tmc-minimal-driver

Minimalistic driver library for Trinamic stepper drivers

Capabilities

This library contains a minimal set of generic functions to configure Trinamic stepper drivers. These functions are:

• get/set rms and hold current
• get/set microstepping
• get/set stealthchop threshold
• get the driver raw status
• get/set driver registers

Further functionalities can be developed around this library by adding custom funtions

Using tmc-minimal-driver

tmc-minimal-driver exposes a basic struct that allows to read and write registers inside the TMC.

    typedef void (*tmc_rw)(uint8_t *, uint8_t, uint8_t);
    typedef void (*tmc_startup)(void);

    typedef struct
    {
        //identifies the type of driver (2208, 2209, 2225, etc...)
        uint8_t type;
        //if the driver has a slave ID this should be set here
        uint8_t slave;
        // Callback for the UART/SPI interface initialization
        tmc_initdriver init;
        // Callback for RW
        tmc_rw rw;
    } tmc_driver_t;

To use this on a driver (let's say a TMC2208) you can do it like this:

    uint8_t mydriver_putc(uint8_t c){
        //custom code to send byte c via UART (either hardware UART or software UART)
    }

    uint8_t mydriver_getc(void){
        //custom code to get a byte via UART (either hardware UART or software UART)
    }

    void main (void) {
        tmc_driver_t mydriver = {
            .type = 2208;
            .init = NULL; //if no initializtion needed just set to NULL
            .rw = &mydriver_rw;
        };

        tmc_init(&mydriver);
        tmc_set_current(&mydriver, 800);
        tmc_set_microstep(&mydriver, 16);
    }