JMotorDriverTMC7300.h

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#ifndef JMOTOR_DRIVER_TMC7300_H
#define JMOTOR_DRIVER_TMC7300_H
#include "JMotorDriver.h"
#include <Arduino.h>
#include <TMC7300.h>
class JMotorDriverTMC7300 : public JMotorDriver {
protected:
    boolean enabled;
    boolean channel;
    boolean checkDriver;
    unsigned long lastCheckedIC;
    byte enablePin;
 
public:
    TMC7300IC& ic;
 
public:
    JMotorDriverTMC7300(TMC7300IC& _ic, boolean _channel, boolean _checkDriver = true, byte _enablePin = -1)
        : ic(_ic)
    {
        enabled = false;
        channel = _channel;
        checkDriver = _checkDriver;
        lastCheckedIC = 0;
        enablePin = _enablePin;
    }
    bool set(float val)
    {
        if (checkDriver) {
            // spread out driver checks across the 4 drivers that might be connected
            if (((millis() + ic.getChipAddress() * 125 + 500 * channel) % 1000) <= 125) {
                if (millis() - lastCheckedIC > 900) {
                    lastCheckedIC = millis();
                    ic.checkDriver();
                }
            }
        }
        val = constrain(val, -1, 1);
        uint32_t value = (uint32_t)(val * 255) & 0b111111111;
        if (enabled) {
            if (!channel) {
                ic.writeField(TMC7300_PWM_A, value, true);
            } else {
                ic.writeField(TMC7300_PWM_B, value, true);
            }
        }
        return abs(val) < 1;
    }
    bool setEnable(bool _enable)
    {
        if (_enable == false) {
            if (!channel) {
                ic.writeField(TMC7300_PWM_A, 0);
            } else {
                ic.writeField(TMC7300_PWM_B, 0);
            }
            if (enablePin >= 0 && enabled) {
                digitalWrite(enablePin, LOW);
            }
        }
        if (_enable == true && enabled == false) {
            ic.checkDriver();
            if (!channel) {
                ic.writeField(TMC7300_PWM_A, 0);
            } else {
                ic.writeField(TMC7300_PWM_B, 0);
            }
            if (enablePin >= 0) {
                pinMode(enablePin, OUTPUT);
                digitalWrite(enablePin, HIGH);
            }
        }
        enabled = _enable;
        return true;
    }
    bool getEnable()
    {
        return enabled;
    }
    float getMaxRange()
    {
        return 1;
    }
    float getMinRange()
    {
        return -1;
    }
    bool enable()
    {
        return setEnable(true);
    }
    bool disable()
    {
        return setEnable(false);
    }
};
 
#endif // JMOTOR_DRIVER_TMC7300_H