src/modules/utils/motordrivercontrol/MotorDriverControl.h

   1 #pragma once
   2
   3 #include "Module.h"
   4 #include "Pin.h"
   5
   6 #include <stdint.h>
   7
   8 namespace mbed {
   9     class SPI;
  10 }
  11
  12 class DRV8711DRV;
  13 class TMC26X;
  14 class StreamOutput;
  15 class Gcode;
  16
  17 class MotorDriverControl : public Module {
  18     public:
  19         MotorDriverControl(uint8_t id);
  20         virtual ~MotorDriverControl();
  21
  22         void on_module_loaded();
  23         void on_gcode_received(void *);
  24         void on_halt(void *argument);
  25         void on_enable(void *argument);
  26         void on_idle(void *argument);
  27         void on_second_tick(void *argument);
  28
  29     private:
  30         bool config_module(uint16_t cs);
  31         void initialize_chip(uint16_t cs);
  32         void set_current( uint32_t current );
  33         uint32_t set_microstep( uint32_t ms );
  34         void set_decay_mode( uint8_t dm );
  35         void dump_status(StreamOutput*, bool);
  36         void set_raw_register(StreamOutput *stream, uint32_t reg, uint32_t val);
  37         void set_options(Gcode *gcode);
  38
  39         void enable(bool on);
  40         int sendSPI(uint8_t *b, int cnt, uint8_t *r);
  41
  42         Pin spi_cs_pin;
  43         mbed::SPI *spi;
  44
  45         enum CHIP_TYPE {
  46             DRV8711,
  47             TMC2660
  48         };
  49         CHIP_TYPE chip;
  50
  51         // one of these drivers
  52         union {
  53             DRV8711DRV *drv8711;
  54             TMC26X *tmc26x;
  55         };
  56
  57         //float current_factor;
  58         uint32_t max_current; // in milliamps
  59         uint32_t current; // in milliamps
  60         uint32_t microsteps;
  61
  62         char axis;
  63
  64         struct{
  65             uint8_t id:4;
  66             uint8_t decay_mode:4;
  67             bool rawreg:1;
  68             bool enable_event:1;
  69             bool enable_flg:1;
  70             bool current_override:1;
  71             bool microstep_override:1;
  72             bool halt_on_alarm:1;
  73         };
  74
  75 };