Trinamic TMC2130 Arduino library

This library makes it easy to configure the Trinamic TMC2130 stepper motor driver found on Watterott's "ludicrous" version of the SilentStepStick motor driver, which has it's repository here. It's also used in my Marlin Fork, which gets you up and running if you actually want to use these beasts in a 3D-printer-like machine.

Features

[x] Basic status readings
[x] All methods follow the naming convention in the datasheet.
[x] All configurable parameters implemented

To do

[ ] Full status report
[ ] Some readable parameters are missing

How to use

Please check out the example sketches for further information.
The datasheet contains a quick start guide

Status methods (return boolean status information)

boolean isReset();
boolean isError();
boolean isStallguard();
boolean isStandstill();

Methods

Note

All methods follow the naming convention set respectively get and return the SPI status flags or the requested parameter.

All methods expect the encoding stated in the datasheet, with the following exceptions:

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)
set_IHOLD_IRUN() sets the holding current, running current and holding delay, e.g. set_IHOLD_IRUN(31,31,15)
set_MSLUTSTART() sets start_sin and start_sin90
set_DCCTRL() sets the dc_time and dc_sg
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)

Configuration Methods (write configuration parameters to the driver)

uint8_t set_I_scale_analog(uint8_t value);
uint8_t set_internal_Rsense(uint8_t value);
uint8_t set_en_pwm_mode(uint8_t value);
uint8_t set_enc_commutation(uint8_t value);
uint8_t set_shaft(uint8_t value);
uint8_t set_diag0_error(uint8_t value);
uint8_t set_diag0_otpw(uint8_t value);
uint8_t set_diag0_stall(uint8_t value);
uint8_t set_diag1_stall(uint8_t value);
uint8_t set_diag1_index(uint8_t value);
uint8_t set_diag1_onstate(uint8_t value);
uint8_t set_diag1_steps_skipped(uint8_t value);
uint8_t set_diag0_int_pushpull(uint8_t value);
uint8_t set_diag1_int_pushpull(uint8_t value);
uint8_t set_small_hysteresis(uint8_t value);
uint8_t set_stop_enable(uint8_t value);
uint8_t set_direct_mode(uint8_t value);

uint8_t set_IHOLD_IRUN(uint8_t ihold, uint8_t irun, uint8_t iholddelay);
uint8_t set_TPOWERDOWN(uint8_t value);
uint32_t get_TSTEP();
uint8_t set_TPWMTHRS(uint32_t value);
uint8_t set_TCOOLTHRS(uint32_t value);
uint8_t set_THIGH(uint32_t value);
uint8_t set_XDIRECT(int32_t value);
int32_t get_XDIRECT();
uint8_t set_VDCMIN(int32_t value);

uint8_t set_MSLUT0(uint32_t value);
uint8_t set_MSLUT1(uint32_t value);
uint8_t set_MSLUT2(uint32_t value);
uint8_t set_MSLUT3(uint32_t value);
uint8_t set_MSLUT4(uint32_t value);
uint8_t set_MSLUT5(uint32_t value);
uint8_t set_MSLUT6(uint32_t value);
uint8_t set_MSLUT7(uint32_t value);
uint8_t set_MSLUTSEL(uint32_t value);
uint8_t set_MSLUTSTART(uint8_t start_sin, uint8_t start_sin90);
uint16_t get_MSCNT();
int32_t get_MSCURACT();

uint8_t set_dedge(uint8_t value);
uint8_t set_diss2g(uint8_t value);
uint8_t set_intpol(uint8_t value);
uint16_t set_mres(uint8_t value);
uint8_t set_sync(uint8_t value);
uint8_t set_vhighchm(uint8_t value);
uint8_t set_vhighfs(uint8_t value);
uint8_t set_vsense(uint8_t value);
uint8_t set_tbl(uint8_t value);
uint8_t set_chm(uint8_t value);
uint8_t set_rndtf(uint8_t value);
uint8_t set_disfdcc(uint8_t value);
uint8_t set_fd(uint8_t value);
uint8_t set_hend(uint8_t value);
uint8_t set_hstrt(uint8_t value);
uint8_t set_toff(uint8_t value);
uint8_t set_sfilt(uint8_t value);
uint8_t set_sgt(uint8_t value);
uint8_t set_seimin(uint8_t value);
uint8_t set_sedn(uint8_t value);
uint8_t set_semax(uint8_t value);
uint8_t set_seup(uint8_t value);
uint8_t set_semin(uint8_t value);

uint8_t set_DCCTRL(uint16_t dc_time, uint16_t dc_sg);

uint8_t set_freewheel(uint8_t value);
uint8_t set_pwm_symmetric(uint8_t value);
uint8_t set_pwm_autoscale(uint8_t value);
uint8_t set_pwm_freq(uint8_t value);
uint8_t set_PWM_GRAD(uint8_t value);
uint8_t set_PWM_AMPL(uint8_t value);

uint8_t set_ENCM_CTRL(uint8_t value);

Further methods (reading information from driver and helper functions)

uint8_t read_STAT();
uint8_t read_REG( uint8_t address , uint32_t *data );
uint8_t write_REG( uint8_t address, uint32_t data );
uint8_t alter_REG(uint8_t address, uint32_t data, uint32_t mask);

uint8_t set_GCONF(uint8_t bit, uint8_t value);
uint8_t set_CHOPCONF(uint8_t position, uint8_t value);
uint8_t alter_COOLCONF(uint32_t data, uint32_t mask);
uint8_t set_COOLCONF(uint8_t position, uint8_t value);
uint8_t alter_PWMCONF(uint32_t data, uint32_t mask);
uint8_t set_PWMCONF(uint8_t position, uint8_t value);

FAQ

Why?

why not?

Can I run my RepRap with this?

yes, just install the library and download the Marlin Fork

Troubleshooting

Why doesn't it work

If you're using the SilentStepsStick driver, did you myStepper.set_I_scale_analog(1)?
Did you specify myStepper.set_tbl(1) and myStepper.set_toff(8) (example values)?
Did you specify a motor current myStepper.set_IHOLD_IRUN(31,31,5);?

Disclaimer / License

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.

makertum / Trinamic_TMC2130

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