ATY_LIB/TMC2209_ATY.h

/**
* @file TMC2209_ATY.h
*
* @param Project DEVICE_GENERAL_ATY_LIB
*
* @author ATY
*
* @copyright
*       - Copyright 2017 - 2025 MZ-ATY
*       - This code follows:
*           - MZ-ATY Various Contents Joint Statement -
*               <a href="https://mengze.top/MZ-ATY_VCJS">
*                        https://mengze.top/MZ-ATY_VCJS</a>
*           - CC 4.0 BY-NC-SA -
*               <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/">
*                        https://creativecommons.org/licenses/by-nc-sa/4.0/</a>
*       - Your use will be deemed to have accepted the terms of this statement.
*
* @brief Familiar functions of SteppingMotor control
*
* @version
*       - 1_01_221231 > ATY
*           -# Preliminary version, first Release
*       - 1_02_230408 > ATY
*           -# Add State Machine and so
*       - 1_03_230426 > ATY
*           -# Change name "SteppingMotor_ATY" to "TMC2209_ATY"
*       - 1_01_240111 > ATY
*           -# add multy addr and channel
*           -# add lock
********************************************************************************
*/

#ifndef __TMC2209_ATY_H
#define __TMC2209_ATY_H

#include "INCLUDE_ATY.h"

/******************************* For user *************************************/
/* set step pin vol level when motor is not enable  */
// #define STATIC_STEP_LEVEL 0
/******************************************************************************/

struct TMC2209_ATY_Dev
{
    uint8_t id;

    uint8_t motorEn;
    uint8_t motorDir;
    uint8_t motorDiag;

    uint32_t motorSoftSpeed;
    uint32_t motorSpeed;
    uint32_t motorSpeedCounter;

    uint32_t motorSoftSteps;
    uint32_t motorSteps;
    uint32_t motorStepCounter;

    uint32_t motorStopCounter;      // delay for stall detection or driver error(TMC2209)

    uint8_t motorSetState;          // 0: stop, 1: start hold, 2: start soft, 3: run speed, 4: change dir, 5: stop state, soft set 0 after use, 10: scram motor

    float speedIncreaseStep;
    float lineProParam;
    uint8_t lineProType;

    void (*enSet)(uint8_t level);
    void (*dirSet)(uint8_t level);
    uint8_t (*diagGet)();

    void (*freqSet)(uint16_t freq);

    uint8_t lock;
    uint8_t debugEnable;
    void (*LOG)(const char*, ...);
};


#define TMC2209_PARAM_SET(dir, softSpeed, speed, softSteps, steps, setState, dev) \
    do \
    { \
        dev->motorDir = (uint8_t)dir; \
        dev->motorSoftSpeed = (uint32_t)softSpeed; \
        dev->motorSpeed = (uint32_t)speed; \
        dev->motorSoftSteps = (uint32_t)softSteps; \
        dev->motorSteps = (uint32_t)steps; \
        dev->motorSetState = (uint8_t)setState; \
    } while(0)

#define TMC2209_PARAM_GET(dir, softSpeed, speed, softSteps, steps, setState, dev) \
    do \
    { \
        dir = dev.motorDir; \
        softSpeed = dev.motorSoftSpeed; \
        speed = dev.motorSpeed; \
        softSteps = dev.motorSoftSteps; \
        steps = dev.motorSteps; \
        setState = dev.motorSetState; \
    } while(0)


uint8_t TMC2209_SetAble(uint8_t enable, struct TMC2209_ATY_Dev *dev);
uint8_t TMC2209_SetDirection(uint8_t dir, struct TMC2209_ATY_Dev *dev);
uint8_t TMC2209_GetDiagLevel(struct TMC2209_ATY_Dev *dev);

void TMC2209_Start(uint8_t dir, uint32_t speed, struct TMC2209_ATY_Dev *dev);
void TMC2209_Stop(struct TMC2209_ATY_Dev *dev);
void TMC2209_StateMachine_PWM(struct TMC2209_ATY_Dev *dev);

#define TMC2209_SET_REVERSE             4
#define TMC2209_SET_START_DIRECTLY      3
#define TMC2209_SET_START_SOFT          2
#define TMC2209_SET_STOP                0
#define TMC2209_SET_SCRAM               10
#define TMC2209_SET_FINISHED            5
#define TMC2209_SET_RUNNING             1

/* for motor soft start  */
#define TMC2209_S_PARAM_C               0.5      // 0-1

#endif /* __TMC2209_ATY_H */

/******************************** End Of File *********************************/