64) {
+00348                 stall_guard_threshold = -64;
+00349         //We just have 5 bits   
+00350         } else if (stall_guard_threshold > 63) {
+00351                 stall_guard_threshold = 63;
+00352         }
+00353         //add trim down to 7 bits
+00354         stall_guard_threshold &=0x7f;
+00355         //delete old stall guard settings
+00356         stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
+00357         if (stall_guard_filter_enabled) {
+00358                 stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
+00359         }
+00360         //Set the new stall guard threshold
+00361         stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
+00362         //if started we directly send it to the motor
+00363         if (started) {
+00364                 send262(stall_guard2_current_register_value);
+00365         }
+00366 }
+00367 
+00368 char TMC26XStepper::getStallGuardThreshold(void) {
+00369     unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
+00370     //shift it down to bit 0
+00371     stall_guard_threshold >>=8;
+00372     //convert the value to an int to correctly handle the negative numbers
+00373     char result = stall_guard_threshold;
+00374     //check if it is negative and fill it up with leading 1 for proper negative number representation
+00375     if (result & _BV(6)) {
+00376         result |= 0xC0;
+00377     }
+00378     return result;
+00379 }
+00380 
+00381 char TMC26XStepper::getStallGuardFilter(void) {
+00382     if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED) {
+00383         return -1;
+00384     } else {
+00385         return 0;
+00386     }
+00387 }
+00388 /*
+00389  * Set the number of microsteps per step.
+00390  * 0,2,4,8,16,32,64,128,256 is supported
+00391  * any value in between will be mapped to the next smaller value
+00392  * 0 and 1 set the motor in full step mode
+00393  */
+00394 void TMC26XStepper::setMicrosteps(int number_of_steps) {
+00395         long setting_pattern;
+00396         //poor mans log
+00397         if (number_of_steps>=256) {
+00398                 setting_pattern=0;
+00399                 microsteps=256;
+00400         } else if (number_of_steps>=128) {
+00401                 setting_pattern=1;
+00402                 microsteps=128;
+00403         } else if (number_of_steps>=64) {
+00404                 setting_pattern=2;
+00405                 microsteps=64;
+00406         } else if (number_of_steps>=32) {
+00407                 setting_pattern=3;
+00408                 microsteps=32;
+00409         } else if (number_of_steps>=16) {
+00410                 setting_pattern=4;
+00411                 microsteps=16;
+00412         } else if (number_of_steps>=8) {
+00413                 setting_pattern=5;
+00414                 microsteps=8;
+00415         } else if (number_of_steps>=4) {
+00416                 setting_pattern=6;
+00417                 microsteps=4;
+00418         } else if (number_of_steps>=2) {
+00419                 setting_pattern=7;
+00420                 microsteps=2;
+00421     //1 and 0 lead to full step
+00422         } else if (number_of_steps<=1) {
+00423                 setting_pattern=8;
+00424                 microsteps=1;
+00425         }
+00426 #ifdef DEBUG
+00427         Serial.print("Microstepping: ");
+00428         Serial.println(microsteps);
+00429 #endif
+00430         //delete the old value
+00431         this->driver_control_register_value &=0xFFFF0ul;
+00432         //set the new value
+00433         this->driver_control_register_value |=setting_pattern;
+00434         
+00435         //if started we directly send it to the motor
+00436         if (started) {
+00437                 send262(driver_control_register_value);
+00438         }
+00439     //recalculate the stepping delay by simply setting the speed again
+00440     this->setSpeed(this->speed);
+00441 }
+00442 
+00443 /*
+00444  * returns the effective number of microsteps at the moment
+00445  */
+00446 int TMC26XStepper::getMicrosteps(void) {
+00447         return microsteps;
+00448 }
+00449 
+00450 /*
+00451  * constant_off_time: The off time setting controls the minimum chopper frequency. 
+00452  * For most applications an off time within     the range of 5μs to 20μs will fit.
+00453  *              2...15: off time setting
+00454  *
+00455  * blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
+00456  * duration of the ringing on the sense resistor. For
+00457  *              0: min. setting 3: max. setting
+00458  *
+00459  * fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle.
+00460  *              0: slow decay only
+00461  *              1...15: duration of fast decay phase
+00462  *
+00463  * sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset. 
+00464  * A positive offset corrects for zero crossing error.
+00465  *              -3..-1: negative offset 0: no offset 1...12: positive offset
+00466  *
+00467  * use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle. 
+00468  * If current comparator is enabled, it terminates the fast decay cycle in case the current 
+00469  * reaches a higher negative value than the actual positive value.
+00470  *              1: enable comparator termination of fast decay cycle
+00471  *              0: end by time only
+00472  */
+00473 void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) {
+00474         //perform some sanity checks
+00475         if (constant_off_time<2) {
+00476                 constant_off_time=2;
+00477         } else if (constant_off_time>15) {
+00478                 constant_off_time=15;
+00479         }
+00480     //save the constant off time
+00481     this->constant_off_time = constant_off_time;
+00482         char blank_value;
+00483         //calculate the value acc to the clock cycles
+00484         if (blank_time>=54) {
+00485                 blank_value=3;
+00486         } else if (blank_time>=36) {
+00487                 blank_value=2;
+00488         } else if (blank_time>=24) {
+00489                 blank_value=1;
+00490         } else {
+00491                 blank_value=0;
+00492         }
+00493         if (fast_decay_time_setting<0) {
+00494                 fast_decay_time_setting=0;
+00495         } else if (fast_decay_time_setting>15) {
+00496                 fast_decay_time_setting=15;
+00497         }
+00498         if (sine_wave_offset < -3) {
+00499                 sine_wave_offset = -3;
+00500         } else if (sine_wave_offset>12) {
+00501                 sine_wave_offset = 12;
+00502         }
+00503         //shift the sine_wave_offset
+00504         sine_wave_offset +=3;
+00505         
+00506         //calculate the register setting
+00507         //first of all delete all the values for this
+00508         chopper_config_register &= ~((1<<12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
+00509         //set the constant off pattern
+00510         chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
+00511         //set the blank timing value
+00512         chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
+00513         //setting the constant off time
+00514         chopper_config_register |= constant_off_time;
+00515         //set the fast decay time
+00516         //set msb
+00517         chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8))<<HYSTERESIS_DECREMENT_SHIFT);
+00518         //other bits
+00519         chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7))<<HYSTERESIS_START_VALUE_SHIFT);
+00520         //set the sine wave offset
+00521         chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
+00522         //using the current comparator?
+00523         if (!use_current_comparator) {
+00524                 chopper_config_register |= (1<<12);
+00525         }
+00526         //if started we directly send it to the motor
+00527         if (started) {
+00528                 send262(driver_control_register_value);
+00529         }       
+00530 }
+00531 
+00532 /*
+00533  * constant_off_time: The off time setting controls the minimum chopper frequency. 
+00534  * For most applications an off time within     the range of 5μs to 20μs will fit.
+00535  *              2...15: off time setting
+00536  *
+00537  * blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
+00538  * duration of the ringing on the sense resistor. For
+00539  *              0: min. setting 3: max. setting
+00540  *
+00541  * hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND.
+00542  *              1...8
+00543  *
+00544  * hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC. 
+00545  * The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
+00546  *              -3..-1: negative HEND 0: zero HEND 1...12: positive HEND
+00547  *
+00548  * hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
+00549  *              0: fast decrement 3: very slow decrement
+00550  */
+00551 
+00552 void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) {
+00553         //perform some sanity checks
+00554         if (constant_off_time<2) {
+00555                 constant_off_time=2;
+00556         } else if (constant_off_time>15) {
+00557                 constant_off_time=15;
+00558         }
+00559     //save the constant off time
+00560     this->constant_off_time = constant_off_time;
+00561         char blank_value;
+00562         //calculate the value acc to the clock cycles
+00563         if (blank_time>=54) {
+00564                 blank_value=3;
+00565         } else if (blank_time>=36) {
+00566                 blank_value=2;
+00567         } else if (blank_time>=24) {
+00568                 blank_value=1;
+00569         } else {
+00570                 blank_value=0;
+00571         }
+00572         if (hysteresis_start<1) {
+00573                 hysteresis_start=1;
+00574         } else if (hysteresis_start>8) {
+00575                 hysteresis_start=8;
+00576         }
+00577         hysteresis_start--;
+00578 
+00579         if (hysteresis_end < -3) {
+00580                 hysteresis_end = -3;
+00581         } else if (hysteresis_end>12) {
+00582                 hysteresis_end = 12;
+00583         }
+00584         //shift the hysteresis_end
+00585         hysteresis_end +=3;
+00586 
+00587         if (hysteresis_decrement<0) {
+00588                 hysteresis_decrement=0;
+00589         } else if (hysteresis_decrement>3) {
+00590                 hysteresis_decrement=3;
+00591         }
+00592         
+00593         //first of all delete all the values for this
+00594         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);
+00595 
+00596         //set the blank timing value
+00597         chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
+00598         //setting the constant off time
+00599         chopper_config_register |= constant_off_time;
+00600         //set the hysteresis_start
+00601         chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
+00602         //set the hysteresis end
+00603         chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
+00604         //set the hystereis decrement
+00605         chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
+00606         //if started we directly send it to the motor
+00607         if (started) {
+00608                 send262(driver_control_register_value);
+00609         }       
+00610 }
+00611 
+00612 /*
+00613  * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. 
+00614  * 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. 
+00615  * 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 
+00616  * few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc. 
+00617  * Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
+00618  * Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages 
+00619  * (please refer to sense resistor layout hint in chapter 8.1).
+00620  * In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. 
+00621  * It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum, 
+00622  * reducing electromagnetic emission on single frequencies.
+00623  */
+00624 void TMC26XStepper::setRandomOffTime(char value) {
+00625         if (value) {
+00626                 chopper_config_register |= RANDOM_TOFF_TIME;
+00627         } else {
+00628                 chopper_config_register &= ~(RANDOM_TOFF_TIME);
+00629         }
+00630         //if started we directly send it to the motor
+00631         if (started) {
+00632                 send262(driver_control_register_value);
+00633         }       
+00634 }       
+00635 
+00636 void TMC26XStepper::setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
+00637                               unsigned char current_increment_step_size, unsigned char lower_current_limit) {
+00638     //sanitize the input values
+00639     if (lower_SG_threshold>480) {
+00640         lower_SG_threshold = 480;
+00641     }
+00642     //divide by 32
+00643     lower_SG_threshold >>=5;
+00644     if (SG_hysteresis>480) {
+00645         SG_hysteresis=480;
+00646     }
+00647     //divide by 32
+00648     SG_hysteresis >>=5;
+00649     if (current_decrement_step_size>3) {
+00650         current_decrement_step_size=3;
+00651     }
+00652     if (current_increment_step_size>3) {
+00653         current_increment_step_size=3;
+00654     }
+00655     if (lower_current_limit>1) {
+00656         lower_current_limit=1;
+00657     }
+00658     //store the lower level in order to enable/disable the cool step
+00659     this->cool_step_lower_threshold=lower_SG_threshold;
+00660     //if cool step is not enabled we delete the lower value to keep it disabled
+00661     if (!this->cool_step_enabled) {
+00662         lower_SG_threshold=0;
+00663     }
+00664     //the good news is that we can start with a complete new cool step register value
+00665     //and simply set the values in the register
+00666     cool_step_register_value = ((unsigned long)lower_SG_threshold) | (((unsigned long)SG_hysteresis)<<8) | (((unsigned long)current_decrement_step_size)<<5)
+00667         | (((unsigned long)current_increment_step_size)<<13) | (((unsigned long)lower_current_limit)<<15)
+00668         //and of course we have to include the signature of the register
+00669         | COOL_STEP_REGISTER;
+00670     //Serial.println(cool_step_register_value,HEX);
+00671     if (started) {
+00672         send262(cool_step_register_value);
+00673     }
+00674 }
+00675 
+00676 void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
+00677     //simply delete the lower limit to disable the cool step
+00678     cool_step_register_value &= ~SE_MIN_PATTERN;
+00679     //and set it to the proper value if cool step is to be enabled
+00680     if (enabled) {
+00681         cool_step_register_value |=this->cool_step_lower_threshold;
+00682     }
+00683     //and save the enabled status
+00684     this->cool_step_enabled = enabled;
+00685     //save the register value
+00686     if (started) {
+00687         send262(cool_step_register_value);
+00688     }
+00689 }
+00690 
+00691 boolean TMC26XStepper::isCoolStepEnabled(void) {
+00692     return this->cool_step_enabled;
+00693 }
+00694 
+00695 unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() {
+00696     //we return our internally stored value - in order to provide the correct setting even if cool step is not enabled
+00697     return this->cool_step_lower_threshold<<5;
+00698 }
+00699 
+00700 unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() {
+00701     return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN)>>8)<<5;
+00702 }
+00703 
+00704 unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() {
+00705     return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN)>>13);
+00706 }
+00707 
+00708 unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() {
+00709     return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN)>>5);
+00710 }
+00711 
+00712 unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() {
+00713     return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH)>>15);
+00714 }
+00715 
+00716 void TMC26XStepper::setEnabled(boolean enabled) {
+00717     //delete the t_off in the chopper config to get sure
+00718     chopper_config_register &= ~(T_OFF_PATTERN);
+00719     if (enabled) {
+00720         //and set the t_off time
+00721         chopper_config_register |= this->constant_off_time;
+00722     }
+00723     //if not enabled we don't have to do anything since we already delete t_off from the register
+00724         if (started) {
+00725                 send262(chopper_config_register);
+00726         }       
+00727 }
+00728 
+00729 boolean TMC26XStepper::isEnabled() {
+00730     if (chopper_config_register & T_OFF_PATTERN) {
+00731         return true;
+00732     } else {
+00733         return false;
+00734     }
+00735 }
+00736 
+00737 /*
+00738  * reads a value from the TMC26X status register. The value is not obtained directly but can then 
+00739  * be read by the various status routines.
+00740  *
+00741  */
+00742 void TMC26XStepper::readStatus(char read_value) {
+00743     unsigned long old_driver_configuration_register_value = driver_configuration_register_value;
+00744         //reset the readout configuration
+00745         driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
+00746         //this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
+00747         if (read_value == TMC26X_READOUT_STALLGUARD) {
+00748                 driver_configuration_register_value |= READ_STALL_GUARD_READING;
+00749         } else if (read_value == TMC26X_READOUT_CURRENT) {
+00750                 driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP;
+00751         }
+00752         //all other cases are ignored to prevent funny values
+00753     //check if the readout is configured for the value we are interested in
+00754     if (driver_configuration_register_value!=old_driver_configuration_register_value) {
+00755             //because then we need to write the value twice - one time for configuring, second time to get the value, see below
+00756             send262(driver_configuration_register_value);
+00757         }
+00758     //write the configuration to get the last status    
+00759         send262(driver_configuration_register_value);
+00760 }
+00761 
+00762 int TMC26XStepper::getMotorPosition(void) {
+00763         //we read it out even if we are not started yet - perhaps it is useful information for somebody
+00764         readStatus(TMC26X_READOUT_POSITION);
+00765     return getReadoutValue();
+00766 }
+00767 
+00768 //reads the stall guard setting from last status
+00769 //returns -1 if stallguard information is not present
+00770 int TMC26XStepper::getCurrentStallGuardReading(void) {
+00771         //if we don't yet started there cannot be a stall guard value
+00772         if (!started) {
+00773                 return -1;
+00774         }
+00775         //not time optimal, but solution optiomal:
+00776         //first read out the stall guard value
+00777         readStatus(TMC26X_READOUT_STALLGUARD);
+00778         return getReadoutValue();
+00779 }
+00780 
+00781 unsigned char TMC26XStepper::getCurrentCSReading(void) {
+00782         //if we don't yet started there cannot be a stall guard value
+00783         if (!started) {
+00784                 return 0;
+00785         }
+00786         //not time optimal, but solution optiomal:
+00787         //first read out the stall guard value
+00788         readStatus(TMC26X_READOUT_CURRENT);
+00789         return (getReadoutValue() & 0x1f);
+00790 }
+00791 
+00792 unsigned int TMC26XStepper::getCurrentCurrent(void) {
+00793     double result = (double)getCurrentCSReading();
+00794     double resistor_value = (double)this->resistor;
+00795     double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31;
+00796     result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
+00797     return (unsigned int)result;
+00798 }
+00799 
+00800 /*
+00801  return true if the stallguard threshold has been reached
+00802 */
+00803 boolean TMC26XStepper::isStallGuardOverThreshold(void) {
+00804         if (!this->started) {
+00805                 return false;
+00806         }
+00807         return (driver_status_result & STATUS_STALL_GUARD_STATUS);
+00808 }
+00809 
+00810 /*
+00811  returns if there is any over temperature condition:
+00812  OVER_TEMPERATURE_PREWARING if pre warning level has been reached
+00813  OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down
+00814  Any of those levels are not too good.
+00815 */
+00816 char TMC26XStepper::getOverTemperature(void) {
+00817         if (!this->started) {
+00818                 return 0;
+00819         }
+00820         if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN) {
+00821                 return TMC26X_OVERTEMPERATURE_SHUTDOWN;
+00822         }
+00823         if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING) {
+00824                 return TMC26X_OVERTEMPERATURE_PREWARING;
+00825         }
+00826         return 0;
+00827 }
+00828 
+00829 //is motor channel A shorted to ground
+00830 boolean TMC26XStepper::isShortToGroundA(void) {
+00831         if (!this->started) {
+00832                 return false;
+00833         }
+00834         return (driver_status_result & STATUS_SHORT_TO_GROUND_A);
+00835 }
+00836 
+00837 //is motor channel B shorted to ground
+00838 boolean TMC26XStepper::isShortToGroundB(void) {
+00839         if (!this->started) {
+00840                 return false;
+00841         }
+00842         return (driver_status_result & STATUS_SHORT_TO_GROUND_B);
+00843 }
+00844 
+00845 //is motor channel A connected
+00846 boolean TMC26XStepper::isOpenLoadA(void) {
+00847         if (!this->started) {
+00848                 return false;
+00849         }
+00850         return (driver_status_result & STATUS_OPEN_LOAD_A);
+00851 }
+00852 
+00853 //is motor channel B connected
+00854 boolean TMC26XStepper::isOpenLoadB(void) {
+00855         if (!this->started) {
+00856                 return false;
+00857         }
+00858         return (driver_status_result & STATUS_OPEN_LOAD_B);
+00859 }
+00860 
+00861 //is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
+00862 boolean TMC26XStepper::isStandStill(void) {
+00863         if (!this->started) {
+00864                 return false;
+00865         }
+00866         return (driver_status_result & STATUS_STAND_STILL);
+00867 }
+00868 
+00869 //is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
+00870 boolean TMC26XStepper::isStallGuardReached(void) {
+00871         if (!this->started) {
+00872                 return false;
+00873         }
+00874         return (driver_status_result & STATUS_STALL_GUARD_STATUS);
+00875 }
+00876 
+00877 //reads the stall guard setting from last status
+00878 //returns -1 if stallguard inforamtion is not present
+00879 int TMC26XStepper::getReadoutValue(void) {
+00880         return (int)(driver_status_result >> 10);
+00881 }
+00882 
+00883 int TMC26XStepper::getResistor() {
+00884     return this->resistor;
+00885 }
+00886 
+00887 boolean TMC26XStepper::isCurrentScalingHalfed() {
+00888     if (this->driver_configuration_register_value & VSENSE) {
+00889         return true;
+00890     } else {
+00891         return false;
+00892     }
+00893 }
+00894 /*
+00895  version() returns the version of the library:
+00896  */
+00897 int TMC26XStepper::version(void)
+00898 {
+00899         return 1;
+00900 }
+00901 
+00902 void TMC26XStepper::debugLastStatus() {
+00903 #ifdef DEBUG    
+00904 if (this->started) {
+00905                 if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) {
+00906                         Serial.println("WARNING: Overtemperature Prewarning!");
+00907                 } else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN) {
+00908                         Serial.println("ERROR: Overtemperature Shutdown!");
+00909                 }
+00910                 if (this->isShortToGroundA()) {
+00911                         Serial.println("ERROR: SHORT to ground on channel A!");
+00912                 }
+00913                 if (this->isShortToGroundB()) {
+00914                         Serial.println("ERROR: SHORT to ground on channel A!");
+00915                 }
+00916                 if (this->isOpenLoadA()) {
+00917                         Serial.println("ERROR: Channel A seems to be unconnected!");
+00918                 }
+00919                 if (this->isOpenLoadB()) {
+00920                         Serial.println("ERROR: Channel B seems to be unconnected!");
+00921                 }
+00922                 if (this->isStallGuardReached()) {      
+00923                         Serial.println("INFO: Stall Guard level reached!");
+00924                 }
+00925                 if (this->isStandStill()) {
+00926                         Serial.println("INFO: Motor is standing still.");
+00927                 }
+00928                 unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
+00929                 int value = getReadoutValue();
+00930                 if (readout_config == READ_MICROSTEP_POSTION) {
+00931                         Serial.print("Microstep postion phase A: ");
+00932                         Serial.println(value);
+00933                 } else if (readout_config == READ_STALL_GUARD_READING) {
+00934                         Serial.print("Stall Guard value:");
+00935                         Serial.println(value);
+00936                 } else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
+00937                         int stallGuard = value & 0xf;
+00938                         int current = value & 0x1F0;
+00939                         Serial.print("Approx Stall Guard: ");
+00940                         Serial.println(stallGuard);
+00941                         Serial.print("Current level");
+00942                         Serial.println(current);
+00943                 }
+00944         }
+00945 #endif
+00946 }
+00947 
+00948 /*
+00949  * send register settings to the stepper driver via SPI
+00950  * returns the current status
+00951  */
+00952 inline void TMC26XStepper::send262(unsigned long datagram) {
+00953         unsigned long i_datagram;
+00954     
+00955     //preserver the previous spi mode
+00956     unsigned char oldMode =  SPCR & SPI_MODE_MASK;
+00957         
+00958     //if the mode is not correct set it to mode 3
+00959     if (oldMode != SPI_MODE3) {
+00960         SPI.setDataMode(SPI_MODE3);
+00961     }
+00962         
+00963         //select the TMC driver
+00964         digitalWrite(cs_pin,LOW);
+00965 
+00966         //ensure that only valid bist are set (0-19)
+00967         //datagram &=REGISTER_BIT_PATTERN;
+00968         
+00969 #ifdef DEBUG
+00970         Serial.print("Sending ");
+00971         Serial.println(datagram,HEX);
+00972 #endif
+00973 
+00974         //write/read the values
+00975         i_datagram = SPI.transfer((datagram >> 16) & 0xff);
+00976         i_datagram <<= 8;
+00977         i_datagram |= SPI.transfer((datagram >>  8) & 0xff);
+00978         i_datagram <<= 8;
+00979         i_datagram |= SPI.transfer((datagram) & 0xff);
+00980         i_datagram >>= 4;
+00981         
+00982 #ifdef DEBUG
+00983         Serial.print("Received ");
+00984         Serial.println(i_datagram,HEX);
+00985         debugLastStatus();
+00986 #endif
+00987         //deselect the TMC chip
+00988         digitalWrite(cs_pin,HIGH); 
+00989     
+00990     //restore the previous SPI mode if neccessary
+00991     //if the mode is not correct set it to mode 3
+00992     if (oldMode != SPI_MODE3) {
+00993         SPI.setDataMode(oldMode);
+00994     }
+00995 
+00996         
+00997         //store the datagram as status result
+00998         driver_status_result = i_datagram;
+00999 }
+
+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8h.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8h.html new file mode 100644 index 000000000..34fda0a43 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8h.html @@ -0,0 +1,212 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: TMC26XStepper.h File Reference + + + + + + + + +
+ + +
+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
+ +
+
+ + + + +
+
+
+Classes | +Defines
+
+
TMC26XStepper.h File Reference
+
+
+ +

Go to the source code of this file.

+ + + + + + + + + + + + + + +

+Classes

class  TMC26XStepper
 Class representing a TMC26X stepper driver. More...

+Defines

#define TMC26X_OVERTEMPERATURE_PREWARING   1
 return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TMC chip
#define TMC26X_OVERTEMPERATURE_SHUTDOWN   2
 return value for TMC26XStepper.getOverTemperature() if there is a overtemperature shutdown in the TMC chip
#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
+

Define Documentation

+ +
+
+ + + + +
#define COOL_STEP_HALF_CS_LIMIT   0
+
+
+

Define to set the minimum current for CoolStep operation to 1/2 of the selected CS minium.

+
See also:
setCoolStepConfiguration()
+ +

Definition at line 70 of file TMC26XStepper.h.

+ +
+
+ +
+
+ + + + +
#define COOL_STEP_QUARTDER_CS_LIMIT   1
+
+
+

Define to set the minimum current for CoolStep operation to 1/4 of the selected CS minium.

+
See also:
setCoolStepConfiguration()
+ +

Definition at line 75 of file TMC26XStepper.h.

+ +
+
+ +
+
+ + + + +
#define TMC26X_OVERTEMPERATURE_PREWARING   1
+
+
+ +

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.

+ +

Definition at line 39 of file TMC26XStepper.h.

+ +
+
+ +
+
+ + + + +
#define TMC26X_OVERTEMPERATURE_SHUTDOWN   2
+
+
+ +

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.

+ +

Definition at line 47 of file TMC26XStepper.h.

+ +
+
+ +
+
+ + + + +
#define TMC26X_READOUT_CURRENT   3
+
+
+

Selects to read out the current current setting (acc. to CoolStep) and the upper bits of the StallGuard value from the motor.

+
See also:
readStatus(), setCurrent()
+ +

Definition at line 64 of file TMC26XStepper.h.

+ +
+
+ +
+
+ + + + +
#define TMC26X_READOUT_POSITION   0
+
+
+

Selects to readout the microstep position from the motor.

+
See also:
readStatus()
+ +

Definition at line 54 of file TMC26XStepper.h.

+ +
+
+ +
+
+ + + + +
#define TMC26X_READOUT_STALLGUARD   1
+
+
+

Selects to read out the StallGuard value of the motor.

+
See also:
readStatus()
+ +

Definition at line 59 of file TMC26XStepper.h.

+ +
+
+
+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8h_source.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8h_source.html new file mode 100644 index 000000000..521b53af7 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/_t_m_c26_x_stepper_8h_source.html @@ -0,0 +1,256 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: TMC26XStepper.h Source File + + + + + + + + +
+ + +
+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
+ +
+
+ + + + +
+
+
+
TMC26XStepper.h
+
+
+Go to the documentation of this file.
00001 /*
+00002  TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - Version 0.1
+00003  
+00004  based on the stepper library by Tom Igoe, et. al.
+00005 
+00006  Copyright (c) 2011, Interactive Matter, Marcus Nowotny
+00007  
+00008  Permission is hereby granted, free of charge, to any person obtaining a copy
+00009  of this software and associated documentation files (the "Software"), to deal
+00010  in the Software without restriction, including without limitation the rights
+00011  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+00012  copies of the Software, and to permit persons to whom the Software is
+00013  furnished to do so, subject to the following conditions:
+00014  
+00015  The above copyright notice and this permission notice shall be included in
+00016  all copies or substantial portions of the Software.
+00017  
+00018  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+00019  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+00020  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+00021  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+00022  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+00023  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+00024  THE SOFTWARE.
+00025 
+00026  */
+00027 
+00028 
+00029 // ensure this library description is only included once
+00030 #ifndef TMC26XStepper_h
+00031 #define TMC26XStepper_h
+00032 
+00034 
+00039 #define TMC26X_OVERTEMPERATURE_PREWARING 1
+00040 
+00041 
+00047 #define TMC26X_OVERTEMPERATURE_SHUTDOWN 2
+00048 
+00049 //which values can be read out
+00054 #define TMC26X_READOUT_POSITION 0
+00055 
+00059 #define TMC26X_READOUT_STALLGUARD 1
+00060 
+00064 #define TMC26X_READOUT_CURRENT 3
+00065 
+00070 #define COOL_STEP_HALF_CS_LIMIT 0
+00071 
+00075 #define COOL_STEP_QUARTDER_CS_LIMIT 1
+00076 
+00101 class TMC26XStepper {
+00102   public:
+00124         TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150);
+00125         
+00133         void start();
+00134     
+00145         void un_start();
+00146 
+00147 
+00152     void setSpeed(unsigned int whatSpeed);
+00153     
+00158     unsigned int getSpeed(void);
+00159 
+00168         void setMicrosteps(int number_of_steps);
+00169     
+00178         int getMicrosteps(void);
+00179 
+00195     char step(int number_of_steps);
+00196     
+00215     char move(void);
+00216 
+00224     char isMoving(void);
+00225     
+00230     unsigned int getStepsLeft(void);
+00231     
+00238     char stop(void);
+00239     
+00264         void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
+00265     
+00286         void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement);
+00287 
+00303         void setRandomOffTime(char value);
+00304     
+00312         void setCurrent(unsigned int current);
+00313     
+00320     unsigned int getCurrent(void);
+00321     
+00337         void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
+00338     
+00343     char getStallGuardThreshold(void);
+00344     
+00349     char getStallGuardFilter(void);
+00350     
+00368     void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
+00369                                   unsigned char current_increment_step_size, unsigned char lower_current_limit);
+00370     
+00376     void setCoolStepEnabled(boolean enabled);
+00377     
+00378     
+00383     boolean isCoolStepEnabled();
+00384 
+00389     unsigned int getCoolStepLowerSgThreshold();
+00390     
+00395     unsigned int getCoolStepUpperSgThreshold();
+00396     
+00401     unsigned char getCoolStepNumberOfSGReadings();
+00402     
+00407     unsigned char getCoolStepCurrentIncrementSize();
+00408     
+00414     unsigned char getCoolStepLowerCurrentLimit();
+00415     
+00422         int getMotorPosition(void);
+00423     
+00430         int getCurrentStallGuardReading(void);
+00431     
+00437     unsigned char getCurrentCSReading(void);
+00438     
+00439     
+00444     boolean isCurrentScalingHalfed();
+00445 
+00453     unsigned int getCurrentCurrent(void);
+00454     
+00463         boolean isStallGuardOverThreshold(void);
+00464     
+00471         char getOverTemperature(void);
+00472     
+00480         boolean isShortToGroundA(void);
+00481 
+00488         boolean isShortToGroundB(void);
+00495         boolean isOpenLoadA(void);
+00496 
+00503         boolean isOpenLoadB(void);
+00504     
+00511         boolean isStandStill(void);
+00512 
+00524         boolean isStallGuardReached(void);
+00525     
+00530     void setEnabled(boolean enabled);
+00531     
+00537     boolean isEnabled();
+00538 
+00548         void readStatus(char read_value);
+00549     
+00554     int getResistor();
+00555 
+00560         void debugLastStatus(void);
+00565     int version(void);
+00566 
+00567   private:    
+00568         unsigned int steps_left;                //the steps the motor has to do to complete the movement
+00569     int direction;        // Direction of rotation
+00570     unsigned long step_delay;    // delay between steps, in ms, based on speed
+00571     int number_of_steps;      // total number of steps this motor can take
+00572     unsigned int speed; // we need to store the current speed in order to change the speed after changing microstepping
+00573     unsigned int resistor; //current sense resitor value in milliohm
+00574         
+00575     unsigned long last_step_time;      // time stamp in ms of when the last step was taken
+00576     unsigned long next_step_time;      // time stamp in ms of when the last step was taken
+00577         
+00578         //driver control register copies to easily set & modify the registers
+00579         unsigned long driver_control_register_value;
+00580         unsigned long chopper_config_register;
+00581         unsigned long cool_step_register_value;
+00582         unsigned long stall_guard2_current_register_value;
+00583         unsigned long driver_configuration_register_value;
+00584         //the driver status result
+00585         unsigned long driver_status_result;
+00586         
+00587         //helper routione to get the top 10 bit of the readout
+00588         inline int getReadoutValue();
+00589         
+00590         //the pins for the stepper driver
+00591         unsigned char cs_pin;
+00592         unsigned char step_pin;
+00593         unsigned char dir_pin;
+00594         
+00595         //status values 
+00596         boolean started; //if the stepper has been started yet
+00597         int microsteps; //the current number of micro steps
+00598     char constant_off_time; //we need to remember this value in order to enable and disable the motor
+00599     unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
+00600     boolean cool_step_enabled; //we need to remember this to configure the coolstep if it si enabled
+00601         
+00602         //SPI sender
+00603         inline void send262(unsigned long datagram);
+00604 };
+00605 
+00606 #endif
+00607 
+
+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/annotated.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/annotated.html new file mode 100644 index 000000000..193044cff --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/annotated.html @@ -0,0 +1,72 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: Class List + + + + + + + + +
+ + +
+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
+ +
+
+ + + + +
+
+
+
Class List
+
+
+
Here are the classes, structs, unions and interfaces with brief descriptions:
+ +
TMC26XStepperClass representing a TMC26X stepper driver
+
+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/bc_s.png b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/bc_s.png new file mode 100644 index 000000000..e4018628b Binary files /dev/null and b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/bc_s.png differ diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/class_t_m_c26_x_stepper-members.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/class_t_m_c26_x_stepper-members.html new file mode 100644 index 000000000..4547542b9 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/class_t_m_c26_x_stepper-members.html @@ -0,0 +1,117 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: Member List + + + + + + + + +
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+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
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+ + + + +
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+
+
TMC26XStepper Member List
+
+
+This is the complete list of members for TMC26XStepper, including all inherited members. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
debugLastStatus(void)TMC26XStepper
getCoolStepCurrentIncrementSize()TMC26XStepper
getCoolStepLowerCurrentLimit()TMC26XStepper
getCoolStepLowerSgThreshold()TMC26XStepper
getCoolStepNumberOfSGReadings()TMC26XStepper
getCoolStepUpperSgThreshold()TMC26XStepper
getCurrent(void)TMC26XStepper
getCurrentCSReading(void)TMC26XStepper
getCurrentCurrent(void)TMC26XStepper
getCurrentStallGuardReading(void)TMC26XStepper
getMicrosteps(void)TMC26XStepper
getMotorPosition(void)TMC26XStepper
getOverTemperature(void)TMC26XStepper
getResistor()TMC26XStepper
getSpeed(void)TMC26XStepper
getStallGuardFilter(void)TMC26XStepper
getStallGuardThreshold(void)TMC26XStepper
getStepsLeft(void)TMC26XStepper
isCoolStepEnabled()TMC26XStepper
isCurrentScalingHalfed()TMC26XStepper
isEnabled()TMC26XStepper
isMoving(void)TMC26XStepper
isOpenLoadA(void)TMC26XStepper
isOpenLoadB(void)TMC26XStepper
isShortToGroundA(void)TMC26XStepper
isShortToGroundB(void)TMC26XStepper
isStallGuardOverThreshold(void)TMC26XStepper
isStallGuardReached(void)TMC26XStepper
isStandStill(void)TMC26XStepper
move(void)TMC26XStepper
readStatus(char read_value)TMC26XStepper
setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator)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)TMC26XStepper
setCoolStepEnabled(boolean enabled)TMC26XStepper
setCurrent(unsigned int current)TMC26XStepper
setEnabled(boolean enabled)TMC26XStepper
setMicrosteps(int number_of_steps)TMC26XStepper
setRandomOffTime(char value)TMC26XStepper
setSpeed(unsigned int whatSpeed)TMC26XStepper
setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement)TMC26XStepper
setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled)TMC26XStepper
start()TMC26XStepper
step(int number_of_steps)TMC26XStepper
stop(void)TMC26XStepper
TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150)TMC26XStepper
un_start()TMC26XStepper
version(void)TMC26XStepper
+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/class_t_m_c26_x_stepper.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/class_t_m_c26_x_stepper.html new file mode 100644 index 000000000..77c36f0bb --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/class_t_m_c26_x_stepper.html @@ -0,0 +1,1463 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: TMC26XStepper Class Reference + + + + + + + + +
+ + +
+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
+ +
+
+ + + + +
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+
+Public Member Functions
+
+
TMC26XStepper Class Reference
+
+
+ +

Class representing a TMC26X stepper driver. + More...

+ +

#include <TMC26XStepper.h>

+ +

List of all members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 TMC26XStepper (int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150)
 creates a new represenatation of a stepper motor connected to a TMC26X stepper driver
void start ()
 configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
void un_start ()
 resets the stepper in unconfigured mode.
void setSpeed (unsigned int whatSpeed)
 Sets the rotation speed in revolutions per minute.
unsigned int getSpeed (void)
 reads out the currently selected speed in revolutions per minute.
void setMicrosteps (int number_of_steps)
 Set the number of microsteps in 2^i values (rounded) up to 256.
int getMicrosteps (void)
 returns the effective current number of microsteps selected.
char step (int number_of_steps)
 Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction.
char move (void)
 Central movement method, must be called as often as possible in the lopp function and is very fast.
char isMoving (void)
 checks if the motor still has to move to fulfill the last movement command.
unsigned int getStepsLeft (void)
 Get the number of steps left in the current movement.
char stop (void)
 Stops the motor regardless if it moves or not.
void setConstantOffTimeChopper (char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator)
 Sets and configure the classical Constant Off Timer Chopper.
void setSpreadCycleChopper (char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement)
 Sets and configures with spread cycle chopper.
void setRandomOffTime (char value)
 Use random off time for noise reduction (0 for off, -1 for on).
void setCurrent (unsigned int current)
 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.
unsigned int getCurrent (void)
 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()
void setStallGuardThreshold (char stall_guard_threshold, char stall_guard_filter_enabled)
 set the StallGuard threshold in order to get sensible StallGuard readings.
char getStallGuardThreshold (void)
 reads out the StallGuard threshold
char getStallGuardFilter (void)
 returns the current setting of the StallGuard filter
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)
 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.
void setCoolStepEnabled (boolean enabled)
 enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it.
boolean isCoolStepEnabled ()
 check if the CoolStep feature is enabled
unsigned int getCoolStepLowerSgThreshold ()
 returns the lower StallGuard threshold for the CoolStep operation
unsigned int getCoolStepUpperSgThreshold ()
 returns the upper StallGuard threshold for the CoolStep operation
unsigned char getCoolStepNumberOfSGReadings ()
 returns the number of StallGuard readings befor CoolStep adjusts the motor current.
unsigned char getCoolStepCurrentIncrementSize ()
 returns the increment steps for the current for the CoolStep operation
unsigned char getCoolStepLowerCurrentLimit ()
 returns the absolut minium current for the CoolStep operation
int getMotorPosition (void)
 Get the current microstep position for phase A.
int getCurrentStallGuardReading (void)
 Reads the current StallGuard value.
unsigned char getCurrentCSReading (void)
 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)
boolean isCurrentScalingHalfed ()
 a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.
unsigned int getCurrentCurrent (void)
 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.
boolean isStallGuardOverThreshold (void)
 checks if there is a StallGuard warning in the last status
char getOverTemperature (void)
 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.
boolean isShortToGroundA (void)
 Is motor channel A shorted to ground detected in the last status readout.
boolean isShortToGroundB (void)
 Is motor channel B shorted to ground detected in the last status readout.
boolean isOpenLoadA (void)
 iIs motor channel A connected according to the last statu readout.
boolean isOpenLoadB (void)
 iIs motor channel A connected according to the last statu readout.
boolean isStandStill (void)
 Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s.
boolean isStallGuardReached (void)
 checks if there is a StallGuard warning in the last status
void setEnabled (boolean enabled)
 enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.
boolean isEnabled ()
 checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely
void readStatus (char read_value)
 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.
int getResistor ()
 Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150.
void debugLastStatus (void)
 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.
int version (void)
 library version
+

Detailed Description

+

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:

+
 TMC26XStepper stepper = TMC26XStepper(200,1,2,3,500);
+

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().

+ +

Definition at line 101 of file TMC26XStepper.h.

+

Constructor & Destructor Documentation

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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 = 150 
)
+
+
+ +

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.

+
Parameters:
+ + + + + + + +
number_of_stepsthe number of steps the motor has per rotation.
cs_pinThe Arduino pin you have connected the Cient Select Pin (!CS) of the TMC26X for SPI
dir_pinthe number of the Arduino pin the Direction input of the TMC26X is connected
step_pinthe number of the Arduino pin the step pin of the TMC26X driver is connected.
rms_currentthe maximum current to privide to the motor in mA (!). A value of 200 would send up to 200mA to the motor
resistorthe 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.

+
See also:
start(), setMicrosteps()
+ +

Definition at line 111 of file TMC26XStepper.cpp.

+ +
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Member Function Documentation

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void TMC26XStepper::debugLastStatus (void )
+
+
+ +

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.

+ +

Definition at line 902 of file TMC26XStepper.cpp.

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unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize ()
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returns the increment steps for the current for the CoolStep operation

+
See also:
setCoolStepConfiguration()
+ +

Definition at line 704 of file TMC26XStepper.cpp.

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unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit ()
+
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+ +

returns the absolut minium current for the CoolStep operation

+
See also:
setCoolStepConfiguration()
+
+COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
+ +

Definition at line 712 of file TMC26XStepper.cpp.

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unsigned int TMC26XStepper::getCoolStepLowerSgThreshold ()
+
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returns the lower StallGuard threshold for the CoolStep operation

+
See also:
setCoolStepConfiguration()
+ +

Definition at line 695 of file TMC26XStepper.cpp.

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unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings ()
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returns the number of StallGuard readings befor CoolStep adjusts the motor current.

+
See also:
setCoolStepConfiguration()
+ +

Definition at line 708 of file TMC26XStepper.cpp.

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unsigned int TMC26XStepper::getCoolStepUpperSgThreshold ()
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returns the upper StallGuard threshold for the CoolStep operation

+
See also:
setCoolStepConfiguration()
+ +

Definition at line 700 of file TMC26XStepper.cpp.

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unsigned int TMC26XStepper::getCurrent (void )
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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()

+
Returns:
the maximum motor current in milli amps
+
See also:
getCurrentCurrent()
+ +

Definition at line 336 of file TMC26XStepper.cpp.

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unsigned char TMC26XStepper::getCurrentCSReading (void )
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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)

+
See also:
setCoolStepConfiguration()
+ +

Definition at line 781 of file TMC26XStepper.cpp.

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unsigned int TMC26XStepper::getCurrentCurrent (void )
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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.

+
See also:
getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent()
+ +

Definition at line 792 of file TMC26XStepper.cpp.

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int TMC26XStepper::getCurrentStallGuardReading (void )
+
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Reads the current StallGuard value.

+
Returns:
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.
+
See also:
setStallGuardThreshold() for tuning the readout to sensible ranges.
+ +

Definition at line 770 of file TMC26XStepper.cpp.

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int TMC26XStepper::getMicrosteps (void )
+
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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.

+
See also:
setMicrosteps()
+ +

Definition at line 446 of file TMC26XStepper.cpp.

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int TMC26XStepper::getMotorPosition (void )
+
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Get the current microstep position for phase A.

+
Returns:
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.

+ +

Definition at line 762 of file TMC26XStepper.cpp.

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+
+ +
+
+ + + + + + + + +
char TMC26XStepper::getOverTemperature (void )
+
+
+ +

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.

+ +

Definition at line 816 of file TMC26XStepper.cpp.

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+
+ +
+
+ + + + + + + +
int TMC26XStepper::getResistor ()
+
+
+ +

Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150.

+ +

Definition at line 883 of file TMC26XStepper.cpp.

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+
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+
+ + + + + + + + +
unsigned int TMC26XStepper::getSpeed (void )
+
+
+ +

reads out the currently selected speed in revolutions per minute.

+
See also:
setSpeed()
+ +

Definition at line 221 of file TMC26XStepper.cpp.

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+
+ +
+
+ + + + + + + + +
char TMC26XStepper::getStallGuardFilter (void )
+
+
+ +

returns the current setting of the StallGuard filter

+
Returns:
0 if not set, -1 if set
+ +

Definition at line 381 of file TMC26XStepper.cpp.

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char TMC26XStepper::getStallGuardThreshold (void )
+
+
+ +

reads out the StallGuard threshold

+
Returns:
a number between -64 and 63.
+ +

Definition at line 368 of file TMC26XStepper.cpp.

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+ + + + + + + + +
unsigned int TMC26XStepper::getStepsLeft (void )
+
+
+ +

Get the number of steps left in the current movement.

+
Returns:
The number of steps left in the movement. This number is always positive.
+ +

Definition at line 278 of file TMC26XStepper.cpp.

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boolean TMC26XStepper::isCoolStepEnabled (void )
+
+
+ +

check if the CoolStep feature is enabled

+
See also:
setCoolStepEnabled()
+ +

Definition at line 691 of file TMC26XStepper.cpp.

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+ + + + + + + +
boolean TMC26XStepper::isCurrentScalingHalfed ()
+
+
+ +

a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.

+
Returns:
false if 0.13V is the reference voltage, true if 0.165V is used.
+ +

Definition at line 887 of file TMC26XStepper.cpp.

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boolean TMC26XStepper::isEnabled ()
+
+
+ +

checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely

+
Returns:
true if the bridges and by that the motor driver are enabled, false if not.
+
See also:
setEnabled()
+ +

Definition at line 729 of file TMC26XStepper.cpp.

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char TMC26XStepper::isMoving (void )
+
+
+ +

checks if the motor still has to move to fulfill the last movement command.

+
Returns:
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.

+
See also:
step(), move()
+ +

Definition at line 274 of file TMC26XStepper.cpp.

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boolean TMC26XStepper::isOpenLoadA (void )
+
+
+ +

iIs motor channel A connected according to the last statu readout.

+
Returns:
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.
+ +

Definition at line 846 of file TMC26XStepper.cpp.

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boolean TMC26XStepper::isOpenLoadB (void )
+
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+ +

iIs motor channel A connected according to the last statu readout.

+
Returns:
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.
+ +

Definition at line 854 of file TMC26XStepper.cpp.

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boolean TMC26XStepper::isShortToGroundA (void )
+
+
+ +

Is motor channel A shorted to ground detected in the last status readout.

+
Returns:
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.
+ +

Definition at line 830 of file TMC26XStepper.cpp.

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boolean TMC26XStepper::isShortToGroundB (void )
+
+
+ +

Is motor channel B shorted to ground detected in the last status readout.

+
Returns:
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.
+ +

Definition at line 838 of file TMC26XStepper.cpp.

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boolean TMC26XStepper::isStallGuardOverThreshold (void )
+
+
+ +

checks if there is a StallGuard warning in the last status

+
Returns:
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.
+
See also:
setStallGuardThreshold() for tuning the readout to sensible ranges.
+ +

Definition at line 803 of file TMC26XStepper.cpp.

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+ + + + + + + + +
boolean TMC26XStepper::isStallGuardReached (void )
+
+
+ +

checks if there is a StallGuard warning in the last status

+
Returns:
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.
+
See also:
isStallGuardOverThreshold() TODO why?
+
+setStallGuardThreshold() for tuning the readout to sensible ranges.
+ +

Definition at line 870 of file TMC26XStepper.cpp.

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+ + + + + + + + +
boolean TMC26XStepper::isStandStill (void )
+
+
+ +

Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s.

+
Returns:
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.
+ +

Definition at line 862 of file TMC26XStepper.cpp.

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char TMC26XStepper::move (void )
+
+
+ +

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.

+
See also:
step()
+ +

Definition at line 246 of file TMC26XStepper.cpp.

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+ +
+
+ + + + + + + + +
void TMC26XStepper::readStatus (char read_value)
+
+
+ +

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.

+
Parameters:
+ + +
read_valueselects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT
+
+
+
See also:
TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT
+ +

Definition at line 742 of file TMC26XStepper.cpp.

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void TMC26XStepper::setConstantOffTimeChopper (char constant_off_time,
char blank_time,
char fast_decay_time_setting,
char sine_wave_offset,
unsigned char use_current_comparator 
)
+
+
+ +

Sets and configure the classical Constant Off Timer Chopper.

+
Parameters:
+ + + + + + +
constant_off_timeThe 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)
blank_timeSelects 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
fast_decay_time_settingFast decay time setting. Controls the portion of fast decay for each chopper cycle. 0: slow decay only, 1…15: duration of fast decay phase
sine_wave_offsetSine 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
use_curreent_comparatorSelects 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.

+
See also:
setSpreadCycleChoper() for other alternatives.
+
+setRandomOffTime() for spreading the noise over a wider spectrum
+ +

Definition at line 473 of file TMC26XStepper.cpp.

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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 
)
+
+
+ +

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.

+
Parameters:
+ + + + + + +
lower_SG_thresholdSets the lower threshold for stallGuard2TM reading. Below this value, the motor current becomes increased. Allowed values are 0...480
SG_hysteresisSets 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
current_decrement_step_sizeSets the current decrement steps. If the StallGuard value is above the threshold the current gets decremented by this step size. 0...32
current_increment_step_sizeSets the current increment step. The current becomes incremented for each measured stallGuard2TM value below the lower threshold. 0...8
lower_current_limitSets 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).
+
+
+
See also:
COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
+ +

Definition at line 636 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void TMC26XStepper::setCoolStepEnabled (boolean enabled)
+
+
+ +

enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it.

+
Parameters:
+ + +
enabledtrue if CoolStep should be enabled, false if not.
+
+
+
See also:
setCoolStepConfiguration()
+ +

Definition at line 676 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void TMC26XStepper::setCurrent (unsigned int current)
+
+
+ +

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.

+
Parameters:
+ + +
currentthe maximum motor current in mA
+
+
+
See also:
getCurrent(), getCurrentCurrent()
+ +

Definition at line 292 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void TMC26XStepper::setEnabled (boolean enabled)
+
+
+ +

enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.

+
Parameters:
+ + +
enableda boolean value true if the motor should be enabled, false otherwise.
+
+
+ +

Definition at line 716 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void TMC26XStepper::setMicrosteps (int number_of_steps)
+
+
+ +

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().

+ +

Definition at line 394 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + + + + + +
void TMC26XStepper::setRandomOffTime (char value)
+
+
+ +

Use random off time for noise reduction (0 for off, -1 for on).

+
Parameters:
+ + +
value0 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.

+ +

Definition at line 624 of file TMC26XStepper.cpp.

+ +
+
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+
+ + + + + + + + +
void TMC26XStepper::setSpeed (unsigned int whatSpeed)
+
+
+ +

Sets the rotation speed in revolutions per minute.

+
Parameters:
+ + +
whatSpeedthe desired speed in rotations per minute.
+
+
+ +

Definition at line 208 of file TMC26XStepper.cpp.

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void TMC26XStepper::setSpreadCycleChopper (char constant_off_time,
char blank_time,
char hysteresis_start,
char hysteresis_end,
char hysteresis_decrement 
)
+
+
+ +

Sets and configures with spread cycle chopper.

+
Parameters:
+ + + + + + +
constant_off_timeThe 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)
blank_timeSelects 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
hysteresis_startHysteresis start setting. Please remark, that this value is an offset to the hysteresis end value. 1 … 8
hysteresis_endHysteresis 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.
hysteresis_decrementHysteresis 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.

+
See also:
setRandomOffTime() for spreading the noise over a wider spectrum
+ +

Definition at line 552 of file TMC26XStepper.cpp.

+ +
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+
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void TMC26XStepper::setStallGuardThreshold (char stall_guard_threshold,
char stall_guard_filter_enabled 
)
+
+
+ +

set the StallGuard threshold in order to get sensible StallGuard readings.

+
Parameters:
+ + + +
stall_guard_threshold-64 … 63 the StallGuard threshold
stall_guard_filter_enabled0 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.

+
See also:
getCurrentStallGuardReading() to read out the current value.
+ +

Definition at line 346 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + + + + +
void TMC26XStepper::start ()
+
+
+ +

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.

+ +

Definition at line 157 of file TMC26XStepper.cpp.

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+
+ +
+
+ + + + + + + + +
char TMC26XStepper::step (int number_of_steps)
+
+
+ +

Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction.

+
Parameters:
+ + +
number_of_stepsThe number of steps to move the motor.
+
+
+
Returns:
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.

+
See also:
isMoving(), getStepsLeft(), stop()
+ +

Definition at line 229 of file TMC26XStepper.cpp.

+ +
+
+ +
+
+ + + + + + + + +
char TMC26XStepper::stop (void )
+
+
+ +

Stops the motor regardless if it moves or not.

+
Returns:
-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.

+ +

Definition at line 282 of file TMC26XStepper.cpp.

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+
+ +
+
+ + + + + + + +
void TMC26XStepper::un_start ()
+
+
+ +

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)

+ +

Definition at line 199 of file TMC26XStepper.cpp.

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+ + + + + + + + +
int TMC26XStepper::version (void )
+
+
+ +

library version

+
Returns:
the version number as int.
+ +

Definition at line 897 of file TMC26XStepper.cpp.

+ +
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+
The documentation for this class was generated from the following files: +
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+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
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Trinamic TMC26X Stepper Driver for Arduino + +
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File List
+
+
+
Here is a list of all files with brief descriptions:
+ + +
TMC26XStepper.cpp [code]
TMC26XStepper.h [code]
+
+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/functions.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/functions.html new file mode 100644 index 000000000..f53a7334a --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/functions.html @@ -0,0 +1,261 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: Class Members + + + + + + + + +
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+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
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+
+ + + + + + +
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+
Here is a list of all class members with links to the classes they belong to:
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+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
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Trinamic TMC26X Stepper Driver for Arduino + +
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+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
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Trinamic TMC26X Stepper Driver for Arduino + +
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Here is a list of all file members with links to the files they belong to:
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+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/globals_defs.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/globals_defs.html new file mode 100644 index 000000000..58a880e35 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/globals_defs.html @@ -0,0 +1,289 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: File Members + + + + + + + + +
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+
Trinamic TMC26X Stepper Driver for Arduino + +
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+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
+ + + diff --git a/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/index.html b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/index.html new file mode 100644 index 000000000..35d5d3b86 --- /dev/null +++ b/ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/documentation/html/index.html @@ -0,0 +1,72 @@ + + + + + +Trinamic TMC26X Stepper Driver for Arduino: TMC 260, 261, 262 Stepper Driver for Arduino + + + + + + + + +
+ + +
+ + + + + + + + + + + +
+
Trinamic TMC26X Stepper Driver for Arduino + +
+ +
+
+ + + +
+
+
+
TMC 260, 261, 262 Stepper Driver for Arduino
+
+
+
Author:
Interactive MAtter, MArcus Nowotny, marcus@interactive-matter.eu
+

+How to use the driver

+

Here we go with aminial how to description

+

+COPYRIGHT NOTIFICATION

+
(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.

+
+ + +
+Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by   +doxygen + 1.7.6.1 +
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