├── README.md
└── Trinamic_TMC2130
    ├── Trinamic_TMC2130.cpp
    ├── Trinamic_TMC2130.h
    ├── Trinamic_TMC2130_registers.h
    ├── examples
        ├── configuration_tool
        │   └── configuration_tool.ino
        └── getting_started
        │   └── getting_started.ino
    ├── library.properties
    └── license.txt


/README.md:
--------------------------------------------------------------------------------
  1 | # Trinamic TMC2130 Arduino library
  2 | This library makes it easy to configure the Trinamic TMC2130 stepper motor driver found on Watterott's "ludicrous" version of the [SilentStepStick motor driver](http://www.watterott.com/de/SilentStepStick-TMC2130), which has it's repository [here](https://github.com/watterott/SilentStepStick). It's also used in my [Marlin Fork](https://github.com/makertum/Marlin), which gets you up and running if you actually want to use these beasts in a 3D-printer-like machine.
  3 | 
  4 | ## Features
  5 | - [x] Basic status readings
  6 | - [x] All methods follow the naming convention in the [datasheet](http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf).
  7 | - [x] All configurable parameters implemented
  8 | 
  9 | ## To do
 10 | - [ ] Full status report
 11 | - [ ] Some readable parameters are missing
 12 | 
 13 | ## How to use
 14 | - Please check out the example sketches for further information.
 15 | - The [datasheet](http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf) contains a quick start guide
 16 | 
 17 | ## Status methods (return boolean status information)
 18 | 
 19 |     boolean isReset();
 20 |     boolean isError();
 21 |     boolean isStallguard();
 22 |     boolean isStandstill();
 23 | 
 24 | ## Methods
 25 | ### Note
 26 | All methods follow the naming convention set_<name of parameter as stated in the datasheet> respectively get_<name of parameter> and return the SPI status flags or the requested parameter.
 27 | 
 28 | All methods expect the encoding stated in the datasheet, with the following exceptions:
 29 | 
 30 | - `set_mres()` sets the microstepping resolution and expects the integer values 1, 2, 4, 8, 16, 32, 64, 128, 256 e.g. `set_mres(128)`
 31 | - `set_IHOLD_IRUN()` sets the holding current, running current and holding delay, e.g. `set_IHOLD_IRUN(31,31,15)`
 32 | - `set_MSLUTSTART()` sets `start_sin` and `start_sin90`
 33 | - `set_DCCTRL()` sets the `dc_time` and `dc_sg` 
 34 | - `set_XDIRECT()` features an alias that lets you pass the currents for `coil_a` and `coil_b` as 16 bit signed integers (the range is still +- 254, though) e.e. `set_XDIRECT(254,254)`
 35 | 
 36 | ###  Configuration Methods (write configuration parameters to the driver)
 37 | 
 38 |     uint8_t set_I_scale_analog(uint8_t value);
 39 |     uint8_t set_internal_Rsense(uint8_t value);
 40 |     uint8_t set_en_pwm_mode(uint8_t value);
 41 |     uint8_t set_enc_commutation(uint8_t value);
 42 |     uint8_t set_shaft(uint8_t value);
 43 |     uint8_t set_diag0_error(uint8_t value);
 44 |     uint8_t set_diag0_otpw(uint8_t value);
 45 |     uint8_t set_diag0_stall(uint8_t value);
 46 |     uint8_t set_diag1_stall(uint8_t value);
 47 |     uint8_t set_diag1_index(uint8_t value);
 48 |     uint8_t set_diag1_onstate(uint8_t value);
 49 |     uint8_t set_diag1_steps_skipped(uint8_t value);
 50 |     uint8_t set_diag0_int_pushpull(uint8_t value);
 51 |     uint8_t set_diag1_int_pushpull(uint8_t value);
 52 |     uint8_t set_small_hysteresis(uint8_t value);
 53 |     uint8_t set_stop_enable(uint8_t value);
 54 |     uint8_t set_direct_mode(uint8_t value);
 55 |     
 56 |     uint8_t set_IHOLD_IRUN(uint8_t ihold, uint8_t irun, uint8_t iholddelay);
 57 |     uint8_t set_TPOWERDOWN(uint8_t value);
 58 |     uint32_t get_TSTEP();
 59 |     uint8_t set_TPWMTHRS(uint32_t value);
 60 |     uint8_t set_TCOOLTHRS(uint32_t value);
 61 |     uint8_t set_THIGH(uint32_t value);
 62 |     uint8_t set_XDIRECT(int32_t value);
 63 |     int32_t get_XDIRECT();
 64 |     uint8_t set_VDCMIN(int32_t value);
 65 |     
 66 |     uint8_t set_MSLUT0(uint32_t value);
 67 |     uint8_t set_MSLUT1(uint32_t value);
 68 |     uint8_t set_MSLUT2(uint32_t value);
 69 |     uint8_t set_MSLUT3(uint32_t value);
 70 |     uint8_t set_MSLUT4(uint32_t value);
 71 |     uint8_t set_MSLUT5(uint32_t value);
 72 |     uint8_t set_MSLUT6(uint32_t value);
 73 |     uint8_t set_MSLUT7(uint32_t value);
 74 |     uint8_t set_MSLUTSEL(uint32_t value);
 75 |     uint8_t set_MSLUTSTART(uint8_t start_sin, uint8_t start_sin90);
 76 |     uint16_t get_MSCNT();
 77 |     int32_t get_MSCURACT();
 78 |     
 79 |     uint8_t set_dedge(uint8_t value);
 80 |     uint8_t set_diss2g(uint8_t value);
 81 |     uint8_t set_intpol(uint8_t value);
 82 |     uint16_t set_mres(uint8_t value);
 83 |     uint8_t set_sync(uint8_t value);
 84 |     uint8_t set_vhighchm(uint8_t value);
 85 |     uint8_t set_vhighfs(uint8_t value);
 86 |     uint8_t set_vsense(uint8_t value);
 87 |     uint8_t set_tbl(uint8_t value);
 88 |     uint8_t set_chm(uint8_t value);
 89 |     uint8_t set_rndtf(uint8_t value);
 90 |     uint8_t set_disfdcc(uint8_t value);
 91 |     uint8_t set_fd(uint8_t value);
 92 |     uint8_t set_hend(uint8_t value);
 93 |     uint8_t set_hstrt(uint8_t value);
 94 |     uint8_t set_toff(uint8_t value);
 95 |     uint8_t set_sfilt(uint8_t value);
 96 |     uint8_t set_sgt(uint8_t value);
 97 |     uint8_t set_seimin(uint8_t value);
 98 |     uint8_t set_sedn(uint8_t value);
 99 |     uint8_t set_semax(uint8_t value);
100 |     uint8_t set_seup(uint8_t value);
101 |     uint8_t set_semin(uint8_t value);
102 | 
103 |     uint8_t set_DCCTRL(uint16_t dc_time, uint16_t dc_sg);
104 | 
105 |     uint8_t set_freewheel(uint8_t value);
106 |     uint8_t set_pwm_symmetric(uint8_t value);
107 |     uint8_t set_pwm_autoscale(uint8_t value);
108 |     uint8_t set_pwm_freq(uint8_t value);
109 |     uint8_t set_PWM_GRAD(uint8_t value);
110 |     uint8_t set_PWM_AMPL(uint8_t value);
111 |     
112 |     uint8_t set_ENCM_CTRL(uint8_t value);
113 | 
114 | ## Further methods (reading information from driver and helper functions)
115 | 
116 |     uint8_t read_STAT();
117 |     uint8_t read_REG( uint8_t address , uint32_t *data );
118 |     uint8_t write_REG( uint8_t address, uint32_t data );
119 |     uint8_t alter_REG(uint8_t address, uint32_t data, uint32_t mask);
120 | 	
121 |     uint8_t set_GCONF(uint8_t bit, uint8_t value);
122 |     uint8_t set_CHOPCONF(uint8_t position, uint8_t value);
123 |     uint8_t alter_COOLCONF(uint32_t data, uint32_t mask);
124 |     uint8_t set_COOLCONF(uint8_t position, uint8_t value);
125 |     uint8_t alter_PWMCONF(uint32_t data, uint32_t mask);
126 |     uint8_t set_PWMCONF(uint8_t position, uint8_t value);
127 | 
128 | ## FAQ
129 | 
130 | ### Why?
131 | - why not?
132 | 
133 | ### Can I run my RepRap with this?
134 | - yes, just install the library and download the [Marlin Fork](https://github.com/makertum/Marlin)
135 | 
136 | ## Troubleshooting
137 | 
138 | ### Why doesn't it work
139 | - If you're using the SilentStepsStick driver, did you `myStepper.set_I_scale_analog(1)`?
140 | - Did you specify `myStepper.set_tbl(1)` and `myStepper.set_toff(8)` (example values)?
141 | - Did you specify a motor current `myStepper.set_IHOLD_IRUN(31,31,5);`?
142 | 
143 | ## Disclaimer / License
144 | This is a work in progress. Any suggestions are heavily welcome. All scripts in this repository are licensed under the GNU Affero General Public License, version 3. Created by Moritz Walter 2016.
145 | 


--------------------------------------------------------------------------------
/Trinamic_TMC2130/Trinamic_TMC2130.cpp:
--------------------------------------------------------------------------------
  1 | /**************************************************************************/
  2 | /*!
  3 | @file     Trinamic_TMC2130.cpp
  4 | @author   Moritz Walter
  5 | @license  GPLv3 (see license.txt)
  6 | 
  7 | SPI configuration tool for Trinamic TMC2130 Motor Drivers
  8 | 
  9 | @section  HISTORY
 10 | 
 11 | v0.1 - it works
 12 | */
 13 | /**************************************************************************/
 14 | #if ARDUINO >= 100
 15 | #include "Arduino.h"
 16 | #else
 17 | #include "WProgram.h"
 18 | #endif
 19 | 
 20 | #include <SPI.h>
 21 | 
 22 | #include "Trinamic_TMC2130.h"
 23 | #include "Trinamic_TMC2130_registers.h"
 24 | 
 25 | Trinamic_TMC2130::Trinamic_TMC2130(uint8_t csPin)
 26 | {
 27 |   _csPin=csPin;
 28 |   _status=0;
 29 |   _debug="";
 30 | }
 31 | 
 32 | // initialize the driver with its CS/SS pin
 33 | void Trinamic_TMC2130::init() {
 34 |   pinMode(_csPin, OUTPUT);
 35 |   digitalWrite(_csPin, HIGH);
 36 |   init_SPI();
 37 |   read_STAT();
 38 | }
 39 | 
 40 | // initialize SPI
 41 | void Trinamic_TMC2130::init_SPI() {
 42 |   SPI.setDataMode(TMC_SPI_DATA_MODE);
 43 |   SPI.setBitOrder(TMC_SPI_BIT_ORDER);
 44 |   SPI.setClockDivider(TMC_SPI_CLOCK_DIVIDER);
 45 |   SPI.begin();
 46 | }
 47 | 
 48 | // read status
 49 | uint8_t Trinamic_TMC2130::read_STAT()
 50 | {
 51 |   init_SPI();
 52 |   digitalWrite(_csPin, LOW);
 53 | 
 54 |   // read address
 55 |   _status = SPI.transfer(0x00);
 56 | 
 57 |   // flush 4 bytes
 58 |   for(int i=0;i<4;i++){
 59 |     SPI.transfer(0x00);
 60 |   }
 61 | 
 62 |   digitalWrite(_csPin, HIGH);
 63 | 
 64 |   return _status;
 65 | }
 66 | 
 67 | // read a register
 68 | uint8_t Trinamic_TMC2130::read_REG(uint8_t address, uint32_t *data)
 69 | {
 70 |   init_SPI();
 71 |   digitalWrite(_csPin, LOW);
 72 | 
 73 |   // read address
 74 |   _status = SPI.transfer(address&~TMC_WRITE);
 75 | 
 76 |   // flush 4 bytes
 77 |   for(int i=0;i<4;i++){
 78 |     SPI.transfer(0x00);
 79 |   }
 80 | 
 81 |   digitalWrite(_csPin, HIGH);
 82 |   // restart transmission
 83 |   digitalWrite(_csPin, LOW);
 84 | 
 85 |   // read address
 86 |   _status = SPI.transfer(address&~TMC_WRITE);
 87 | 
 88 |   // retrieve data
 89 |   *data  = SPI.transfer(0x00)&0xFF;
 90 |   *data <<=8;
 91 |   *data |= SPI.transfer(0x00)&0xFF;
 92 |   *data <<=8;
 93 |   *data |= SPI.transfer(0x00)&0xFF;
 94 |   *data <<=8;
 95 |   *data |= SPI.transfer(0x00)&0xFF;
 96 | 
 97 |   digitalWrite(_csPin, HIGH);
 98 | 
 99 |   return _status;
100 | }
101 | 
102 | // write to a register
103 | uint8_t Trinamic_TMC2130::write_REG(uint8_t address, uint32_t data)
104 | {
105 |   digitalWrite(_csPin, LOW);
106 | 
107 |   // write address
108 |   _status = SPI.transfer(address|TMC_WRITE);
109 | 
110 |   // write data
111 |   SPI.transfer((data>>24UL)&0xFF);
112 |   SPI.transfer((data>>16UL)&0xFF);
113 |   SPI.transfer((data>> 8UL)&0xFF);
114 |   SPI.transfer((data>> 0UL)&0xFF);
115 | 
116 |   digitalWrite(_csPin, HIGH);
117 | 
118 |   return _status;
119 | }
120 | 
121 | // alter a register using a bitmask
122 | uint8_t Trinamic_TMC2130::alter_REG(uint8_t address, uint32_t data, uint32_t mask)
123 | {
124 |   uint32_t oldData, newData;
125 | 
126 |   read_REG( address, &oldData );
127 | 
128 |   newData = ( oldData&~mask ) | ( data&mask );
129 | 
130 |   write_REG( address, newData );
131 | 
132 |   return _status;
133 | }
134 | 
135 | // set single bits in the GCONF register
136 | uint8_t Trinamic_TMC2130::set_GCONF(uint8_t position, uint8_t value)
137 | {
138 |   alter_REG(TMC_REG_GCONF, uint32_t(value)<<position, 0x1UL<<position);
139 | 
140 |   return _status;
141 | }
142 | 
143 | // set single bits or values in the chopconf register (constraining masks are applied if necessary)
144 | uint8_t Trinamic_TMC2130::set_CHOPCONF(uint8_t position, uint8_t value)
145 | {
146 |   alter_REG(TMC_REG_CHOPCONF, uint32_t(value)<<position, TMC_CHOPCONF_MASKS[position]<<position);
147 | 
148 |   return _status;
149 | }
150 | 
151 |   //////////
152 |  // GCONF
153 | //////////
154 | 
155 | uint8_t Trinamic_TMC2130::set_I_scale_analog(uint8_t value)
156 | {
157 |   set_GCONF(TMC_GCONF_I_SCALE_ANALOG, value);
158 | 
159 |   return _status;
160 | }
161 | 
162 | uint8_t Trinamic_TMC2130::set_internal_Rsense(uint8_t value)
163 | {
164 |   set_GCONF(TMC_GCONF_INTERNAL_RSENSE, value);
165 | 
166 |   return _status;
167 | }
168 | 
169 | uint8_t Trinamic_TMC2130::set_en_pwm_mode(uint8_t value)
170 | {
171 |   set_GCONF(TMC_GCONF_EN_PWM_MODE, value);
172 | 
173 |   return _status;
174 | }
175 | 
176 | uint8_t Trinamic_TMC2130::set_enc_commutation(uint8_t value)
177 | {
178 |   set_GCONF(TMC_GCONF_ENC_COMMUTATION, value);
179 | 
180 |   return _status;
181 | }
182 | 
183 | uint8_t Trinamic_TMC2130::set_shaft(uint8_t value)
184 | {
185 |   set_GCONF(TMC_GCONF_SHAFT, value);
186 | 
187 |   return _status;
188 | }
189 | 
190 | uint8_t Trinamic_TMC2130::set_diag0_error(uint8_t value)
191 | {
192 |   set_GCONF(TMC_GCONF_DIAG0_ERROR, value);
193 | 
194 |   return _status;
195 | }
196 | 
197 | uint8_t Trinamic_TMC2130::set_diag0_otpw(uint8_t value)
198 | {
199 |   set_GCONF(TMC_GCONF_DIAG0_OTPW, value);
200 | 
201 |   return _status;
202 | }
203 | 
204 | uint8_t Trinamic_TMC2130::set_diag0_stall(uint8_t value)
205 | {
206 |   set_GCONF(TMC_GCONF_DIAG0_STALL, value);
207 | 
208 |   return _status;
209 | }
210 | 
211 | uint8_t Trinamic_TMC2130::set_diag1_stall(uint8_t value)
212 | {
213 |   set_GCONF(TMC_GCONF_DIAG1_STALL, value);
214 | 
215 |   return _status;
216 | }
217 | 
218 | uint8_t Trinamic_TMC2130::set_diag1_index(uint8_t value)
219 | {
220 |   set_GCONF(TMC_GCONF_DIAG1_INDEX, value);
221 | 
222 |   return _status;
223 | }
224 | 
225 | uint8_t Trinamic_TMC2130::set_diag1_onstate(uint8_t value)
226 | {
227 |   set_GCONF(TMC_GCONF_DIAG1_ONSTATE, value);
228 | 
229 |   return _status;
230 | }
231 | 
232 | uint8_t Trinamic_TMC2130::set_diag1_steps_skipped(uint8_t value)
233 | {
234 |   set_GCONF(TMC_GCONF_DIAG1_STEPS_SKIPPED, value);
235 | 
236 |   return _status;
237 | }
238 | 
239 | uint8_t Trinamic_TMC2130::set_diag0_int_pushpull(uint8_t value)
240 | {
241 |   set_GCONF(TMC_GCONF_DIAG0_INT_PUSHPULL, value);
242 | 
243 |   return _status;
244 | }
245 | 
246 | uint8_t Trinamic_TMC2130::set_diag1_int_pushpull(uint8_t value)
247 | {
248 |   set_GCONF(TMC_GCONF_DIAG1_INT_PUSHPULL, value);
249 | 
250 |   return _status;
251 | }
252 | 
253 | uint8_t Trinamic_TMC2130::set_small_hysteresis(uint8_t value)
254 | {
255 |   set_GCONF(TMC_GCONF_SMALL_HYSTERESIS, value);
256 | 
257 |   return _status;
258 | }
259 | 
260 | uint8_t Trinamic_TMC2130::set_stop_enable(uint8_t value)
261 | {
262 |   set_GCONF(TMC_GCONF_STOP_ENABLE, value);
263 | 
264 |   return _status;
265 | }
266 | 
267 | uint8_t Trinamic_TMC2130::set_direct_mode(uint8_t value)
268 | {
269 |   set_GCONF(TMC_GCONF_DIRECT_MODE, value);
270 | 
271 |   return _status;
272 | }
273 | 
274 | /*
275 | uint8_t Trinamic_TMC2130::set_test_mode(uint8_t value)
276 | {
277 |   set_GCONF(TMC_GCONF_TEST_MODE, value);
278 | 
279 |   return _status;
280 | }
281 | */
282 | 
283 | //////////
284 | // IHOLD_IRUN
285 | //////////
286 | 
287 | uint8_t Trinamic_TMC2130::set_IHOLD_IRUN(uint8_t ihold, uint8_t irun, uint8_t iholddelay)
288 | {
289 |   uint32_t data;
290 |   // adding ihold
291 |   data = (( uint32_t(ihold)&TMC_IHOLD_MASK )<<TMC_IHOLD );
292 |   // adding irun
293 |   data |= (( uint32_t(irun)&TMC_IRUN_MASK )<<TMC_IRUN );
294 |   // adding iholddelay
295 |   data |= (( uint32_t(iholddelay)&TMC_IHOLDDELAY_MASK )<<TMC_IHOLDDELAY );
296 | 
297 |   // writing data
298 |   write_REG(TMC_REG_IHOLD_IRUN, data);
299 | 
300 |   return _status;
301 | }
302 | 
303 | //////////
304 | // TPOWERDOWN
305 | //////////
306 | 
307 | uint8_t Trinamic_TMC2130::set_TPOWERDOWN(uint8_t value)
308 | {
309 |   uint32_t data;
310 | 
311 |   data = value & TMC_TPOWERDOWN_MASK;
312 | 
313 |   write_REG(TMC_REG_TPOWERDOWN, data);
314 | 
315 |   return _status;
316 | }
317 | 
318 | //////////
319 | // TSTEP
320 | //////////
321 | 
322 | uint32_t Trinamic_TMC2130::get_TSTEP()
323 | {
324 |   uint32_t data;
325 | 
326 |   read_REG(TMC_REG_TPOWERDOWN, &data);
327 | 
328 |   data &= TMC_TSTEP_MASK;
329 | 
330 |   return data;
331 | }
332 | 
333 | //////////
334 | // TPWMTHRS
335 | //////////
336 | 
337 | uint8_t Trinamic_TMC2130::set_TPWMTHRS(uint32_t value)
338 | {
339 |   uint32_t data;
340 | 
341 |   data = value & TMC_TPWMTHRS_MASK;
342 | 
343 |   write_REG(TMC_REG_TPOWERDOWN, data);
344 | 
345 |   return _status;
346 | }
347 | 
348 | //////////
349 | // TCOOLTHRS
350 | //////////
351 | 
352 | uint8_t Trinamic_TMC2130::set_TCOOLTHRS(uint32_t value)
353 | {
354 |   uint32_t data;
355 | 
356 |   data = value & TMC_TCOOLTHRS_MASK;
357 | 
358 |   write_REG(TMC_REG_TCOOLTHRS, data);
359 | 
360 |   return _status;
361 | }
362 | 
363 | //////////
364 | // THIGH
365 | //////////
366 | 
367 | uint8_t Trinamic_TMC2130::set_THIGH(uint32_t value)
368 | {
369 |   uint32_t data;
370 | 
371 |   data = value & TMC_THIGH_MASK;
372 | 
373 |   write_REG(TMC_REG_THIGH, data);
374 | 
375 |   return _status;
376 | }
377 | 
378 | //////////
379 | // XDIRECT
380 | //////////
381 | 
382 | uint8_t Trinamic_TMC2130::set_XDIRECT(int16_t coil_a, int16_t coil_b)
383 | {
384 |   uint32_t data;
385 | 
386 |   data = 0x0;
387 |   data |= ( coil_b & TMC_XDIRECT_COIL_B_MASK );
388 |   data = data << TMC_XDIRECT_COIL_B;
389 |   data |= ( coil_a & TMC_XDIRECT_COIL_A_MASK );
390 |   data &= TMC_XDIRECT_MASK;
391 | 
392 |   write_REG(TMC_REG_XDIRECT, data);
393 | 
394 |   return _status;
395 | }
396 | 
397 | uint8_t Trinamic_TMC2130::set_XDIRECT(uint32_t value)
398 | {
399 |   uint32_t data;
400 | 
401 |   data = value;// & TMC_XDIRECT_MASK;
402 | 
403 |   write_REG(TMC_REG_XDIRECT, data);
404 | 
405 |   return _status;
406 | }
407 | 
408 | int32_t Trinamic_TMC2130::get_XDIRECT()
409 | {
410 |   uint32_t data;
411 | 
412 |   read_REG(TMC_REG_XDIRECT, &data);
413 | 
414 |   data &= TMC_XDIRECT_MASK;
415 | 
416 |   return data;
417 | }
418 | 
419 | //////////
420 | // VDCMIN
421 | //////////
422 | 
423 | uint8_t Trinamic_TMC2130::set_VDCMIN(int32_t value)
424 | {
425 |   int32_t data;
426 | 
427 |   data = value & TMC_VDCMIN_MASK;
428 | 
429 |   write_REG(TMC_REG_VDCMIN, data);
430 | 
431 |   return _status;
432 | }
433 | 
434 | //////////
435 | // MSLUT
436 | //////////
437 | 
438 | uint8_t Trinamic_TMC2130::set_MSLUT0(uint32_t value)
439 | {
440 |   write_REG(TMC_REG_MSLUT0, value);
441 | 
442 |   return _status;
443 | }
444 | 
445 | uint8_t Trinamic_TMC2130::set_MSLUT1(uint32_t value)
446 | {
447 |   write_REG(TMC_REG_MSLUT1, value);
448 | 
449 |   return _status;
450 | }
451 | 
452 | uint8_t Trinamic_TMC2130::set_MSLUT2(uint32_t value)
453 | {
454 |   write_REG(TMC_REG_MSLUT2, value);
455 | 
456 |   return _status;
457 | }
458 | 
459 | uint8_t Trinamic_TMC2130::set_MSLUT3(uint32_t value)
460 | {
461 |   write_REG(TMC_REG_MSLUT3, value);
462 | 
463 |   return _status;
464 | }
465 | 
466 | uint8_t Trinamic_TMC2130::set_MSLUT4(uint32_t value)
467 | {
468 |   write_REG(TMC_REG_MSLUT4, value);
469 | 
470 |   return _status;
471 | }
472 | 
473 | uint8_t Trinamic_TMC2130::set_MSLUT5(uint32_t value)
474 | {
475 |   write_REG(TMC_REG_MSLUT5, value);
476 | 
477 |   return _status;
478 | }
479 | 
480 | uint8_t Trinamic_TMC2130::set_MSLUT6(uint32_t value)
481 | {
482 |   write_REG(TMC_REG_MSLUT6, value);
483 | 
484 |   return _status;
485 | }
486 | 
487 | uint8_t Trinamic_TMC2130::set_MSLUT7(uint32_t value)
488 | {
489 |   write_REG(TMC_REG_MSLUT7, value);
490 | 
491 |   return _status;
492 | }
493 | 
494 | //////////
495 | // MSLUTSEL
496 | //////////
497 | 
498 | uint8_t Trinamic_TMC2130::set_MSLUTSEL(uint32_t value)
499 | {
500 |   write_REG(TMC_REG_MSLUTSEL, value);
501 | 
502 |   return _status;
503 | }
504 | 
505 | //////////
506 | // MSLUTSTART
507 | //////////
508 | 
509 | uint8_t Trinamic_TMC2130::set_MSLUTSTART(uint8_t start_sin, uint8_t start_sin90)
510 | {
511 |   uint32_t data;
512 |   data = ( uint32_t(start_sin90) & TMC_MSLUTSTART_START_SIN90_MASK );
513 |   data = data<<TMC_MSLUTSTART_START_SIN90;
514 |   data |= ( uint32_t(start_sin) & TMC_MSLUTSTART_START_SIN_MASK );
515 |   data &= TMC_MSLUTSTART_MASK;
516 | 
517 |   write_REG(TMC_REG_MSLUTSTART, data);
518 | 
519 |   return _status;
520 | }
521 | 
522 | //////////
523 | // MSCNT
524 | //////////
525 | 
526 | uint16_t Trinamic_TMC2130::get_MSCNT()
527 | {
528 |   uint32_t data;
529 | 
530 |   read_REG(TMC_REG_MSCNT, &data);
531 | 
532 |   data &= TMC_MSCNT_MASK;
533 | 
534 |   data = uint16_t(data);
535 | 
536 |   return data;
537 | }
538 | 
539 | //////////
540 | // MSCURACT
541 | //////////
542 | 
543 | int32_t Trinamic_TMC2130::get_MSCURACT()
544 | {
545 |   uint32_t data;
546 | 
547 |   read_REG(TMC_REG_MSCURACT, &data);
548 | 
549 |   data &= TMC_MSCURACT_MASK;
550 | 
551 |   return data;
552 | }
553 | 
554 | //////////
555 | // CHOPCONF
556 | //////////
557 | 
558 | uint8_t Trinamic_TMC2130::set_diss2g(uint8_t value)
559 | {
560 |   set_CHOPCONF(TMC_CHOPCONF_DISS2G, value);
561 | 
562 |   return _status;
563 | }
564 | 
565 | uint8_t Trinamic_TMC2130::set_dedge(uint8_t value)
566 | {
567 |   set_CHOPCONF(TMC_CHOPCONF_DEDGE, value);
568 | 
569 |   return _status;
570 | }
571 | 
572 | uint8_t Trinamic_TMC2130::set_intpol(uint8_t value)
573 | {
574 |   set_CHOPCONF(TMC_CHOPCONF_INTPOL, value);
575 | 
576 |   return _status;
577 | }
578 | 
579 | // setting the microstep resolution
580 | uint8_t Trinamic_TMC2130::set_mres(uint16_t value)
581 | {
582 |   uint8_t data = 0;
583 | 
584 |   switch(value){
585 |     case 1:
586 |       data = 8;
587 |     break;
588 |     case 2:
589 |       data = 7;
590 |     break;
591 |     case 4:
592 |       data = 6;
593 |     break;
594 |     case 8:
595 |       data = 5;
596 |     break;
597 |     case 16:
598 |       data = 4;
599 |     break;
600 |     case 32:
601 |       data = 3;
602 |     break;
603 |     case 64:
604 |       data = 2;
605 |     break;
606 |     case 128:
607 |       data = 1;
608 |     break;
609 |   }
610 | 
611 |   set_CHOPCONF(TMC_CHOPCONF_MRES, data);
612 | 
613 |   return _status;
614 | }
615 | 
616 | uint8_t Trinamic_TMC2130::set_sync(uint8_t value)
617 | {
618 |   set_CHOPCONF(TMC_CHOPCONF_SYNC, value);
619 | 
620 |   return _status;
621 | }
622 | 
623 | uint8_t Trinamic_TMC2130::set_vhighchm(uint8_t value)
624 | {
625 |   set_CHOPCONF(TMC_CHOPCONF_VHIGHCHM, value);
626 | 
627 |   return _status;
628 | }
629 | 
630 | uint8_t Trinamic_TMC2130::set_vhighfs(uint8_t value)
631 | {
632 |   set_CHOPCONF(TMC_CHOPCONF_VHIGHFS, value);
633 | 
634 |   return _status;
635 | }
636 | 
637 | uint8_t Trinamic_TMC2130::set_vsense(uint8_t value)
638 | {
639 |   set_CHOPCONF(TMC_CHOPCONF_VSENSE, value);
640 | 
641 |   return _status;
642 | }
643 | 
644 | uint8_t Trinamic_TMC2130::set_tbl(uint8_t value)
645 | {
646 |   set_CHOPCONF(TMC_CHOPCONF_TBL, value);
647 | 
648 |   return _status;
649 | }
650 | 
651 | uint8_t Trinamic_TMC2130::set_chm(uint8_t value)
652 | {
653 | 
654 |   set_CHOPCONF(TMC_CHOPCONF_CHM, value);
655 | 
656 |   return _status;
657 | }
658 | 
659 | uint8_t Trinamic_TMC2130::set_rndtf(uint8_t value)
660 | {
661 | 
662 |   set_CHOPCONF(TMC_CHOPCONF_RNDTF, value);
663 | 
664 |   return _status;
665 | }
666 | 
667 | uint8_t Trinamic_TMC2130::set_disfdcc(uint8_t value)
668 | {
669 | 
670 |   set_CHOPCONF(TMC_CHOPCONF_DISFDCC, value);
671 | 
672 |   return _status;
673 | }
674 | 
675 | uint8_t Trinamic_TMC2130::set_fd(uint8_t value)
676 | {
677 | 
678 |   set_CHOPCONF(TMC_CHOPCONF_FD, value);
679 | 
680 |   return _status;
681 | }
682 | 
683 | uint8_t Trinamic_TMC2130::set_hend(uint8_t value)
684 | {
685 | 
686 |   set_CHOPCONF(TMC_CHOPCONF_HEND, value);
687 | 
688 |   return _status;
689 | }
690 | 
691 | uint8_t Trinamic_TMC2130::set_hstrt(uint8_t value)
692 | {
693 | 
694 |   set_CHOPCONF(TMC_CHOPCONF_HSTRT, value);
695 | 
696 |   return _status;
697 | }
698 | 
699 | uint8_t Trinamic_TMC2130::set_toff(uint8_t value)
700 | {
701 | 
702 |   set_CHOPCONF(TMC_CHOPCONF_TOFF, value);
703 | 
704 |   return _status;
705 | }
706 | 
707 |   //////////
708 |  // COOLCONF
709 | //////////
710 | 
711 | // alter coolconf
712 | uint8_t Trinamic_TMC2130::alter_COOLCONF(uint32_t data, uint32_t mask)
713 | {
714 |   uint32_t newData;
715 | 
716 |   _coolconf = ( _coolconf & ~mask ) | ( data & mask );
717 | 
718 |   write_REG( TMC_REG_COOLCONF, _coolconf );
719 | 
720 |   return _status;
721 | }
722 | 
723 | // set coolconf
724 | uint8_t Trinamic_TMC2130::set_COOLCONF(uint8_t position, uint8_t value)
725 | {
726 | 
727 |   alter_COOLCONF( uint32_t(value)<<position, TMC_CHOPCONF_MASKS[position]<<position);
728 | 
729 |   return _status;
730 | }
731 | 
732 | uint8_t Trinamic_TMC2130::set_sfilt(uint8_t value)
733 | {
734 |   set_CHOPCONF(TMC_COOLCONF_SFILT, value);
735 | 
736 |   return _status;
737 | }
738 | 
739 | uint8_t Trinamic_TMC2130::set_sgt(uint8_t value)
740 | {
741 |   set_CHOPCONF(TMC_COOLCONF_SGT, value);
742 | 
743 |   return _status;
744 | }
745 | 
746 | uint8_t Trinamic_TMC2130::set_seimin(uint8_t value)
747 | {
748 |   set_CHOPCONF(TMC_COOLCONF_SEIMIN, value);
749 | 
750 |   return _status;
751 | }
752 | 
753 | uint8_t Trinamic_TMC2130::set_sedn(uint8_t value)
754 | {
755 |   set_CHOPCONF(TMC_COOLCONF_SEDN, value);
756 | 
757 |   return _status;
758 | }
759 | 
760 | uint8_t Trinamic_TMC2130::set_semax(uint8_t value)
761 | {
762 |   set_CHOPCONF(TMC_COOLCONF_SEMAX, value);
763 | 
764 |   return _status;
765 | }
766 | 
767 | uint8_t Trinamic_TMC2130::set_seup(uint8_t value)
768 | {
769 |   set_CHOPCONF(TMC_COOLCONF_SEUP, value);
770 | 
771 |   return _status;
772 | }
773 | 
774 | uint8_t Trinamic_TMC2130::set_semin(uint8_t value)
775 | {
776 |   set_CHOPCONF(TMC_COOLCONF_SEMIN, value);
777 | 
778 |   return _status;
779 | }
780 | 
781 |   //////////
782 |  // DCCTRL
783 | //////////
784 | 
785 | uint8_t Trinamic_TMC2130::set_DCCTRL(uint16_t dc_time, uint16_t dc_sg)
786 | {
787 |   uint32_t data;
788 |   data = ( uint32_t(dc_sg) & TMC_DCCTRL_DC_SG_MASK );
789 |   data = data<<TMC_DCCTRL_DC_SG;
790 |   data |= ( uint32_t(dc_time) & TMC_DCCTRL_DC_TIME_MASK );
791 |   data &= TMC_DCCTRL_MASK;
792 | 
793 |   write_REG(TMC_REG_DCCTRL, data);
794 | 
795 |   return _status;
796 | }
797 | 
798 |   //////////
799 |  // PWMCONF
800 | //////////
801 | 
802 | // alter pwmconf
803 | uint8_t Trinamic_TMC2130::alter_PWMCONF(uint32_t data, uint32_t mask)
804 | {
805 |   uint32_t newData;
806 | 
807 |   _pwmconf = ( _pwmconf & ~mask ) | ( data & mask );
808 | 
809 |   write_REG( TMC_REG_PWMCONF, _pwmconf );
810 | 
811 |   return _status;
812 | }
813 | 
814 | // set pwmconf
815 | uint8_t Trinamic_TMC2130::set_PWMCONF(uint8_t position, uint8_t value)
816 | {
817 | 
818 |   alter_PWMCONF( uint32_t(value)<<position, TMC_CHOPCONF_MASKS[position]<<position );
819 | 
820 |   return _status;
821 | }
822 | 
823 | uint8_t Trinamic_TMC2130::set_freewheel(uint8_t value)
824 | {
825 |   set_PWMCONF(TMC_PWMCONF_FREEWHEEL, value);
826 | 
827 |   return _status;
828 | }
829 | 
830 | uint8_t Trinamic_TMC2130::set_pwm_symmetric(uint8_t value)
831 | {
832 |   set_PWMCONF(TMC_PWMCONF_PWM_SYMMETRIC, value);
833 | 
834 |   return _status;
835 | }
836 | 
837 | uint8_t Trinamic_TMC2130::set_pwm_autoscale(uint8_t value)
838 | {
839 |   set_PWMCONF(TMC_PWMCONF_PWM_AUTOSCALE, value);
840 | 
841 |   return _status;
842 | }
843 | 
844 | uint8_t Trinamic_TMC2130::set_pwm_freq(uint8_t value)
845 | {
846 |   set_PWMCONF(TMC_PWMCONF_PWM_FREQ, value);
847 | 
848 |   return _status;
849 | }
850 | 
851 | uint8_t Trinamic_TMC2130::set_PWM_GRAD(uint8_t value)
852 | {
853 |   set_PWMCONF(TMC_PWMCONF_PWM_GRAD, value);
854 | 
855 |   return _status;
856 | }
857 | 
858 | uint8_t Trinamic_TMC2130::set_PWM_AMPL(uint8_t value)
859 | {
860 |   set_PWMCONF(TMC_PWMCONF_PWM_AMPL, value);
861 | 
862 |   return _status;
863 | }
864 | 
865 |   //////////
866 |  // ENCM_CTRL
867 | //////////
868 | 
869 | uint8_t Trinamic_TMC2130::set_ENCM_CTRL(uint8_t value)
870 | {
871 |   uint8_t data;
872 | 
873 |   data = value & TMC_ENCM_CTRL_MASK;
874 | 
875 |   write_REG(TMC_REG_ENCM_CTRL, data);
876 | 
877 |   return _status;
878 | }
879 | 
880 |   //////////
881 |  // STATUS
882 | //////////
883 | 
884 | // check the reset status
885 | boolean Trinamic_TMC2130::isReset()
886 | {
887 |   return _status&TMC_SPISTATUS_RESET_MASK ? true : false;
888 | }
889 | 
890 | // check the error status
891 | boolean Trinamic_TMC2130::isError()
892 | {
893 |   return _status&TMC_SPISTATUS_ERROR_MASK ? true : false;
894 | }
895 | 
896 | // check the stallguard status
897 | boolean Trinamic_TMC2130::isStallguard()
898 | {
899 |   return _status&TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
900 | }
901 | 
902 | // check the standstill status
903 | boolean Trinamic_TMC2130::isStandstill()
904 | {
905 |   return _status&TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
906 | }
907 | 
908 | // get debug messages
909 | String Trinamic_TMC2130::debug()
910 | {
911 |   return _debug;
912 | }
913 | 


--------------------------------------------------------------------------------
/Trinamic_TMC2130/Trinamic_TMC2130.h:
--------------------------------------------------------------------------------
  1 | /**************************************************************************/
  2 | /*!
  3 | @file     Trinamic_TMC2130.h
  4 | @author   Moritz Walter
  5 | @license  GPLv3 (see license.txt)
  6 | 
  7 | SPI configuration tool for Trinamic TMC2130 Motor Drivers
  8 | 
  9 | @section  HISTORY
 10 | 
 11 | v0.1 - it works
 12 | */
 13 | /**************************************************************************/
 14 | #ifndef TRINAMIC_TMC2130_H
 15 | #define TRINAMIC_TMC2130_H
 16 | 
 17 | #if ARDUINO >= 100
 18 | #include "Arduino.h"
 19 | #else
 20 | #include "WProgram.h"
 21 | #endif
 22 | 
 23 | #include <SPI.h>
 24 | 
 25 | #include "Trinamic_TMC2130_registers.h"
 26 | 
 27 | class Trinamic_TMC2130{
 28 | public:
 29 |   Trinamic_TMC2130(uint8_t csPin);
 30 |   void init();
 31 |   void init_SPI();
 32 | 
 33 |   uint8_t read_STAT();
 34 |   uint8_t read_REG( uint8_t address , uint32_t *data );
 35 |   uint8_t write_REG( uint8_t address, uint32_t data );
 36 |   uint8_t alter_REG(uint8_t address, uint32_t data, uint32_t mask);
 37 | 
 38 |   uint8_t set_GCONF(uint8_t bit, uint8_t value);
 39 |   uint8_t set_I_scale_analog(uint8_t value);
 40 |   uint8_t set_internal_Rsense(uint8_t value);
 41 |   uint8_t set_en_pwm_mode(uint8_t value);
 42 |   uint8_t set_enc_commutation(uint8_t value);
 43 |   uint8_t set_shaft(uint8_t value);
 44 |   uint8_t set_diag0_error(uint8_t value);
 45 |   uint8_t set_diag0_otpw(uint8_t value);
 46 |   uint8_t set_diag0_stall(uint8_t value);
 47 |   uint8_t set_diag1_stall(uint8_t value);
 48 |   uint8_t set_diag1_index(uint8_t value);
 49 |   uint8_t set_diag1_onstate(uint8_t value);
 50 |   uint8_t set_diag1_steps_skipped(uint8_t value);
 51 |   uint8_t set_diag0_int_pushpull(uint8_t value);
 52 |   uint8_t set_diag1_int_pushpull(uint8_t value);
 53 |   uint8_t set_small_hysteresis(uint8_t value);
 54 |   uint8_t set_stop_enable(uint8_t value);
 55 |   uint8_t set_direct_mode(uint8_t value);
 56 |   //uint8_t test_mode(uint8_t value);
 57 | 
 58 |   uint8_t set_IHOLD_IRUN(uint8_t ihold, uint8_t irun, uint8_t iholddelay);
 59 |   uint8_t set_TPOWERDOWN(uint8_t value);
 60 |   uint32_t get_TSTEP();
 61 |   uint8_t set_TPWMTHRS(uint32_t value);
 62 |   uint8_t set_TCOOLTHRS(uint32_t value);
 63 |   uint8_t set_THIGH(uint32_t value);
 64 |   uint8_t set_XDIRECT(uint32_t value);
 65 |   uint8_t set_XDIRECT(int16_t coil_a, int16_t coil_b);
 66 |   int32_t get_XDIRECT();
 67 |   uint8_t set_VDCMIN(int32_t value);
 68 | 
 69 |   uint8_t set_MSLUT0(uint32_t value);
 70 |   uint8_t set_MSLUT1(uint32_t value);
 71 |   uint8_t set_MSLUT2(uint32_t value);
 72 |   uint8_t set_MSLUT3(uint32_t value);
 73 |   uint8_t set_MSLUT4(uint32_t value);
 74 |   uint8_t set_MSLUT5(uint32_t value);
 75 |   uint8_t set_MSLUT6(uint32_t value);
 76 |   uint8_t set_MSLUT7(uint32_t value);
 77 |   uint8_t set_MSLUTSEL(uint32_t value);
 78 |   uint8_t set_MSLUTSTART(uint8_t start_sin, uint8_t start_sin90);
 79 |   uint16_t get_MSCNT();
 80 |   int32_t get_MSCURACT();
 81 | 
 82 |   uint8_t set_CHOPCONF(uint8_t position, uint8_t value);
 83 |   uint8_t set_dedge(uint8_t value);
 84 |   uint8_t set_diss2g(uint8_t value);
 85 |   uint8_t set_intpol(uint8_t value);
 86 |   uint8_t set_mres(uint16_t value);
 87 |   uint8_t set_sync(uint8_t value);
 88 |   uint8_t set_vhighchm(uint8_t value);
 89 |   uint8_t set_vhighfs(uint8_t value);
 90 |   uint8_t set_vsense(uint8_t value);
 91 |   uint8_t set_tbl(uint8_t value);
 92 |   uint8_t set_chm(uint8_t value);
 93 |   uint8_t set_rndtf(uint8_t value);
 94 |   uint8_t set_disfdcc(uint8_t value);
 95 |   uint8_t set_fd(uint8_t value);
 96 |   uint8_t set_hend(uint8_t value);
 97 |   uint8_t set_hstrt(uint8_t value);
 98 |   uint8_t set_toff(uint8_t value);
 99 | 
100 |   uint8_t alter_COOLCONF(uint32_t data, uint32_t mask);
101 |   uint8_t set_COOLCONF(uint8_t position, uint8_t value);
102 |   uint8_t set_sfilt(uint8_t value);
103 |   uint8_t set_sgt(uint8_t value);
104 |   uint8_t set_seimin(uint8_t value);
105 |   uint8_t set_sedn(uint8_t value);
106 |   uint8_t set_semax(uint8_t value);
107 |   uint8_t set_seup(uint8_t value);
108 |   uint8_t set_semin(uint8_t value);
109 | 
110 |   uint8_t set_DCCTRL(uint16_t dc_time, uint16_t dc_sg);
111 | 
112 |   uint8_t alter_PWMCONF(uint32_t data, uint32_t mask);
113 |   uint8_t set_PWMCONF(uint8_t position, uint8_t value);
114 |   uint8_t set_freewheel(uint8_t value);
115 |   uint8_t set_pwm_symmetric(uint8_t value);
116 |   uint8_t set_pwm_autoscale(uint8_t value);
117 |   uint8_t set_pwm_freq(uint8_t value);
118 |   uint8_t set_PWM_GRAD(uint8_t value);
119 |   uint8_t set_PWM_AMPL(uint8_t value);
120 | 
121 |   uint8_t set_ENCM_CTRL(uint8_t value);
122 | 
123 |   boolean isReset();
124 |   boolean isError();
125 |   boolean isStallguard();
126 |   boolean isStandstill();
127 |   String debug();
128 | 
129 | private:
130 |   uint32_t _coolconf;
131 |   uint32_t _pwmconf;
132 |   uint8_t _csPin;
133 |   uint8_t _status;
134 |   String _debug;
135 | };
136 | 
137 | #endif // TRINAMIC_TMC2130_H
138 | 


--------------------------------------------------------------------------------
/Trinamic_TMC2130/Trinamic_TMC2130_registers.h:
--------------------------------------------------------------------------------
  1 | /**************************************************************************/
  2 | /*!
  3 | @file     Trinamic_TMC2130_registers.h
  4 | @author   Moritz Walter
  5 | @license  GPLv3 (see license.txt)
  6 | 
  7 | SPI configuration tool for Trinamic TMC2130 Motor Drivers
  8 | 
  9 | @section  HISTORY
 10 | 
 11 | v0.1 - it works
 12 | */
 13 | /**************************************************************************/
 14 | #ifndef TRINAMIC_TMC2130_REGISTERS_H
 15 | #define TRINAMIC_TMC2130_REGISTERS_H
 16 | 
 17 | #if ARDUINO >= 100
 18 | #include "Arduino.h"
 19 | #else
 20 | #include "WProgram.h"
 21 | #endif
 22 | 
 23 | #include <SPI.h>
 24 | 
 25 | // SPI
 26 | #define TMC_SPI_CLOCK_DIVIDER SPI_CLOCK_DIV8
 27 | #define TMC_SPI_DATA_MODE SPI_MODE3
 28 | #define TMC_SPI_BIT_ORDER MSBFIRST
 29 | 
 30 | // RW
 31 | #define TMC_READ                         (0x00)
 32 | #define TMC_WRITE                        (0x80)
 33 | 
 34 | // SPISTATUS MASKS
 35 | #define TMC_SPISTATUS_RESET_MASK         (0x01)
 36 | #define TMC_SPISTATUS_ERROR_MASK         (0x02)
 37 | #define TMC_SPISTATUS_STALLGUARD_MASK    (0x04)
 38 | #define TMC_SPISTATUS_STANDSTILL_MASK    (0x08)
 39 | 
 40 | // REGISTERS
 41 | #define TMC_REG_GCONF                    (0x00) // RW //    17 // Global configuration flags
 42 | #define TMC_REG_GSTAT                    (0x01) // RC //     3 // Global status flags
 43 | #define TMC_REG_IOIN                     (0x04) // R  //   8+8 // Reads the state of all input pins available
 44 | #define TMC_REG_IHOLD_IRUN               (0x10) // W  // 5+5+4 // Driver current control
 45 | #define TMC_REG_TPOWERDOWN               (0x11) // W  //     8 // sets delay time after stand still (stst) to motor current power down (0-4 seconds) 0_((2^8)-1) * 2^18 tclk
 46 | #define TMC_REG_TSTEP                    (0x12) // R  //    20 // Actual measured time between two 1/256 microsteps derived from the step input frequency in units of 1/fCLK. Measured value is (2^20)-1 in case of overflow or stand still
 47 | #define TMC_REG_TPWMTHRS                 (0x13) // W  //    20 // Upper velocity threshold for stealthChop voltage PWM mode
 48 | #define TMC_REG_TCOOLTHRS                (0x14) // W  //    20 // Lower threshold velocity for switching on smart energy coolStep and stallGuard feature (unsigned)
 49 | #define TMC_REG_THIGH                    (0x15) // W  //    20 // Velocity dependend switching into different chopper mode and fullstepping to maximize torque (unsigned)
 50 | #define TMC_REG_XDIRECT                  (0x2D) // RW //    32 // specifies motor coil currents and polarity directly programmed via SPI. Use signed, two's complement numbers. In this mode, the current is scaled by IHOLD. Velocity based current regulation of voltage PWM is not available in this mode. +- 255 for both coils
 51 | #define TMC_REG_VDCMIN                   (0x33) // W  //    23 // automatic commutation dcStep becomes enabled by the external signal DCEN. VDCMIN is used as the minimum step velocity when the motor is heavily loaded. Hint: Also set DCCTRL parameters in order to operate dcStep
 52 | #define TMC_REG_MSLUT0                   (0x60) // W  //    32 // Each bit gives the difference between entry x and entry x+1 when combined with the corresponding MSLUTSEL W bits. Differential coding for the first quarter of a wave. Start values for CUR_A and CUR_B are stored for MSCNT position 0 in START_SIN and START_SIN90.
 53 | #define TMC_REG_MSLUT1                   (0x61) // W  //    32 //
 54 | #define TMC_REG_MSLUT2                   (0x62) // W  //    32 //
 55 | #define TMC_REG_MSLUT3                   (0x63) // W  //    32 //
 56 | #define TMC_REG_MSLUT4                   (0x64) // W  //    32 //
 57 | #define TMC_REG_MSLUT5                   (0x65) // W  //    32 //
 58 | #define TMC_REG_MSLUT6                   (0x66) // W  //    32 //
 59 | #define TMC_REG_MSLUT7                   (0x67) // W  //    32 //
 60 | #define TMC_REG_MSLUTSEL                 (0x68) // W  //    32 // defines four segments within each quarter MSLUT wave. Four 2 bit entries determine the meaning of a 0 and a 1 bit in the corresponding segment of MSLUT
 61 | #define TMC_REG_MSLUTSTART               (0x69) // W  //   8+8 //
 62 | #define TMC_REG_MSCNT                    (0x6A) // R  //    10 //
 63 | #define TMC_REG_MSCURACT                 (0x6B) // R  //   9+9 //
 64 | #define TMC_REG_CHOPCONF                 (0x6C) // RW //    32 //
 65 | #define TMC_REG_COOLCONF                 (0x6D) // W  //    25 //
 66 | #define TMC_REG_DCCTRL                   (0x6E) // W  //    24 //
 67 | #define TMC_REG_DRV_STATUS               (0x6F) // R  //    22 //
 68 | #define TMC_REG_PWMCONF                  (0x70) // W  //     8 //
 69 | #define TMC_REG_PWM_SCALE                (0x71) // R  //     8 //
 70 | #define TMC_REG_ENCM_CTRL                (0x72) // W  //     2 //
 71 | #define TMC_REG_LOST_STEPS               (0x73) // R  //    20 //
 72 | 
 73 | // GCONF OFFSETS
 74 | // for shifting incoming values to the right register position
 75 | #define TMC_GCONF_I_SCALE_ANALOG               (0) // 0: Internal, 1: AIN
 76 | #define TMC_GCONF_INTERNAL_RSENSE              (1) // 0: Normal, 1: Internal
 77 | #define TMC_GCONF_EN_PWM_MODE                  (2) // 0: Disable, 1: Enable
 78 | #define TMC_GCONF_ENC_COMMUTATION              (3) // 0: Disable, 1: Enable
 79 | #define TMC_GCONF_SHAFT                        (4) // 0: Normal, 1: Invert
 80 | #define TMC_GCONF_DIAG0_ERROR                  (5) // 0: Disable, 1: Enable
 81 | #define TMC_GCONF_DIAG0_OTPW                   (6) // 0: Disable, 1: Enable
 82 | #define TMC_GCONF_DIAG0_STALL                  (7) // 0: Disable, 1: Enable
 83 | #define TMC_GCONF_DIAG1_STALL                  (8) // 0: Disable, 1: Enable
 84 | #define TMC_GCONF_DIAG1_INDEX                  (9) // 0: Disable, 1: Enable
 85 | #define TMC_GCONF_DIAG1_ONSTATE                (10) // 0: Disable, 1: Enable
 86 | #define TMC_GCONF_DIAG1_STEPS_SKIPPED          (11) // 0: Disable, 1: Enable
 87 | #define TMC_GCONF_DIAG0_INT_PUSHPULL           (12) // 0: Open Collector, 1: Push Pull
 88 | #define TMC_GCONF_DIAG1_INT_PUSHPULL           (13) // 0: Open Collector, 1: Push Pull
 89 | #define TMC_GCONF_SMALL_HYSTERESIS             (14) // 0: 1/16, 1: 1/32
 90 | #define TMC_GCONF_STOP_ENABLE                  (15) // 0: Normal, 1: Emergency Stop
 91 | #define TMC_GCONF_DIRECT_MODE                  (16) // 0: Normal, 1: XDIRECT
 92 | #define TMC_GCONF_TEST_MODE                    (17) // 0: Normal, 1: Enable, Don't use!
 93 | 
 94 | // GCONF MASKS
 95 | // not required, all 1 bit
 96 | 
 97 | // IHOLD_IRUN OFFSETS
 98 | // for shifting incoming values to the right register position
 99 | #define TMC_IHOLD                        (0)
100 | #define TMC_IRUN                         (8)
101 | #define TMC_IHOLDDELAY                   (16)
102 | 
103 | // IHOLD IRUN MASKS
104 | #define TMC_IHOLD_MASK                   (0b11111UL)
105 | #define TMC_IRUN_MASK                    (0b11111UL)
106 | #define TMC_IHOLDDELAY_MASK              (0b1111UL)
107 | 
108 | // TPOWERDOWN
109 | // no offsets required
110 | #define TMC_TPOWERDOWN_MASK              (0b11111111UL)
111 | 
112 | // TSTEP
113 | // no offsets required
114 | #define TMC_TSTEP_MASK                   (0b11111111111111111111UL)
115 | 
116 | // TPWMTHRS
117 | // no offsets required
118 | #define TMC_TPWMTHRS_MASK                (0b11111111111111111111UL)
119 | 
120 | // TCOOLTHRS
121 | #define TMC_TCOOLTHRS_MASK               (0b11111111111111111111UL)
122 | 
123 | // THIGH
124 | // no offsets required
125 | #define TMC_THIGH_MASK                   (0b11111111111111111111UL)
126 | 
127 | // XDIRECT OFFSETS
128 | // for shifting incoming values to the right register position
129 | #define TMC_XDIRECT_COIL_A               (0)
130 | #define TMC_XDIRECT_COIL_B               (16)
131 | 
132 | // XDIRECT MASKS
133 | // mask the bits from the values we want to set
134 | #define TMC_XDIRECT_MASK                 (0xFFFFFFFFUL)
135 | #define TMC_XDIRECT_COIL_A_MASK          (0xFFFFUL)
136 | #define TMC_XDIRECT_COIL_B_MASK          (0xFFFFUL)
137 | // no offsets required
138 | // needs no mask
139 | 
140 | // VDCMIN
141 | // no offsets required
142 | #define TMC_VDCMIN_MASK                  (0b11111111111111111111111UL)
143 | 
144 | // MSLUT
145 | // no offsets required
146 | // needs no mask
147 | 
148 | // MSLUTSEL
149 | // no offsets required
150 | // needs no mask
151 | 
152 | // MSLUTSTART OFFSETS
153 | #define TMC_MSLUTSTART_START_SIN         (0)
154 | #define TMC_MSLUTSTART_START_SIN90       (8)
155 | 
156 | // MSLUTSTART MASKS
157 | #define TMC_MSLUTSTART_MASK              (0xFFFFUL)
158 | #define TMC_MSLUTSTART_START_SIN_MASK    (0xFF)
159 | #define TMC_MSLUTSTART_START_SIN90_MASK  (0xFF)
160 | 
161 | 
162 | // MSCNT
163 | // no offsets required
164 | #define TMC_MSCNT_MASK                   (0b1111111111)
165 | 
166 | // MSCURACT
167 | // no offsets required
168 | #define TMC_MSCURACT_MASK                (0b111111111111111111UL)
169 | 
170 | // CHOPCONF MASKS
171 | // mask the bits from the values we want to set
172 | 
173 | const uint32_t TMC_CHOPCONF_MASKS[] = {
174 |   0b1111UL, // 0 TOFF
175 |   0b111UL,  // 1
176 |   0b11UL,   // 2
177 |   0b1UL,    // 3
178 |   0b111UL,  // 4 HYSTERESIS_START
179 |   0b11UL,   // 5
180 |   0b1UL,    // 6
181 |   0b0001UL, // 7 HYSTERESIS_LOW
182 |   0b001UL,  // 8
183 |   0b01UL,   // 9
184 |   0b1UL,    // 10
185 |   0b1UL,    // 11 FAST_DECAY_TIMING
186 |   0b1UL,    // 12 FAST_DECAY_MODE
187 |   0b1UL,    // 13 RANDOM_TOFF
188 |   0b1UL,    // 14 CHOPPER_MODE
189 |   0b11UL,   // 15 TBL
190 |   0b1UL,    // 16
191 |   0b1UL,    // 17 SENSE_CURRENT_SCALING
192 |   0b1UL,    // 18 HIGH_VELOCITY_STEPS
193 |   0b1UL,    // 19 HIGH_VELOCITY_CHOPPER
194 |   0b1111UL, // 20 SYNC_PWM
195 |   0b111UL,  // 21
196 |   0b11UL,   // 22
197 |   0b1UL,    // 23
198 |   0b1111UL, // 24 MRES
199 |   0b111UL,  // 25
200 |   0b11UL,   // 26
201 |   0b1UL,    // 27
202 |   0b1UL,    // 28 INTERPOLATE
203 |   0b1UL,    // 29 DOUBLE_EDGE_PULSES
204 |   0b1UL,    // 30 SHORT_PROTECTION
205 |   0b1UL     // 31
206 | };
207 | 
208 | // CHOPCONF OFFSETS
209 | // for shifting incoming values to the right register position
210 | #define TMC_CHOPCONF_DISS2G                       (30)
211 | #define TMC_CHOPCONF_DEDGE                        (29)
212 | #define TMC_CHOPCONF_INTPOL                       (28)
213 | #define TMC_CHOPCONF_MRES                         (24)
214 | #define TMC_CHOPCONF_SYNC                         (20)
215 | #define TMC_CHOPCONF_VHIGHCHM                     (19)
216 | #define TMC_CHOPCONF_VHIGHFS                      (18)
217 | #define TMC_CHOPCONF_VSENSE                       (17)
218 | #define TMC_CHOPCONF_TBL                          (15)
219 | #define TMC_CHOPCONF_CHM                          (14)
220 | #define TMC_CHOPCONF_RNDTF                        (13)
221 | #define TMC_CHOPCONF_DISFDCC                      (12)
222 | #define TMC_CHOPCONF_FD                           (11)
223 | #define TMC_CHOPCONF_HEND                         (7)
224 | #define TMC_CHOPCONF_HSTRT                        (4)
225 | #define TMC_CHOPCONF_TOFF                         (0)
226 | 
227 | // COOLCONF BIT OFFSETS
228 | // for shifting incoming values to the right register position
229 | #define TMC_COOLCONF_SFILT                        (24)
230 | #define TMC_COOLCONF_SGT                          (16)
231 | #define TMC_COOLCONF_SEIMIN                       (15)
232 | #define TMC_COOLCONF_SEDN                         (13)
233 | #define TMC_COOLCONF_SEMAX                        (8)
234 | #define TMC_COOLCONF_SEUP                         (5)
235 | #define TMC_COOLCONF_SEMIN                        (0)
236 | 
237 | // COOLCONF MASKS
238 | // mask the bits from the values we want to set
239 | const int TMC_COOLCONF_MASKS[] = {
240 |   0b1111UL, // 0 TMC_COOLCONF_SEMIN
241 |   0b111UL, // 1
242 |   0b11UL, // 2
243 |   0b1UL, // 3
244 |   0b0UL, // 4
245 |   0b11UL, // 5 TMC_COOLCONF_SEUP
246 |   0b1UL, // 6
247 |   0b0UL, // 7
248 |   0b1111UL, // 8 TMC_COOLCONF_SEMAX
249 |   0b111UL, // 9
250 |   0b11UL, // 10
251 |   0b1UL, // 11
252 |   0b0UL, // 12
253 |   0b11UL, // 13 TMC_COOLCONF_SEDN
254 |   0b1UL, // 14
255 |   0b1UL, // 15 TMC_COOLCONF_SEIMIN
256 |   0b1111111UL, // 16 TMC_COOLCONF_SGT
257 |   0b111111UL, // 17
258 |   0b11111UL, // 18
259 |   0b1111UL, // 19
260 |   0b111UL, // 20
261 |   0b11UL, // 21
262 |   0b1UL, // 22
263 |   0b0UL, // 23
264 |   0b1UL, // 24 TMC_COOLCONF_SFILT
265 | };
266 | 
267 | // DCCTRL OFFSETS
268 | // for shifting incoming values to the right register position
269 | #define TMC_DCCTRL_DC_TIME                        (0)
270 | #define TMC_DCCTRL_DC_SG                          (16)
271 | 
272 | // DCCTRL MASKS
273 | // mask the bits from the values we want to set
274 | #define TMC_DCCTRL_MASK                           (0b1111111111UL)
275 | #define TMC_DCCTRL_DC_TIME_MASK                   (0b11111111UL)
276 | #define TMC_DCCTRL_DC_SG_MASK                     (0b111111110000001111111111UL)
277 | 
278 | 
279 | // PWMCONF OFFSETS
280 | // for shifting incoming values to the right register position
281 | #define TMC_PWMCONF_FREEWHEEL                     (20)
282 | #define TMC_PWMCONF_PWM_SYMMETRIC                 (19)
283 | #define TMC_PWMCONF_PWM_AUTOSCALE                 (18)
284 | #define TMC_PWMCONF_PWM_FREQ                      (16)
285 | #define TMC_PWMCONF_PWM_GRAD                      (8)
286 | #define TMC_PWMCONF_PWM_AMPL                      (0)
287 | 
288 | // PWMCONF MASKS
289 | // mask the bits from the values we want to set
290 | const int TMC_PWMCONF_MASKS[] = {
291 |   0b11111111UL, // 0 TMC_PWMCONF_PWM_AMPL
292 |   0b1111111UL, // 1
293 |   0b111111UL, // 2
294 |   0b11111UL, // 3
295 |   0b1111UL, // 4
296 |   0b111UL, // 5
297 |   0b11UL, // 6
298 |   0b1UL, // 7
299 |   0b11111111UL, // 8 TMC_PWMCONF_PWM_GRAD
300 |   0b1111111UL, // 9
301 |   0b111111UL, // 10
302 |   0b11111UL, // 11
303 |   0b1111UL, // 12
304 |   0b111UL, // 13
305 |   0b11UL, // 14
306 |   0b1UL, // 15
307 |   0b11UL, // 16 TMC_PWMCONF_PWM_FREQ
308 |   0b1UL, // 17
309 |   0b1UL, // 18 TMC_PWMCONF_PWM_AUTOSCALE
310 |   0b1UL, // 19 TMC_PWMCONF_PWM_SYMMETRIC
311 |   0b11UL, // 20 TMC_PWMCONF_FREEWHEEL
312 |   0b1UL, // 21
313 | };
314 | 
315 | // ENCM_CTRL MASK
316 | // mask the bits from the values we want to set
317 | #define TMC_ENCM_CTRL_MASK          (0b11);
318 | 
319 | #endif // TRINAMIC_TMC2130_REGISTERS_H
320 | 


--------------------------------------------------------------------------------
/Trinamic_TMC2130/examples/configuration_tool/configuration_tool.ino:
--------------------------------------------------------------------------------
  1 | /**************************************************************************/
  2 | /*!
  3 | @file     configuration_tool.ino
  4 | @author   Moritz Walter
  5 | @license  GPLv3 (see license.txt)
  6 | 
  7 | Tool to send SPI configuration to Trinamic TMC2130 Motor Drivers
  8 | 
  9 | @section  HISTORY
 10 | 
 11 | v0.1 - it works
 12 | */
 13 | /**************************************************************************/
 14 | 
 15 | #include <SPI.h>
 16 | #include <Trinamic_TMC2130.h>
 17 | 
 18 | #define BAUDRATE 125000
 19 | 
 20 |     ////////////////////
 21 |    //
 22 |   //    HOW TO USE
 23 |  //
 24 | ////////////////////
 25 | 
 26 | // This tool uses hardware SPI
 27 | // Just wire the drivers to your SPI pins and define the CS pins below.
 28 | // Then, uncomment configuration below to enable specific settings.
 29 | // Once flashed, the sketch sends your configuration to the drivers in regular intervals.
 30 | 
 31 |     ////////////////////
 32 |    //
 33 |   //    CONFIGURATION
 34 |  //
 35 | ////////////////////
 36 | 
 37 | //////////
 38 | // STEPPER PIN CONFIGURATION
 39 | // enter your pin configuration here
 40 | //////////
 41 | 
 42 | // enable one or two stepper drivers
 43 | #define STEPPERX_ENABLE
 44 | //#define STEPPERY_ENABLE
 45 | 
 46 | // cable select pins for the steppers
 47 | #define X_CS_PIN 53
 48 | #define Y_CS_PIN 49
 49 | 
 50 | //////////
 51 | // TMC2130 CONFIGURATION
 52 | // uncomment below settings to send them to the drivers
 53 | //////////
 54 | 
 55 | //#define GLOBAL_EN_PWM_MODE 0
 56 | #define GLOBAL_I_SCALE_ANALOG 1 // [0,1] 0: Normal, 1: AIN
 57 | //#define GLOBAL_INTERNAL_RSENSE 0 // [0,1]0: Normal, 1: Internal
 58 | #define GLOBAL_EN_PWM_MODE 0 //[0,1] 0: Normal, 1: stealthChop with velocity threshold
 59 | //#define GLOBAL_ENC_COMMUTATION 0 //
 60 | #define GLOBAL_SHAFT 0 // 0: normal, 1: invert
 61 | //#define GLOBAL_DIAG0_ERROR 0 //
 62 | //#define GLOBAL_DIAG0_OTPW 0 //
 63 | //#define GLOBAL_DIAG0_STALL 0 //
 64 | //#define GLOBAL_DIAG1_STALL 0 //
 65 | //#define GLOBAL_DIAG1_INDEX 0 //
 66 | //#define GLOBAL_DIAG1_ONSTATE 0 //
 67 | //#define GLOBAL_DIAG1_ONSTATE 0 //
 68 | //#define GLOBAL_DIAG0_INT_PUSHPULL 0 //
 69 | //#define GLOBAL_DIAG1_INT_PUSHPULL 0 //
 70 | //#define GLOBAL_SMALL_HYSTERESIS 0 //
 71 | //#define GLOBAL_STOP_ENABLE 0 //
 72 | //#define GLOBAL_DIRECT_MODE 0 //
 73 | 
 74 | /* VELOCITY DEPENDEND DRIVE FEATURES */
 75 | 
 76 | #define GLOBAL_IHOLD 22 // [0-31] 0: min, 31: max
 77 | #define GLOBAL_IRUN 31 // [0-31] 0: min, 31: max
 78 | #define GLOBAL_IHOLDDELAY 15   // [0-15]  0: min, 15: about 4 seconds // delay before IHOLD is applied
 79 | //#define GLOBAL_TPOWERDOWN 0 // [0-255] 0: min, 255: about 4 seconds // delay to standstill current reduction
 80 | //#define GLOBAL_TPWMTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
 81 | //#define GLOBAL_TCOOLTHRS 0 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
 82 | #define GLOBAL_THIGH 10 // [0-1048576] e.g. 20 corresponds with 2000 steps/s
 83 | 
 84 | /* SPI MODE CONFIGURATION */
 85 | 
 86 | //#define GLOBAL_XDIRECT 0 //
 87 | 
 88 | /* DCSTEP MINIMUM VELOCITY */
 89 | 
 90 | //#define GLOBAL_VDCMIN 0 //
 91 | 
 92 | /* MOTOR DRIVER CONFIGURATION*/
 93 | 
 94 | //#define GLOBAL_DEDGE 0 //
 95 | //#define GLOBAL_DISS2G 0 //
 96 | #define GLOBAL_INTPOL 1 // 0: off 1: 256 microstep interpolation
 97 | #define GLOBAL_MRES 16 // number of microsteps
 98 | #define GLOBAL_SYNC 1 // {0-15}
 99 | #define GLOBAL_VHIGHCHM 1 // [0,1] 0: normal, 1: high velocity stepper mode
100 | #define GLOBAL_VHIGHFS 0 // [0,1] 0: normal, 1: switch to full steps for high velocities
101 | // #define GLOBAL_VSENSE 0 // [0,1] 0: normal, 1: high sensitivity (not recommended)
102 | #define GLOBAL_TBL 1    // 0-3: set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
103 | #define GLOBAL_CHM 0 // [0,1] 0: spreadCycle, 1: Constant off time with fast decay time.
104 | //#define GLOBAL_RNDTF 0 //
105 | //#define GLOBAL_DISFDCC 0 //
106 | //#define GLOBAL_FD 0 //
107 | //#define GLOBAL_HEND 0 //
108 | //#define GLOBAL_HSTRT 0 //
109 | #define GLOBAL_TOFF 10    // 0: driver disable, 1: use only with TBL>=2, 2-15: off time setting during slow decay phase
110 | 
111 | //#define GLOBAL_SFILT 0 //
112 | //#define GLOBAL_SGT 0 //
113 | //#define GLOBAL_SEIMIN 0 //
114 | //#define GLOBAL_SEDN 0 //
115 | //#define GLOBAL_SEMAX 0 //
116 | //#define GLOBAL_SEUP 0 //
117 | //#define GLOBAL_SEMIN 0 //
118 | 
119 | //#define GLOBAL_DC_TIME 0 //
120 | //#define GLOBAL_DC_SG 0 //
121 | 
122 | //#define GLOBAL_FREEWHEEL 0 //
123 | //#define GLOBAL_PWM_SYMMETRIC 0 //
124 | //#define GLOBAL_PWM_AUTOSCALE 0 //
125 | //#define GLOBAL_PWM_FREQ 0 //
126 | //#define GLOBAL_PWM_GRAD 0 //
127 | //#define GLOBAL_PWM_AMPL 0 //
128 | 
129 | //#define GLOBAL_ENCM_CTRL 0 //
130 | 
131 | 
132 | 
133 | 
134 |     ////////////////////
135 |    //
136 |   //    NO CHANGES REQUIRED BELOW
137 |  //
138 | ////////////////////
139 | 
140 | #ifdef STEPPERX_ENABLE
141 |  Trinamic_TMC2130 stepperX(X_CS_PIN);
142 | #endif
143 | #ifdef STEPPERY_ENABLE
144 |   Trinamic_TMC2130 stepperY(Y_CS_PIN);
145 | #endif
146 | 
147 | void setup(){
148 |   Serial.begin(BAUDRATE);
149 | }
150 | 
151 | 
152 | void loop(){
153 |   configure();
154 |   #ifdef STEPPERX_ENABLE
155 |     uint32_t xbuf;
156 |     stepperX.read_REG(TMC_REG_GCONF,&xbuf);
157 |     Serial.print("X GCONF: ");
158 |     Serial.println(xbuf,BIN);
159 |   #endif
160 |   #ifdef STEPPERY_ENABLE
161 |     uint32_t ybuf;
162 |     stepperY.read_REG(TMC_REG_GCONF,&ybuf);
163 |     Serial.print("Y GCONF: ");
164 |     Serial.println(ybuf,BIN);
165 |   #endif
166 |   delay(1000);
167 | }
168 | 
169 | void configure(){
170 |   #ifdef STEPPERX_ENABLE
171 |     stepperX.init();
172 |     #ifdef GLOBAL_I_SCALE_ANALOG
173 |       stepperX.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG);
174 |     #endif
175 |     #ifdef GLOBAL_INTERNAL_RSENSE
176 |     stepperX.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
177 |     #endif
178 |     #ifdef GLOBAL_EN_PWM_MODE
179 |     stepperX.set_en_pwm_mode(GLOBAL_EN_PWM_MODE);
180 |     #endif
181 |     #ifdef GLOBAL_ENC_COMMUTATION
182 |     stepperX.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
183 |     #endif
184 |     #ifdef GLOBAL_SHAFT
185 |     stepperX.set_shaft(GLOBAL_SHAFT);
186 |     #endif
187 |     #ifdef GLOBAL_DIAG0_ERROR
188 |     stepperX.set_diag0_error(GLOBAL_DIAG0_ERROR);
189 |     #endif
190 |     #ifdef GLOBAL_DIAG0_OTPW
191 |     stepperX.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
192 |     #endif
193 |     #ifdef GLOBAL_DIAG0_STALL
194 |     stepperX.set_diag0_stall(GLOBAL_DIAG0_STALL);
195 |     #endif
196 |     #ifdef GLOBAL_DIAG1_STALL
197 |     stepperX.set_diag1_stall(GLOBAL_DIAG1_STALL);
198 |     #endif
199 |     #ifdef GLOBAL_DIAG1_INDEX
200 |     stepperX.set_diag1_index(GLOBAL_DIAG1_INDEX);
201 |     #endif
202 |     #ifdef GLOBAL_DIAG1_ONSTATE
203 |     stepperX.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
204 |     #endif
205 |     #ifdef GLOBAL_DIAG1_ONSTATE
206 |     stepperX.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
207 |     #endif
208 |     #ifdef GLOBAL_DIAG0_INT_PUSHPULL
209 |     stepperX.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
210 |     #endif
211 |     #ifdef GLOBAL_DIAG1_INT_PUSHPULL
212 |     stepperX.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
213 |     #endif
214 |     #ifdef GLOBAL_SMALL_HYSTERESIS
215 |     stepperX.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
216 |     #endif
217 |     #ifdef GLOBAL_STOP_ENABLE
218 |     stepperX.set_stop_enable(GLOBAL_STOP_ENABLE);
219 |     #endif
220 |     #ifdef GLOBAL_DIRECT_MODE
221 |     stepperX.set_direct_mode(GLOBAL_DIRECT_MODE);
222 |     #endif
223 | 
224 |     #ifdef GLOBAL_IHOLD
225 |     stepperX.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY);
226 |     #endif
227 |     #ifdef GLOBAL_TPOWERDOWN
228 |     stepperX.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
229 |     #endif
230 |     #ifdef GLOBAL_TPWMTHRS
231 |     stepperX.set_TPWMTHRS(GLOBAL_TPWMTHRS);
232 |     #endif
233 |     #ifdef GLOBAL_TCOOLTHRS
234 |     stepperX.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
235 |     #endif
236 |     #ifdef GLOBAL_THIGH
237 |     stepperX.set_THIGH(GLOBAL_THIGH);
238 |     #endif
239 |     #ifdef GLOBAL_XDIRECT
240 |     stepperX.set_XDIRECT(GLOBAL_XDIRECT);
241 |     #endif
242 |     #ifdef GLOBAL_VDCMIN
243 |     stepperX.set_VDCMIN(GLOBAL_VDCMIN);
244 |     #endif
245 | 
246 |     #ifdef GLOBAL_DEDGE
247 |     stepperX.set_dedge(GLOBAL_DEDGE);
248 |     #endif
249 |     #ifdef GLOBAL_DISS2G
250 |     stepperX.set_diss2g(GLOBAL_DISS2G);
251 |     #endif
252 |     #ifdef GLOBAL_INTPOL
253 |     stepperX.set_intpol(GLOBAL_INTPOL);
254 |     #endif
255 |     #ifdef GLOBAL_MRES
256 |     stepperX.set_mres(GLOBAL_MRES);
257 |     #endif
258 |     #ifdef GLOBAL_SYNC
259 |     stepperX.set_sync(GLOBAL_SYNC);
260 |     #endif
261 |     #ifdef GLOBAL_VHIGHCHM
262 |     stepperX.set_vhighchm(GLOBAL_VHIGHCHM);
263 |     #endif
264 |     #ifdef GLOBAL_VHIGHFS
265 |     stepperX.set_vhighfs(GLOBAL_VHIGHFS);
266 |     #endif
267 |     #ifdef GLOBAL_VSENSE
268 |     stepperX.set_vsense(GLOBAL_VSENSE);
269 |     #endif
270 |     #ifdef GLOBAL_TBL
271 |     stepperX.set_tbl(GLOBAL_TBL);
272 |     #endif
273 |     #ifdef GLOBAL_CHM
274 |     stepperX.set_chm(GLOBAL_CHM);
275 |     #endif
276 |     #ifdef GLOBAL_RNDTF
277 |     stepperX.set_rndtf(GLOBAL_RNDTF);
278 |     #endif
279 |     #ifdef GLOBAL_DISFDCC
280 |     stepperX.set_disfdcc(GLOBAL_DISFDCC);
281 |     #endif
282 |     #ifdef GLOBAL_FD
283 |     stepperX.set_fd(GLOBAL_FD);
284 |     #endif
285 |     #ifdef GLOBAL_HEND
286 |     stepperX.set_hend(GLOBAL_HEND);
287 |     #endif
288 |     #ifdef GLOBAL_HSTRT
289 |     stepperX.set_hstrt(GLOBAL_HSTRT);
290 |     #endif
291 |     #ifdef GLOBAL_TOFF
292 |     stepperX.set_toff(GLOBAL_TOFF);
293 |     #endif
294 | 
295 |     #ifdef GLOBAL_SFILT
296 |     stepperX.set_sfilt(GLOBAL_SFILT);
297 |     #endif
298 |     #ifdef GLOBAL_SGT
299 |     stepperX.set_sgt(GLOBAL_SGT);
300 |     #endif
301 |     #ifdef GLOBAL_SEIMIN
302 |     stepperX.set_seimin(GLOBAL_SEIMIN);
303 |     #endif
304 |     #ifdef GLOBAL_SEDN
305 |     stepperX.set_sedn(GLOBAL_SEDN);
306 |     #endif
307 |     #ifdef GLOBAL_SEMAX
308 |     stepperX.set_semax(GLOBAL_SEMAX);
309 |     #endif
310 |     #ifdef GLOBAL_SEUP
311 |     stepperX.set_seup(GLOBAL_SEUP);
312 |     #endif
313 |     #ifdef GLOBAL_SEMIN
314 |     stepperX.set_semin(GLOBAL_SEMIN);
315 |     #endif
316 | 
317 |     #ifdef GLOBAL_DC_TIME
318 |     stepperX.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
319 |     #endif
320 | 
321 |     #ifdef GLOBAL_FREEWHEEL
322 |     stepperX.set_freewheel(GLOBAL_FREEWHEEL);
323 |     #endif
324 |     #ifdef GLOBAL_PWM_SYMMETRIC
325 |     stepperX.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
326 |     #endif
327 |     #ifdef GLOBAL_PWM_AUTOSCALE
328 |     stepperX.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
329 |     #endif
330 |     #ifdef GLOBAL_PWM_FREQ
331 |     stepperX.set_pwm_freq(GLOBAL_PWM_FREQ);
332 |     #endif
333 |     #ifdef GLOBAL_PWM_GRAD
334 |     stepperX.set_PWM_GRAD(GLOBAL_PWM_GRAD);
335 |     #endif
336 |     #ifdef GLOBAL_PWM_AMPL
337 |     stepperX.set_PWM_AMPL(GLOBAL_PWM_AMPL);
338 |     #endif
339 | 
340 |     #ifdef GLOBAL_ENCM_CTRL
341 |     stepperX.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
342 |     #endif
343 |   #endif
344 | 
345 |   #ifdef STEPPERY_ENABLE
346 |     stepperY.init();
347 |     #ifdef GLOBAL_I_SCALE_ANALOG
348 |       stepperY.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG);
349 |     #endif
350 |     #ifdef GLOBAL_INTERNAL_RSENSE
351 |     stepperY.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
352 |     #endif
353 |     #ifdef GLOBAL_EN_PWM_MODE
354 |     stepperY.set_en_pwm_mode(GLOBAL_EN_PWM_MODE);
355 |     #endif
356 |     #ifdef GLOBAL_ENC_COMMUTATION
357 |     stepperY.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
358 |     #endif
359 |     #ifdef GLOBAL_SHAFT
360 |     stepperY.set_shaft(GLOBAL_SHAFT);
361 |     #endif
362 |     #ifdef GLOBAL_DIAG0_ERROR
363 |     stepperY.set_diag0_error(GLOBAL_DIAG0_ERROR);
364 |     #endif
365 |     #ifdef GLOBAL_DIAG0_OTPW
366 |     stepperY.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
367 |     #endif
368 |     #ifdef GLOBAL_DIAG0_STALL
369 |     stepperY.set_diag0_stall(GLOBAL_DIAG0_STALL);
370 |     #endif
371 |     #ifdef GLOBAL_DIAG1_STALL
372 |     stepperY.set_diag1_stall(GLOBAL_DIAG1_STALL);
373 |     #endif
374 |     #ifdef GLOBAL_DIAG1_INDEX
375 |     stepperY.set_diag1_index(GLOBAL_DIAG1_INDEX);
376 |     #endif
377 |     #ifdef GLOBAL_DIAG1_ONSTATE
378 |     stepperY.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
379 |     #endif
380 |     #ifdef GLOBAL_DIAG1_ONSTATE
381 |     stepperY.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
382 |     #endif
383 |     #ifdef GLOBAL_DIAG0_INT_PUSHPULL
384 |     stepperY.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
385 |     #endif
386 |     #ifdef GLOBAL_DIAG1_INT_PUSHPULL
387 |     stepperY.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
388 |     #endif
389 |     #ifdef GLOBAL_SMALL_HYSTERESIS
390 |     stepperY.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
391 |     #endif
392 |     #ifdef GLOBAL_STOP_ENABLE
393 |     stepperY.set_stop_enable(GLOBAL_STOP_ENABLE);
394 |     #endif
395 |     #ifdef GLOBAL_DIRECT_MODE
396 |     stepperY.set_direct_mode(GLOBAL_DIRECT_MODE);
397 |     #endif
398 | 
399 |     #ifdef GLOBAL_IHOLD
400 |     stepperY.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY);
401 |     #endif
402 |     #ifdef GLOBAL_TPOWERDOWN
403 |     stepperY.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
404 |     #endif
405 |     #ifdef GLOBAL_TPWMTHRS
406 |     stepperY.set_TPWMTHRS(GLOBAL_TPWMTHRS);
407 |     #endif
408 |     #ifdef GLOBAL_TCOOLTHRS
409 |     stepperY.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
410 |     #endif
411 |     #ifdef GLOBAL_THIGH
412 |     stepperY.set_THIGH(GLOBAL_THIGH);
413 |     #endif
414 |     #ifdef GLOBAL_XDIRECT
415 |     stepperY.set_XDIRECT(GLOBAL_XDIRECT);
416 |     #endif
417 |     #ifdef GLOBAL_VDCMIN
418 |     stepperY.set_VDCMIN(GLOBAL_VDCMIN);
419 |     #endif
420 | 
421 |     #ifdef GLOBAL_DEDGE
422 |     stepperY.set_dedge(GLOBAL_DEDGE);
423 |     #endif
424 |     #ifdef GLOBAL_DISS2G
425 |     stepperY.set_diss2g(GLOBAL_DISS2G);
426 |     #endif
427 |     #ifdef GLOBAL_INTPOL
428 |     stepperY.set_intpol(GLOBAL_INTPOL);
429 |     #endif
430 |     #ifdef GLOBAL_MRES
431 |     stepperY.set_mres(GLOBAL_MRES);
432 |     #endif
433 |     #ifdef GLOBAL_SYNC
434 |     stepperY.set_sync(GLOBAL_SYNC);
435 |     #endif
436 |     #ifdef GLOBAL_VHIGHCHM
437 |     stepperY.set_vhighchm(GLOBAL_VHIGHCHM);
438 |     #endif
439 |     #ifdef GLOBAL_VHIGHFS
440 |     stepperY.set_vhighfs(GLOBAL_VHIGHFS);
441 |     #endif
442 |     #ifdef GLOBAL_VSENSE
443 |     stepperY.set_vsense(GLOBAL_VSENSE);
444 |     #endif
445 |     #ifdef GLOBAL_TBL
446 |     stepperY.set_tbl(GLOBAL_TBL);
447 |     #endif
448 |     #ifdef GLOBAL_CHM
449 |     stepperY.set_chm(GLOBAL_CHM);
450 |     #endif
451 |     #ifdef GLOBAL_RNDTF
452 |     stepperY.set_rndtf(GLOBAL_RNDTF);
453 |     #endif
454 |     #ifdef GLOBAL_DISFDCC
455 |     stepperY.set_disfdcc(GLOBAL_DISFDCC);
456 |     #endif
457 |     #ifdef GLOBAL_FD
458 |     stepperY.set_fd(GLOBAL_FD);
459 |     #endif
460 |     #ifdef GLOBAL_HEND
461 |     stepperY.set_hend(GLOBAL_HEND);
462 |     #endif
463 |     #ifdef GLOBAL_HSTRT
464 |     stepperY.set_hstrt(GLOBAL_HSTRT);
465 |     #endif
466 |     #ifdef GLOBAL_TOFF
467 |     stepperY.set_toff(GLOBAL_TOFF);
468 |     #endif
469 | 
470 |     #ifdef GLOBAL_SFILT
471 |     stepperY.set_sfilt(GLOBAL_SFILT);
472 |     #endif
473 |     #ifdef GLOBAL_SGT
474 |     stepperY.set_sgt(GLOBAL_SGT);
475 |     #endif
476 |     #ifdef GLOBAL_SEIMIN
477 |     stepperY.set_seimin(GLOBAL_SEIMIN);
478 |     #endif
479 |     #ifdef GLOBAL_SEDN
480 |     stepperY.set_sedn(GLOBAL_SEDN);
481 |     #endif
482 |     #ifdef GLOBAL_SEMAX
483 |     stepperY.set_semax(GLOBAL_SEMAX);
484 |     #endif
485 |     #ifdef GLOBAL_SEUP
486 |     stepperY.set_seup(GLOBAL_SEUP);
487 |     #endif
488 |     #ifdef GLOBAL_SEMIN
489 |     stepperY.set_semin(GLOBAL_SEMIN);
490 |     #endif
491 | 
492 |     #ifdef GLOBAL_DC_TIME
493 |     stepperY.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
494 |     #endif
495 | 
496 |     #ifdef GLOBAL_FREEWHEEL
497 |     stepperY.set_freewheel(GLOBAL_FREEWHEEL);
498 |     #endif
499 |     #ifdef GLOBAL_PWM_SYMMETRIC
500 |     stepperY.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
501 |     #endif
502 |     #ifdef GLOBAL_PWM_AUTOSCALE
503 |     stepperY.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
504 |     #endif
505 |     #ifdef GLOBAL_PWM_FREQ
506 |     stepperY.set_pwm_freq(GLOBAL_PWM_FREQ);
507 |     #endif
508 |     #ifdef GLOBAL_PWM_GRAD
509 |     stepperY.set_PWM_GRAD(GLOBAL_PWM_GRAD);
510 |     #endif
511 |     #ifdef GLOBAL_PWM_AMPL
512 |     stepperY.set_PWM_AMPL(GLOBAL_PWM_AMPL);
513 |     #endif
514 | 
515 |     #ifdef GLOBAL_ENCM_CTRL
516 |     stepperY.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
517 |     #endif
518 |   #endif
519 | }
520 | 


--------------------------------------------------------------------------------
/Trinamic_TMC2130/examples/getting_started/getting_started.ino:
--------------------------------------------------------------------------------
 1 | /**************************************************************************/
 2 | /*!
 3 | @file     getting_started.ino
 4 | @author   Moritz Walter
 5 | @license  GPLv3 (see license.txt)
 6 | 
 7 | Demo of SPI configuration tool for Trinamic TMC2130 Motor Drivers
 8 | 
 9 | @section  HISTORY
10 | 
11 | v0.1 - it works
12 | */
13 | /**************************************************************************/
14 | 
15 |     ////////////////////
16 |    //
17 |   //    HOW TO USE
18 |  //
19 | ////////////////////
20 | 
21 | // This tool uses hardware SPI
22 | // Just wire the drivers to your SPI pins and define the CS pin below.
23 | // Once flashed, the sketch sends a basic configuration to the driver and makes the motor spin.
24 | 
25 | #include <SPI.h>
26 | #include <Trinamic_TMC2130.h>
27 | 
28 | // pin configuration (this is the X-axis on a standard RAMPS 1.4)
29 | #define CS_PIN 53
30 | #define EN_PIN 38 //enable (CFG6)
31 | #define DIR_PIN 55 //direction
32 | #define STEP_PIN 54 //step
33 | 
34 | Trinamic_TMC2130 myStepper(CS_PIN);
35 | 
36 | void setup(){
37 |   // pins
38 |   pinMode(EN_PIN, OUTPUT);
39 |   pinMode(DIR_PIN, OUTPUT);
40 |   pinMode(STEP_PIN, OUTPUT);
41 |   digitalWrite(EN_PIN, HIGH); // disable driver
42 |   digitalWrite(DIR_PIN, LOW); // chose direction
43 |   digitalWrite(STEP_PIN, LOW); // no step yet
44 | 
45 |   // stepper
46 |   myStepper.init();
47 |   myStepper.set_mres(64); // ({1,2,4,8,16,32,64,128,256}) number of microsteps
48 |   myStepper.set_IHOLD_IRUN(31,31,5); // ([0-31],[0-31],[0-5]) sets all currents to maximum
49 |   myStepper.set_I_scale_analog(1); // ({0,1}) 0: I_REF internal, 1: sets I_REF to AIN
50 |   myStepper.set_tbl(1); // ([0-3]) set comparator blank time to 16, 24, 36 or 54 clocks, 1 or 2 is recommended
51 |   myStepper.set_toff(8); // ([0-15]) 0: driver disable, 1: use only with TBL>2, 2-15: off time setting during slow decay phase
52 | 
53 |   // get ready
54 |   digitalWrite(EN_PIN, LOW); // enable driver
55 | }
56 | 
57 | void loop(){
58 |   // make a step
59 |   digitalWrite(STEP_PIN, HIGH);
60 |   delayMicroseconds(100);
61 |   digitalWrite(STEP_PIN, LOW);
62 |   delayMicroseconds(100);
63 | }
64 | 


--------------------------------------------------------------------------------
/Trinamic_TMC2130/library.properties:
--------------------------------------------------------------------------------
 1 | name=Trinamic TMC2130
 2 | version=0.0.1
 3 | author=Moritz Walter
 4 | maintainer=Moritz Walter, makertum@gmail.com
 5 | sentence=A library to configure the Trinamic TMC2130 stepper motor driver.
 6 | paragraph=Also gets you up and running with Watterott's ludicrous TMC2130 version of their SilentStepStick motor driver.
 7 | category=Uncategorized
 8 | url=http://makertum.com
 9 | architectures=*
10 | includes=SPI.h,Trinamic_TMC2130.h
11 | 


--------------------------------------------------------------------------------
/Trinamic_TMC2130/license.txt:
--------------------------------------------------------------------------------
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  2 | 
  3 |                     GNU GENERAL PUBLIC LICENSE
  4 |                        Version 3, 29 June 2007
  5 | 
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238 | works, which are not by their nature extensions of the covered work,
239 | and which are not combined with it such as to form a larger program,
240 | in or on a volume of a storage or distribution medium, is called an
241 | "aggregate" if the compilation and its resulting copyright are not
242 | used to limit the access or legal rights of the compilation's users
243 | beyond what the individual works permit.  Inclusion of a covered work
244 | in an aggregate does not cause this License to apply to the other
245 | parts of the aggregate.
246 | 
247 |   6. Conveying Non-Source Forms.
248 | 
249 |   You may convey a covered work in object code form under the terms
250 | of sections 4 and 5, provided that you also convey the
251 | machine-readable Corresponding Source under the terms of this License,
252 | in one of these ways:
253 | 
254 |     a) Convey the object code in, or embodied in, a physical product
255 |     (including a physical distribution medium), accompanied by the
256 |     Corresponding Source fixed on a durable physical medium
257 |     customarily used for software interchange.
258 | 
259 |     b) Convey the object code in, or embodied in, a physical product
260 |     (including a physical distribution medium), accompanied by a
261 |     written offer, valid for at least three years and valid for as
262 |     long as you offer spare parts or customer support for that product
263 |     model, to give anyone who possesses the object code either (1) a
264 |     copy of the Corresponding Source for all the software in the
265 |     product that is covered by this License, on a durable physical
266 |     medium customarily used for software interchange, for a price no
267 |     more than your reasonable cost of physically performing this
268 |     conveying of source, or (2) access to copy the
269 |     Corresponding Source from a network server at no charge.
270 | 
271 |     c) Convey individual copies of the object code with a copy of the
272 |     written offer to provide the Corresponding Source.  This
273 |     alternative is allowed only occasionally and noncommercially, and
274 |     only if you received the object code with such an offer, in accord
275 |     with subsection 6b.
276 | 
277 |     d) Convey the object code by offering access from a designated
278 |     place (gratis or for a charge), and offer equivalent access to the
279 |     Corresponding Source in the same way through the same place at no
280 |     further charge.  You need not require recipients to copy the
281 |     Corresponding Source along with the object code.  If the place to
282 |     copy the object code is a network server, the Corresponding Source
283 |     may be on a different server (operated by you or a third party)
284 |     that supports equivalent copying facilities, provided you maintain
285 |     clear directions next to the object code saying where to find the
286 |     Corresponding Source.  Regardless of what server hosts the
287 |     Corresponding Source, you remain obligated to ensure that it is
288 |     available for as long as needed to satisfy these requirements.
289 | 
290 |     e) Convey the object code using peer-to-peer transmission, provided
291 |     you inform other peers where the object code and Corresponding
292 |     Source of the work are being offered to the general public at no
293 |     charge under subsection 6d.
294 | 
295 |   A separable portion of the object code, whose source code is excluded
296 | from the Corresponding Source as a System Library, need not be
297 | included in conveying the object code work.
298 | 
299 |   A "User Product" is either (1) a "consumer product", which means any
300 | tangible personal property which is normally used for personal, family,
301 | or household purposes, or (2) anything designed or sold for incorporation
302 | into a dwelling.  In determining whether a product is a consumer product,
303 | doubtful cases shall be resolved in favor of coverage.  For a particular
304 | product received by a particular user, "normally used" refers to a
305 | typical or common use of that class of product, regardless of the status
306 | of the particular user or of the way in which the particular user
307 | actually uses, or expects or is expected to use, the product.  A product
308 | is a consumer product regardless of whether the product has substantial
309 | commercial, industrial or non-consumer uses, unless such uses represent
310 | the only significant mode of use of the product.
311 | 
312 |   "Installation Information" for a User Product means any methods,
313 | procedures, authorization keys, or other information required to install
314 | and execute modified versions of a covered work in that User Product from
315 | a modified version of its Corresponding Source.  The information must
316 | suffice to ensure that the continued functioning of the modified object
317 | code is in no case prevented or interfered with solely because
318 | modification has been made.
319 | 
320 |   If you convey an object code work under this section in, or with, or
321 | specifically for use in, a User Product, and the conveying occurs as
322 | part of a transaction in which the right of possession and use of the
323 | User Product is transferred to the recipient in perpetuity or for a
324 | fixed term (regardless of how the transaction is characterized), the
325 | Corresponding Source conveyed under this section must be accompanied
326 | by the Installation Information.  But this requirement does not apply
327 | if neither you nor any third party retains the ability to install
328 | modified object code on the User Product (for example, the work has
329 | been installed in ROM).
330 | 
331 |   The requirement to provide Installation Information does not include a
332 | requirement to continue to provide support service, warranty, or updates
333 | for a work that has been modified or installed by the recipient, or for
334 | the User Product in which it has been modified or installed.  Access to a
335 | network may be denied when the modification itself materially and
336 | adversely affects the operation of the network or violates the rules and
337 | protocols for communication across the network.
338 | 
339 |   Corresponding Source conveyed, and Installation Information provided,
340 | in accord with this section must be in a format that is publicly
341 | documented (and with an implementation available to the public in
342 | source code form), and must require no special password or key for
343 | unpacking, reading or copying.
344 | 
345 |   7. Additional Terms.
346 | 
347 |   "Additional permissions" are terms that supplement the terms of this
348 | License by making exceptions from one or more of its conditions.
349 | Additional permissions that are applicable to the entire Program shall
350 | be treated as though they were included in this License, to the extent
351 | that they are valid under applicable law.  If additional permissions
352 | apply only to part of the Program, that part may be used separately
353 | under those permissions, but the entire Program remains governed by
354 | this License without regard to the additional permissions.
355 | 
356 |   When you convey a copy of a covered work, you may at your option
357 | remove any additional permissions from that copy, or from any part of
358 | it.  (Additional permissions may be written to require their own
359 | removal in certain cases when you modify the work.)  You may place
360 | additional permissions on material, added by you to a covered work,
361 | for which you have or can give appropriate copyright permission.
362 | 
363 |   Notwithstanding any other provision of this License, for material you
364 | add to a covered work, you may (if authorized by the copyright holders of
365 | that material) supplement the terms of this License with terms:
366 | 
367 |     a) Disclaiming warranty or limiting liability differently from the
368 |     terms of sections 15 and 16 of this License; or
369 | 
370 |     b) Requiring preservation of specified reasonable legal notices or
371 |     author attributions in that material or in the Appropriate Legal
372 |     Notices displayed by works containing it; or
373 | 
374 |     c) Prohibiting misrepresentation of the origin of that material, or
375 |     requiring that modified versions of such material be marked in
376 |     reasonable ways as different from the original version; or
377 | 
378 |     d) Limiting the use for publicity purposes of names of licensors or
379 |     authors of the material; or
380 | 
381 |     e) Declining to grant rights under trademark law for use of some
382 |     trade names, trademarks, or service marks; or
383 | 
384 |     f) Requiring indemnification of licensors and authors of that
385 |     material by anyone who conveys the material (or modified versions of
386 |     it) with contractual assumptions of liability to the recipient, for
387 |     any liability that these contractual assumptions directly impose on
388 |     those licensors and authors.
389 | 
390 |   All other non-permissive additional terms are considered "further
391 | restrictions" within the meaning of section 10.  If the Program as you
392 | received it, or any part of it, contains a notice stating that it is
393 | governed by this License along with a term that is a further
394 | restriction, you may remove that term.  If a license document contains
395 | a further restriction but permits relicensing or conveying under this
396 | License, you may add to a covered work material governed by the terms
397 | of that license document, provided that the further restriction does
398 | not survive such relicensing or conveying.
399 | 
400 |   If you add terms to a covered work in accord with this section, you
401 | must place, in the relevant source files, a statement of the
402 | additional terms that apply to those files, or a notice indicating
403 | where to find the applicable terms.
404 | 
405 |   Additional terms, permissive or non-permissive, may be stated in the
406 | form of a separately written license, or stated as exceptions;
407 | the above requirements apply either way.
408 | 
409 |   8. Termination.
410 | 
411 |   You may not propagate or modify a covered work except as expressly
412 | provided under this License.  Any attempt otherwise to propagate or
413 | modify it is void, and will automatically terminate your rights under
414 | this License (including any patent licenses granted under the third
415 | paragraph of section 11).
416 | 
417 |   However, if you cease all violation of this License, then your
418 | license from a particular copyright holder is reinstated (a)
419 | provisionally, unless and until the copyright holder explicitly and
420 | finally terminates your license, and (b) permanently, if the copyright
421 | holder fails to notify you of the violation by some reasonable means
422 | prior to 60 days after the cessation.
423 | 
424 |   Moreover, your license from a particular copyright holder is
425 | reinstated permanently if the copyright holder notifies you of the
426 | violation by some reasonable means, this is the first time you have
427 | received notice of violation of this License (for any work) from that
428 | copyright holder, and you cure the violation prior to 30 days after
429 | your receipt of the notice.
430 | 
431 |   Termination of your rights under this section does not terminate the
432 | licenses of parties who have received copies or rights from you under
433 | this License.  If your rights have been terminated and not permanently
434 | reinstated, you do not qualify to receive new licenses for the same
435 | material under section 10.
436 | 
437 |   9. Acceptance Not Required for Having Copies.
438 | 
439 |   You are not required to accept this License in order to receive or
440 | run a copy of the Program.  Ancillary propagation of a covered work
441 | occurring solely as a consequence of using peer-to-peer transmission
442 | to receive a copy likewise does not require acceptance.  However,
443 | nothing other than this License grants you permission to propagate or
444 | modify any covered work.  These actions infringe copyright if you do
445 | not accept this License.  Therefore, by modifying or propagating a
446 | covered work, you indicate your acceptance of this License to do so.
447 | 
448 |   10. Automatic Licensing of Downstream Recipients.
449 | 
450 |   Each time you convey a covered work, the recipient automatically
451 | receives a license from the original licensors, to run, modify and
452 | propagate that work, subject to this License.  You are not responsible
453 | for enforcing compliance by third parties with this License.
454 | 
455 |   An "entity transaction" is a transaction transferring control of an
456 | organization, or substantially all assets of one, or subdividing an
457 | organization, or merging organizations.  If propagation of a covered
458 | work results from an entity transaction, each party to that
459 | transaction who receives a copy of the work also receives whatever
460 | licenses to the work the party's predecessor in interest had or could
461 | give under the previous paragraph, plus a right to possession of the
462 | Corresponding Source of the work from the predecessor in interest, if
463 | the predecessor has it or can get it with reasonable efforts.
464 | 
465 |   You may not impose any further restrictions on the exercise of the
466 | rights granted or affirmed under this License.  For example, you may
467 | not impose a license fee, royalty, or other charge for exercise of
468 | rights granted under this License, and you may not initiate litigation
469 | (including a cross-claim or counterclaim in a lawsuit) alleging that
470 | any patent claim is infringed by making, using, selling, offering for
471 | sale, or importing the Program or any portion of it.
472 | 
473 |   11. Patents.
474 | 
475 |   A "contributor" is a copyright holder who authorizes use under this
476 | License of the Program or a work on which the Program is based.  The
477 | work thus licensed is called the contributor's "contributor version".
478 | 
479 |   A contributor's "essential patent claims" are all patent claims
480 | owned or controlled by the contributor, whether already acquired or
481 | hereafter acquired, that would be infringed by some manner, permitted
482 | by this License, of making, using, or selling its contributor version,
483 | but do not include claims that would be infringed only as a
484 | consequence of further modification of the contributor version.  For
485 | purposes of this definition, "control" includes the right to grant
486 | patent sublicenses in a manner consistent with the requirements of
487 | this License.
488 | 
489 |   Each contributor grants you a non-exclusive, worldwide, royalty-free
490 | patent license under the contributor's essential patent claims, to
491 | make, use, sell, offer for sale, import and otherwise run, modify and
492 | propagate the contents of its contributor version.
493 | 
494 |   In the following three paragraphs, a "patent license" is any express
495 | agreement or commitment, however denominated, not to enforce a patent
496 | (such as an express permission to practice a patent or covenant not to
497 | sue for patent infringement).  To "grant" such a patent license to a
498 | party means to make such an agreement or commitment not to enforce a
499 | patent against the party.
500 | 
501 |   If you convey a covered work, knowingly relying on a patent license,
502 | and the Corresponding Source of the work is not available for anyone
503 | to copy, free of charge and under the terms of this License, through a
504 | publicly available network server or other readily accessible means,
505 | then you must either (1) cause the Corresponding Source to be so
506 | available, or (2) arrange to deprive yourself of the benefit of the
507 | patent license for this particular work, or (3) arrange, in a manner
508 | consistent with the requirements of this License, to extend the patent
509 | license to downstream recipients.  "Knowingly relying" means you have
510 | actual knowledge that, but for the patent license, your conveying the
511 | covered work in a country, or your recipient's use of the covered work
512 | in a country, would infringe one or more identifiable patents in that
513 | country that you have reason to believe are valid.
514 | 
515 |   If, pursuant to or in connection with a single transaction or
516 | arrangement, you convey, or propagate by procuring conveyance of, a
517 | covered work, and grant a patent license to some of the parties
518 | receiving the covered work authorizing them to use, propagate, modify
519 | or convey a specific copy of the covered work, then the patent license
520 | you grant is automatically extended to all recipients of the covered
521 | work and works based on it.
522 | 
523 |   A patent license is "discriminatory" if it does not include within
524 | the scope of its coverage, prohibits the exercise of, or is
525 | conditioned on the non-exercise of one or more of the rights that are
526 | specifically granted under this License.  You may not convey a covered
527 | work if you are a party to an arrangement with a third party that is
528 | in the business of distributing software, under which you make payment
529 | to the third party based on the extent of your activity of conveying
530 | the work, and under which the third party grants, to any of the
531 | parties who would receive the covered work from you, a discriminatory
532 | patent license (a) in connection with copies of the covered work
533 | conveyed by you (or copies made from those copies), or (b) primarily
534 | for and in connection with specific products or compilations that
535 | contain the covered work, unless you entered into that arrangement,
536 | or that patent license was granted, prior to 28 March 2007.
537 | 
538 |   Nothing in this License shall be construed as excluding or limiting
539 | any implied license or other defenses to infringement that may
540 | otherwise be available to you under applicable patent law.
541 | 
542 |   12. No Surrender of Others' Freedom.
543 | 
544 |   If conditions are imposed on you (whether by court order, agreement or
545 | otherwise) that contradict the conditions of this License, they do not
546 | excuse you from the conditions of this License.  If you cannot convey a
547 | covered work so as to satisfy simultaneously your obligations under this
548 | License and any other pertinent obligations, then as a consequence you may
549 | not convey it at all.  For example, if you agree to terms that obligate you
550 | to collect a royalty for further conveying from those to whom you convey
551 | the Program, the only way you could satisfy both those terms and this
552 | License would be to refrain entirely from conveying the Program.
553 | 
554 |   13. Use with the GNU Affero General Public License.
555 | 
556 |   Notwithstanding any other provision of this License, you have
557 | permission to link or combine any covered work with a work licensed
558 | under version 3 of the GNU Affero General Public License into a single
559 | combined work, and to convey the resulting work.  The terms of this
560 | License will continue to apply to the part which is the covered work,
561 | but the special requirements of the GNU Affero General Public License,
562 | section 13, concerning interaction through a network will apply to the
563 | combination as such.
564 | 
565 |   14. Revised Versions of this License.
566 | 
567 |   The Free Software Foundation may publish revised and/or new versions of
568 | the GNU General Public License from time to time.  Such new versions will
569 | be similar in spirit to the present version, but may differ in detail to
570 | address new problems or concerns.
571 | 
572 |   Each version is given a distinguishing version number.  If the
573 | Program specifies that a certain numbered version of the GNU General
574 | Public License "or any later version" applies to it, you have the
575 | option of following the terms and conditions either of that numbered
576 | version or of any later version published by the Free Software
577 | Foundation.  If the Program does not specify a version number of the
578 | GNU General Public License, you may choose any version ever published
579 | by the Free Software Foundation.
580 | 
581 |   If the Program specifies that a proxy can decide which future
582 | versions of the GNU General Public License can be used, that proxy's
583 | public statement of acceptance of a version permanently authorizes you
584 | to choose that version for the Program.
585 | 
586 |   Later license versions may give you additional or different
587 | permissions.  However, no additional obligations are imposed on any
588 | author or copyright holder as a result of your choosing to follow a
589 | later version.
590 | 
591 |   15. Disclaimer of Warranty.
592 | 
593 |   THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
594 | APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
595 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
596 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
597 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
598 | PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
599 | IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
600 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
601 | 
602 |   16. Limitation of Liability.
603 | 
604 |   IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
605 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
606 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
607 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
608 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
609 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
610 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
611 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
612 | SUCH DAMAGES.
613 | 
614 |   17. Interpretation of Sections 15 and 16.
615 | 
616 |   If the disclaimer of warranty and limitation of liability provided
617 | above cannot be given local legal effect according to their terms,
618 | reviewing courts shall apply local law that most closely approximates
619 | an absolute waiver of all civil liability in connection with the
620 | Program, unless a warranty or assumption of liability accompanies a
621 | copy of the Program in return for a fee.
622 | 
623 |                      END OF TERMS AND CONDITIONS
624 | 
625 |             How to Apply These Terms to Your New Programs
626 | 
627 |   If you develop a new program, and you want it to be of the greatest
628 | possible use to the public, the best way to achieve this is to make it
629 | free software which everyone can redistribute and change under these terms.
630 | 
631 |   To do so, attach the following notices to the program.  It is safest
632 | to attach them to the start of each source file to most effectively
633 | state the exclusion of warranty; and each file should have at least
634 | the "copyright" line and a pointer to where the full notice is found.
635 | 
636 |     {one line to give the program's name and a brief idea of what it does.}
637 |     Copyright (C) {year}  {name of author}
638 | 
639 |     This program is free software: you can redistribute it and/or modify
640 |     it under the terms of the GNU General Public License as published by
641 |     the Free Software Foundation, either version 3 of the License, or
642 |     (at your option) any later version.
643 | 
644 |     This program is distributed in the hope that it will be useful,
645 |     but WITHOUT ANY WARRANTY; without even the implied warranty of
646 |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
647 |     GNU General Public License for more details.
648 | 
649 |     You should have received a copy of the GNU General Public License
650 |     along with this program.  If not, see <http://www.gnu.org/licenses/>.
651 | 
652 | Also add information on how to contact you by electronic and paper mail.
653 | 
654 |   If the program does terminal interaction, make it output a short
655 | notice like this when it starts in an interactive mode:
656 | 
657 |     {project}  Copyright (C) {year}  {fullname}
658 |     This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
659 |     This is free software, and you are welcome to redistribute it
660 |     under certain conditions; type `show c' for details.
661 | 
662 | The hypothetical commands `show w' and `show c' should show the appropriate
663 | parts of the General Public License.  Of course, your program's commands
664 | might be different; for a GUI interface, you would use an "about box".
665 | 
666 |   You should also get your employer (if you work as a programmer) or school,
667 | if any, to sign a "copyright disclaimer" for the program, if necessary.
668 | For more information on this, and how to apply and follow the GNU GPL, see
669 | <http://www.gnu.org/licenses/>.
670 | 
671 |   The GNU General Public License does not permit incorporating your program
672 | into proprietary programs.  If your program is a subroutine library, you
673 | may consider it more useful to permit linking proprietary applications with
674 | the library.  If this is what you want to do, use the GNU Lesser General
675 | Public License instead of this License.  But first, please read
676 | <http://www.gnu.org/philosophy/why-not-lgpl.html>.
677 | 


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