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/*
* TMC51xx.h
*
* Created on: 26 Aug 2018
* Author: David
*/
#ifndef SRC_MOVEMENT_STEPPERDRIVERS_TMC51XX_H_
#define SRC_MOVEMENT_STEPPERDRIVERS_TMC51XX_H_
#include <RepRapFirmware.h>
#if SUPPORT_TMC51xx
#include "DriverMode.h"
namespace SmartDrivers
{
void Init() noexcept;
void Exit() noexcept;
void Spin(bool powered) noexcept;
void TurnDriversOff() noexcept;
void SetAxisNumber(size_t driver, uint32_t axisNumber) noexcept;
uint32_t GetAxisNumber(size_t drive) noexcept;
void SetCurrent(size_t driver, float current) noexcept;
void EnableDrive(size_t driver, bool en) noexcept;
bool SetMicrostepping(size_t drive, unsigned int microsteps, bool interpolation) noexcept;
unsigned int GetMicrostepping(size_t drive, bool& interpolation) noexcept;
bool SetDriverMode(size_t driver, unsigned int mode) noexcept;
DriverMode GetDriverMode(size_t driver) noexcept;
void SetStallThreshold(size_t driver, int sgThreshold) noexcept;
void SetStallFilter(size_t driver, bool sgFilter) noexcept;
void SetStallMinimumStepsPerSecond(size_t driver, unsigned int stepsPerSecond) noexcept;
void AppendStallConfig(size_t driver, const StringRef& reply) noexcept;
void AppendDriverStatus(size_t driver, const StringRef& reply) noexcept;
float GetStandstillCurrentPercent(size_t driver) noexcept;
void SetStandstillCurrentPercent(size_t driver, float percent) noexcept;
bool SetRegister(size_t driver, SmartDriverRegister reg, uint32_t regVal) noexcept;
uint32_t GetRegister(size_t driver, SmartDriverRegister reg) noexcept;
GCodeResult GetAnyRegister(size_t driver, const StringRef& reply, uint8_t regNum) noexcept;
GCodeResult SetAnyRegister(size_t driver, const StringRef& reply, uint8_t regNum, uint32_t regVal) noexcept;
StandardDriverStatus GetStatus(size_t driver, bool accumulated = false, bool clearAccumulated = false) noexcept;
};
#endif
#endif /* SRC_MOVEMENT_STEPPERDRIVERS_TMC51XX_H_ */
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