hackaton2019

// trinamic.cpp
#include "dbg.h"
#include "config.h"
#include "hwio_a3ides.h"
#include "TMCStepper.h"

#define DBG _dbg3 //debug level 3
//#define DBG(...)  //disable debug


#if ((BOARD == A3IDES2209_REV01) || (BOARD == A3IDES2209_REV02))

extern TMC2209Stepper stepperX;
extern TMC2209Stepper stepperY;
extern TMC2209Stepper stepperZ;
extern TMC2209Stepper stepperE0;

extern "C"
{


TMC2209Stepper* pStepX = 0;
TMC2209Stepper* pStepY = 0;
TMC2209Stepper* pStepZ = 0;
TMC2209Stepper* pStepE = 0;


void init_tmc(void)
{
	pStepX = &stepperX;
	pStepY = &stepperY;
	pStepZ = &stepperZ;
	pStepE = &stepperE0;
	//int i = 0;
	pStepX->TCOOLTHRS(400);
	pStepY->TCOOLTHRS(400);
	pStepZ->TCOOLTHRS(400);
	pStepE->TCOOLTHRS(400);
	pStepX->SGTHRS(100);
	pStepY->SGTHRS(100);
	pStepZ->SGTHRS(100);
	pStepE->SGTHRS(100);
}

void tmc_sample(void)
{
	unsigned int sgx = pStepX->SG_RESULT();
	//unsigned int sgy = pStepY->SG_RESULT();
	unsigned int diag = 0;
//	diag |= hwio_di_get_val(_DI_Z_DIAG);
	//diag |= hwio_di_get_val(_DI_Y_DIAG) << 1;
	//diag |= hwio_di_get_val(_DI_Z_DIAG) << 2;
	//diag |= hwio_di_get_val(_DI_E0_DIAG) << 3;
	unsigned int tstepx = pStepX->TSTEP();
	//unsigned int tstepy = pStepX->TSTEP();
//	int sgz = pStepZ->SG_RESULT();
//	int sge = pStepE->SG_RESULT();
//	_dbg("sg %d %d %d %d", sgx, sgy, sgz, sge);
	sgx = sgx; //prevent warning
	tstepx = tstepx; //prevent warning
	diag = diag; //prevent warning
	DBG("sg %u %u %u", sgx, diag, tstepx);
}

}//extern "C"


#elif (BOARD == A3IDES2130_REV01)


void init_tmc(void)
{
	//no init required
}


#else


#error "BOARD not defined"


#endif