diff --git a/.gitignore b/.gitignore index 1869378..1992ca2 100644 --- a/.gitignore +++ b/.gitignore @@ -5,12 +5,16 @@ .classpath .project -#processing stuff +#processing stuff generated/ examples/TMC26XMotorTester/processing/TMC26XMotorTest/application.*/ examples/TMC26XMotorTester/processing/TMC26XMotorTest/application.* +#eagle stuff +schematics/*.b#? +schematics/*.s#? + *.zip # backup files -*~ \ No newline at end of file +*~ diff --git a/Doxyfile b/Doxyfile index e169f06..6c6f603 100644 --- a/Doxyfile +++ b/Doxyfile @@ -14,90 +14,90 @@ # Project related configuration options #--------------------------------------------------------------------------- -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See # http://www.gnu.org/software/libiconv for the list of possible encodings. DOXYFILE_ENCODING = UTF-8 -# The PROJECT_NAME tag is a single word (or sequence of words) that should -# identify the project. Note that if you do not use Doxywizard you need +# The PROJECT_NAME tag is a single word (or sequence of words) that should +# identify the project. Note that if you do not use Doxywizard you need # to put quotes around the project name if it contains spaces. PROJECT_NAME = "Trinamic TMC26X Stepper Driver for Arduino" -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = +PROJECT_NUMBER = -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer # a quick idea about the purpose of the project. Keep the description short. -PROJECT_BRIEF = +PROJECT_BRIEF = -# With the PROJECT_LOGO tag one can specify an logo or icon that is -# included in the documentation. The maximum height of the logo should not -# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. # Doxygen will copy the logo to the output directory. -PROJECT_LOGO = +PROJECT_LOGO = -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) -# base path where the generated documentation will be put. -# If a relative path is entered, it will be relative to the location +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. OUTPUT_DIRECTORY = /Users/marcus/Arduino/libraries/TMC26XStepper/documentation -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create -# 4096 sub-directories (in 2 levels) under the output directory of each output -# format and will distribute the generated files over these directories. -# Enabling this option can be useful when feeding doxygen a huge amount of -# source files, where putting all generated files in the same directory would +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would # otherwise cause performance problems for the file system. CREATE_SUBDIRS = NO -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# The default language is English, other supported languages are: -# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, -# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, -# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English -# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, -# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, # Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. OUTPUT_LANGUAGE = English -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). # Set to NO to disable this. BRIEF_MEMBER_DESC = YES -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. REPEAT_BRIEF = YES -# This tag implements a quasi-intelligent brief description abbreviator -# that is used to form the text in various listings. Each string -# in this list, if found as the leading text of the brief description, will be -# stripped from the text and the result after processing the whole list, is -# used as the annotated text. Otherwise, the brief description is used as-is. -# If left blank, the following values are used ("$name" is automatically -# replaced with the name of the entity): "The $name class" "The $name widget" -# "The $name file" "is" "provides" "specifies" "contains" +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" # "represents" "a" "an" "the" ABBREVIATE_BRIEF = "The $name class" \ @@ -112,237 +112,237 @@ ABBREVIATE_BRIEF = "The $name class" \ an \ the -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief # description. ALWAYS_DETAILED_SEC = NO -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. INLINE_INHERITED_MEMB = NO -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set # to NO the shortest path that makes the file name unique will be used. FULL_PATH_NAMES = YES -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user-defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the # path to strip. -STRIP_FROM_PATH = +STRIP_FROM_PATH = -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of -# the path mentioned in the documentation of a class, which tells -# the reader which header file to include in order to use a class. -# If left blank only the name of the header file containing the class -# definition is used. Otherwise one should specify the include paths that +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that # are normally passed to the compiler using the -I flag. -STRIP_FROM_INC_PATH = +STRIP_FROM_INC_PATH = -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful if your file system +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful if your file system # doesn't support long names like on DOS, Mac, or CD-ROM. SHORT_NAMES = NO -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like regular Qt-style comments +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments # (thus requiring an explicit @brief command for a brief description.) JAVADOC_AUTOBRIEF = NO -# If the QT_AUTOBRIEF tag is set to YES then Doxygen will -# interpret the first line (until the first dot) of a Qt-style -# comment as the brief description. If set to NO, the comments -# will behave just like regular Qt-style comments (thus requiring +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring # an explicit \brief command for a brief description.) QT_AUTOBRIEF = NO -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed # description. Set this tag to YES if you prefer the old behaviour instead. MULTILINE_CPP_IS_BRIEF = NO -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it # re-implements. INHERIT_DOCS = YES -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce -# a new page for each member. If set to NO, the documentation of a member will +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will # be part of the file/class/namespace that contains it. SEPARATE_MEMBER_PAGES = NO -# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# The TAB_SIZE tag can be used to set the number of spaces in a tab. # Doxygen uses this value to replace tabs by spaces in code fragments. TAB_SIZE = 8 -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user-defined paragraph with heading "Side Effects:". +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". # You can put \n's in the value part of an alias to insert newlines. -ALIASES = +ALIASES = -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding -# "class=itcl::class" will allow you to use the command class in the +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding +# "class=itcl::class" will allow you to use the command class in the # itcl::class meaning. -TCL_SUBST = +TCL_SUBST = -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C -# sources only. Doxygen will then generate output that is more tailored for C. -# For instance, some of the names that are used will be different. The list +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list # of all members will be omitted, etc. OPTIMIZE_OUTPUT_FOR_C = NO -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java -# sources only. Doxygen will then generate output that is more tailored for -# Java. For instance, namespaces will be presented as packages, qualified +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified # scopes will look different, etc. OPTIMIZE_OUTPUT_JAVA = NO -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources only. Doxygen will then generate output that is more tailored for +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for # Fortran. OPTIMIZE_FOR_FORTRAN = NO -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for # VHDL. OPTIMIZE_OUTPUT_VHDL = NO -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given extension. -# Doxygen has a built-in mapping, but you can override or extend it using this -# tag. The format is ext=language, where ext is a file extension, and language -# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, -# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make -# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C -# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions # you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. -EXTENSION_MAPPING = +EXTENSION_MAPPING = -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should -# set this tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. -# func(std::string) {}). This also makes the inheritance and collaboration +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration # diagrams that involve STL classes more complete and accurate. BUILTIN_STL_SUPPORT = NO -# If you use Microsoft's C++/CLI language, you should set this option to YES to +# If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. CPP_CLI_SUPPORT = NO -# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. -# Doxygen will parse them like normal C++ but will assume all classes use public +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public # instead of private inheritance when no explicit protection keyword is present. SIP_SUPPORT = NO -# For Microsoft's IDL there are propget and propput attributes to indicate getter -# and setter methods for a property. Setting this option to YES (the default) -# will make doxygen replace the get and set methods by a property in the -# documentation. This will only work if the methods are indeed getting or -# setting a simple type. If this is not the case, or you want to show the +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the # methods anyway, you should set this option to NO. IDL_PROPERTY_SUPPORT = YES -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. DISTRIBUTE_GROUP_DOC = NO -# Set the SUBGROUPING tag to YES (the default) to allow class member groups of -# the same type (for instance a group of public functions) to be put as a -# subgroup of that type (e.g. under the Public Functions section). Set it to -# NO to prevent subgrouping. Alternatively, this can be done per class using +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using # the \nosubgrouping command. SUBGROUPING = YES -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and -# unions are shown inside the group in which they are included (e.g. using -# @ingroup) instead of on a separate page (for HTML and Man pages) or +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or # section (for LaTeX and RTF). INLINE_GROUPED_CLASSES = NO -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and -# unions with only public data fields will be shown inline in the documentation -# of the scope in which they are defined (i.e. file, namespace, or group -# documentation), provided this scope is documented. If set to NO (the default), -# structs, classes, and unions are shown on a separate page (for HTML and Man +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and +# unions with only public data fields will be shown inline in the documentation +# of the scope in which they are defined (i.e. file, namespace, or group +# documentation), provided this scope is documented. If set to NO (the default), +# structs, classes, and unions are shown on a separate page (for HTML and Man # pages) or section (for LaTeX and RTF). INLINE_SIMPLE_STRUCTS = NO -# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum -# is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically -# be useful for C code in case the coding convention dictates that all compound +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound # types are typedef'ed and only the typedef is referenced, never the tag name. TYPEDEF_HIDES_STRUCT = NO -# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to -# determine which symbols to keep in memory and which to flush to disk. -# When the cache is full, less often used symbols will be written to disk. -# For small to medium size projects (<1000 input files) the default value is -# probably good enough. For larger projects a too small cache size can cause -# doxygen to be busy swapping symbols to and from disk most of the time -# causing a significant performance penalty. -# If the system has enough physical memory increasing the cache will improve the -# performance by keeping more symbols in memory. Note that the value works on -# a logarithmic scale so increasing the size by one will roughly double the -# memory usage. The cache size is given by this formula: -# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, # corresponding to a cache size of 2^16 = 65536 symbols. SYMBOL_CACHE_SIZE = 0 -# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be -# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given -# their name and scope. Since this can be an expensive process and often the -# same symbol appear multiple times in the code, doxygen keeps a cache of -# pre-resolved symbols. If the cache is too small doxygen will become slower. -# If the cache is too large, memory is wasted. The cache size is given by this -# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0, +# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be +# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given +# their name and scope. Since this can be an expensive process and often the +# same symbol appear multiple times in the code, doxygen keeps a cache of +# pre-resolved symbols. If the cache is too small doxygen will become slower. +# If the cache is too large, memory is wasted. The cache size is given by this +# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0, # corresponding to a cache size of 2^16 = 65536 symbols. LOOKUP_CACHE_SIZE = 0 @@ -351,328 +351,328 @@ LOOKUP_CACHE_SIZE = 0 # Build related configuration options #--------------------------------------------------------------------------- -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES EXTRACT_ALL = YES -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class # will be included in the documentation. EXTRACT_PRIVATE = NO -# If the EXTRACT_STATIC tag is set to YES all static members of a file +# If the EXTRACT_STATIC tag is set to YES all static members of a file # will be included in the documentation. EXTRACT_STATIC = NO -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. # If set to NO only classes defined in header files are included. EXTRACT_LOCAL_CLASSES = YES -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. # If set to NO (the default) only methods in the interface are included. EXTRACT_LOCAL_METHODS = NO -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base -# name of the file that contains the anonymous namespace. By default +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default # anonymous namespaces are hidden. EXTRACT_ANON_NSPACES = NO -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. # This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_MEMBERS = NO -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various # overviews. This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_CLASSES = NO -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the # documentation. HIDE_FRIEND_COMPOUNDS = NO -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the # function's detailed documentation block. HIDE_IN_BODY_DOCS = NO -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. # Set it to YES to include the internal documentation. INTERNAL_DOCS = NO -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows # and Mac users are advised to set this option to NO. CASE_SENSE_NAMES = NO -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the # documentation. If set to YES the scope will be hidden. HIDE_SCOPE_NAMES = NO -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation # of that file. SHOW_INCLUDE_FILES = YES -# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen -# will list include files with double quotes in the documentation +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation # rather than with sharp brackets. FORCE_LOCAL_INCLUDES = NO -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] # is inserted in the documentation for inline members. INLINE_INFO = YES -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in # declaration order. SORT_MEMBER_DOCS = YES -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in # declaration order. SORT_BRIEF_DOCS = NO -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen -# will sort the (brief and detailed) documentation of class members so that -# constructors and destructors are listed first. If set to NO (the default) -# the constructors will appear in the respective orders defined by -# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. -# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO # and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. SORT_MEMBERS_CTORS_1ST = NO -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the -# hierarchy of group names into alphabetical order. If set to NO (the default) +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) # the group names will appear in their defined order. SORT_GROUP_NAMES = NO -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the # alphabetical list. SORT_BY_SCOPE_NAME = NO -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to -# do proper type resolution of all parameters of a function it will reject a -# match between the prototype and the implementation of a member function even -# if there is only one candidate or it is obvious which candidate to choose -# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen # will still accept a match between prototype and implementation in such cases. STRICT_PROTO_MATCHING = NO -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo # commands in the documentation. GENERATE_TODOLIST = YES -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test # commands in the documentation. GENERATE_TESTLIST = YES -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug # commands in the documentation. GENERATE_BUGLIST = YES -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting # \deprecated commands in the documentation. GENERATE_DEPRECATEDLIST= YES -# The ENABLED_SECTIONS tag can be used to enable conditional +# The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. -ENABLED_SECTIONS = +ENABLED_SECTIONS = -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or macro consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and macros in the -# documentation can be controlled using \showinitializer or \hideinitializer +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer # command in the documentation regardless of this setting. MAX_INITIALIZER_LINES = 28 -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the # list will mention the files that were used to generate the documentation. SHOW_USED_FILES = YES -# If the sources in your project are distributed over multiple directories -# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy # in the documentation. The default is NO. SHOW_DIRECTORIES = NO -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. -# This will remove the Files entry from the Quick Index and from the +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the # Folder Tree View (if specified). The default is YES. SHOW_FILES = YES -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the -# Namespaces page. This will remove the Namespaces entry from the Quick Index +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. This will remove the Namespaces entry from the Quick Index # and from the Folder Tree View (if specified). The default is YES. SHOW_NAMESPACES = YES -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command , where is the value of -# the FILE_VERSION_FILTER tag, and is the name of an input file -# provided by doxygen. Whatever the program writes to standard output +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output # is used as the file version. See the manual for examples. -FILE_VERSION_FILTER = +FILE_VERSION_FILTER = -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. The create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. -# You can optionally specify a file name after the option, if omitted +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted # DoxygenLayout.xml will be used as the name of the layout file. -LAYOUT_FILE = +LAYOUT_FILE = -# The CITE_BIB_FILES tag can be used to specify one or more bib files -# containing the references data. This must be a list of .bib files. The -# .bib extension is automatically appended if omitted. Using this command -# requires the bibtex tool to be installed. See also -# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style -# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this # feature you need bibtex and perl available in the search path. -CITE_BIB_FILES = +CITE_BIB_FILES = #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- -# The QUIET tag can be used to turn on/off the messages that are generated +# The QUIET tag can be used to turn on/off the messages that are generated # by doxygen. Possible values are YES and NO. If left blank NO is used. QUIET = NO -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank # NO is used. WARNINGS = YES -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will # automatically be disabled. WARN_IF_UNDOCUMENTED = YES -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that # don't exist or using markup commands wrongly. WARN_IF_DOC_ERROR = YES -# The WARN_NO_PARAMDOC option can be enabled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of # documentation. WARN_NO_PARAMDOC = NO -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could # be obtained via FILE_VERSION_FILTER) WARN_FORMAT = "$file:$line: $text" -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written # to stderr. -WARN_LOGFILE = +WARN_LOGFILE = #--------------------------------------------------------------------------- # configuration options related to the input files #--------------------------------------------------------------------------- -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories # with spaces. INPUT = /Users/marcus/Arduino/libraries/TMC26XStepper -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is -# also the default input encoding. Doxygen uses libiconv (or the iconv built -# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for # the list of possible encodings. INPUT_ENCODING = UTF-8 -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh -# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py # *.f90 *.f *.for *.vhd *.vhdl FILE_PATTERNS = *.c \ @@ -708,152 +708,152 @@ FILE_PATTERNS = *.c \ *.vhd \ *.vhdl -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. RECURSIVE = NO -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# Note that relative paths are relative to the directory from which doxygen is +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to the directory from which doxygen is # run. -EXCLUDE = +EXCLUDE = -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded # from the input. EXCLUDE_SYMLINKS = NO -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. Note that the wildcards are matched -# against the file with absolute path, so to exclude all test directories +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories # for example use the pattern */test/* -EXCLUDE_PATTERNS = +EXCLUDE_PATTERNS = -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, # AClass::ANamespace, ANamespace::*Test -EXCLUDE_SYMBOLS = +EXCLUDE_SYMBOLS = -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see # the \include command). -EXAMPLE_PATH = +EXAMPLE_PATH = -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left # blank all files are included. EXAMPLE_PATTERNS = * -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. # Possible values are YES and NO. If left blank NO is used. EXAMPLE_RECURSIVE = NO -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see # the \image command). -IMAGE_PATH = +IMAGE_PATH = -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. If FILTER_PATTERNS is specified, this tag will be +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be # ignored. -INPUT_FILTER = +INPUT_FILTER = -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty or if +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if # non of the patterns match the file name, INPUT_FILTER is applied. -FILTER_PATTERNS = +FILTER_PATTERNS = -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source # files to browse (i.e. when SOURCE_BROWSER is set to YES). FILTER_SOURCE_FILES = NO -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) -# and it is also possible to disable source filtering for a specific pattern -# using *.ext= (so without naming a filter). This option only has effect when +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when # FILTER_SOURCE_FILES is enabled. -FILTER_SOURCE_PATTERNS = +FILTER_SOURCE_PATTERNS = #--------------------------------------------------------------------------- # configuration options related to source browsing #--------------------------------------------------------------------------- -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also # VERBATIM_HEADERS is set to NO. SOURCE_BROWSER = YES -# Setting the INLINE_SOURCES tag to YES will include the body +# Setting the INLINE_SOURCES tag to YES will include the body # of functions and classes directly in the documentation. INLINE_SOURCES = NO -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code # fragments. Normal C and C++ comments will always remain visible. STRIP_CODE_COMMENTS = YES -# If the REFERENCED_BY_RELATION tag is set to YES -# then for each documented function all documented +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented # functions referencing it will be listed. REFERENCED_BY_RELATION = NO -# If the REFERENCES_RELATION tag is set to YES -# then for each documented function all documented entities +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities # called/used by that function will be listed. REFERENCES_RELATION = NO -# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) -# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from -# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will # link to the source code. Otherwise they will link to the documentation. REFERENCES_LINK_SOURCE = YES -# If the USE_HTAGS tag is set to YES then the references to source code -# will point to the HTML generated by the htags(1) tool instead of doxygen -# built-in source browser. The htags tool is part of GNU's global source -# tagging system (see http://www.gnu.org/software/global/global.html). You +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You # will need version 4.8.6 or higher. USE_HTAGS = NO -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for # which an include is specified. Set to NO to disable this. VERBATIM_HEADERS = YES @@ -862,157 +862,157 @@ VERBATIM_HEADERS = YES # configuration options related to the alphabetical class index #--------------------------------------------------------------------------- -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project # contains a lot of classes, structs, unions or interfaces. ALPHABETICAL_INDEX = YES -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns # in which this list will be split (can be a number in the range [1..20]) COLS_IN_ALPHA_INDEX = 5 -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that # should be ignored while generating the index headers. -IGNORE_PREFIX = +IGNORE_PREFIX = #--------------------------------------------------------------------------- # configuration options related to the HTML output #--------------------------------------------------------------------------- -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will # generate HTML output. GENERATE_HTML = YES -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `html' will be used as the default path. HTML_OUTPUT = html -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank # doxygen will generate files with .html extension. HTML_FILE_EXTENSION = .html -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. Note that when using a custom header you are responsible -# for the proper inclusion of any scripts and style sheets that doxygen -# needs, which is dependent on the configuration options used. -# It is advised to generate a default header using "doxygen -w html -# header.html footer.html stylesheet.css YourConfigFile" and then modify -# that header. Note that the header is subject to change so you typically -# have to redo this when upgrading to a newer version of doxygen or when +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is advised to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when # changing the value of configuration settings such as GENERATE_TREEVIEW! -HTML_HEADER = +HTML_HEADER = -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a # standard footer. -HTML_FOOTER = +HTML_FOOTER = -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet. Note that doxygen will try to copy -# the style sheet file to the HTML output directory, so don't put your own +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own # style sheet in the HTML output directory as well, or it will be erased! -HTML_STYLESHEET = +HTML_STYLESHEET = -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that # the files will be copied as-is; there are no commands or markers available. -HTML_EXTRA_FILES = +HTML_EXTRA_FILES = -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. -# Doxygen will adjust the colors in the style sheet and background images -# according to this color. Hue is specified as an angle on a colorwheel, -# see http://en.wikipedia.org/wiki/Hue for more information. -# For instance the value 0 represents red, 60 is yellow, 120 is green, -# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the style sheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. # The allowed range is 0 to 359. HTML_COLORSTYLE_HUE = 220 -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of -# the colors in the HTML output. For a value of 0 the output will use +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use # grayscales only. A value of 255 will produce the most vivid colors. HTML_COLORSTYLE_SAT = 100 -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to -# the luminance component of the colors in the HTML output. Values below -# 100 gradually make the output lighter, whereas values above 100 make -# the output darker. The value divided by 100 is the actual gamma applied, -# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, # and 100 does not change the gamma. HTML_COLORSTYLE_GAMMA = 80 -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting # this to NO can help when comparing the output of multiple runs. HTML_TIMESTAMP = YES -# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, -# files or namespaces will be aligned in HTML using tables. If set to +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to # NO a bullet list will be used. HTML_ALIGN_MEMBERS = YES -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. For this to work a browser that supports -# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox # Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). HTML_DYNAMIC_SECTIONS = NO -# If the GENERATE_DOCSET tag is set to YES, additional index files -# will be generated that can be used as input for Apple's Xcode 3 -# integrated development environment, introduced with OSX 10.5 (Leopard). -# To create a documentation set, doxygen will generate a Makefile in the -# HTML output directory. Running make will produce the docset in that -# directory and running "make install" will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find -# it at startup. -# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html # for more information. GENERATE_DOCSET = NO -# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the -# feed. A documentation feed provides an umbrella under which multiple -# documentation sets from a single provider (such as a company or product suite) +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) # can be grouped. DOCSET_FEEDNAME = "Doxygen generated docs" -# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that -# should uniquely identify the documentation set bundle. This should be a -# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen # will append .docset to the name. DOCSET_BUNDLE_ID = org.doxygen.Project -# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style # string, e.g. com.mycompany.MyDocSet.documentation. DOCSET_PUBLISHER_ID = org.doxygen.Publisher @@ -1021,220 +1021,220 @@ DOCSET_PUBLISHER_ID = org.doxygen.Publisher DOCSET_PUBLISHER_NAME = Publisher -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) # of the generated HTML documentation. GENERATE_HTMLHELP = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be # written to the html output directory. -CHM_FILE = +CHM_FILE = -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run # the HTML help compiler on the generated index.hhp. -HHC_LOCATION = +HHC_LOCATION = -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that # it should be included in the master .chm file (NO). GENERATE_CHI = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING -# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file # content. -CHM_INDEX_ENCODING = +CHM_INDEX_ENCODING = -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a # normal table of contents (NO) in the .chm file. BINARY_TOC = NO -# The TOC_EXPAND flag can be set to YES to add extra items for group members +# The TOC_EXPAND flag can be set to YES to add extra items for group members # to the contents of the HTML help documentation and to the tree view. TOC_EXPAND = NO -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated -# that can be used as input for Qt's qhelpgenerator to generate a +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a # Qt Compressed Help (.qch) of the generated HTML documentation. GENERATE_QHP = NO -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can -# be used to specify the file name of the resulting .qch file. +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. # The path specified is relative to the HTML output folder. -QCH_FILE = +QCH_FILE = -# The QHP_NAMESPACE tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#namespace QHP_NAMESPACE = org.doxygen.Project -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#virtual-folders QHP_VIRTUAL_FOLDER = doc -# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to -# add. For more information please see +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see # http://doc.trolltech.com/qthelpproject.html#custom-filters -QHP_CUST_FILTER_NAME = +QHP_CUST_FILTER_NAME = -# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see -# +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# # Qt Help Project / Custom Filters. -QHP_CUST_FILTER_ATTRS = +QHP_CUST_FILTER_ATTRS = -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's -# filter section matches. -# +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# # Qt Help Project / Filter Attributes. -QHP_SECT_FILTER_ATTRS = +QHP_SECT_FILTER_ATTRS = -# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can -# be used to specify the location of Qt's qhelpgenerator. -# If non-empty doxygen will try to run qhelpgenerator on the generated +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated # .qhp file. -QHG_LOCATION = +QHG_LOCATION = -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files -# will be generated, which together with the HTML files, form an Eclipse help -# plugin. To install this plugin and make it available under the help contents -# menu in Eclipse, the contents of the directory containing the HTML and XML -# files needs to be copied into the plugins directory of eclipse. The name of -# the directory within the plugins directory should be the same as -# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before # the help appears. GENERATE_ECLIPSEHELP = NO -# A unique identifier for the eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have # this name. ECLIPSE_DOC_ID = org.doxygen.Project -# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) -# at top of each HTML page. The value NO (the default) enables the index and -# the value YES disables it. Since the tabs have the same information as the -# navigation tree you can set this option to NO if you already set +# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) +# at top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. Since the tabs have the same information as the +# navigation tree you can set this option to NO if you already set # GENERATE_TREEVIEW to YES. DISABLE_INDEX = NO -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. -# If the tag value is set to YES, a side panel will be generated -# containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). -# Windows users are probably better off using the HTML help feature. -# Since the tree basically has the same information as the tab index you +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. +# Since the tree basically has the same information as the tab index you # could consider to set DISABLE_INDEX to NO when enabling this option. GENERATE_TREEVIEW = NO -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values -# (range [0,1..20]) that doxygen will group on one line in the generated HTML -# documentation. Note that a value of 0 will completely suppress the enum +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum # values from appearing in the overview section. ENUM_VALUES_PER_LINE = 4 -# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, # and Class Hierarchy pages using a tree view instead of an ordered list. USE_INLINE_TREES = NO -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree # is shown. TREEVIEW_WIDTH = 250 -# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open # links to external symbols imported via tag files in a separate window. EXT_LINKS_IN_WINDOW = NO -# Use this tag to change the font size of Latex formulas included -# as images in the HTML documentation. The default is 10. Note that -# when you change the font size after a successful doxygen run you need -# to manually remove any form_*.png images from the HTML output directory +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory # to force them to be regenerated. FORMULA_FONTSIZE = 10 -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are -# not supported properly for IE 6.0, but are supported on all modern browsers. -# Note that when changing this option you need to delete any form_*.png files +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files # in the HTML output before the changes have effect. FORMULA_TRANSPARENT = YES -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax -# (see http://www.mathjax.org) which uses client side Javascript for the -# rendering instead of using prerendered bitmaps. Use this if you do not -# have LaTeX installed or if you want to formulas look prettier in the HTML -# output. When enabled you also need to install MathJax separately and +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and # configure the path to it using the MATHJAX_RELPATH option. USE_MATHJAX = NO -# When MathJax is enabled you need to specify the location relative to the -# HTML output directory using the MATHJAX_RELPATH option. The destination -# directory should contain the MathJax.js script. For instance, if the mathjax -# directory is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the -# mathjax.org site, so you can quickly see the result without installing -# MathJax, but it is strongly recommended to install a local copy of MathJax +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax # before deployment. MATHJAX_RELPATH = http://www.mathjax.org/mathjax -# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension # names that should be enabled during MathJax rendering. -MATHJAX_EXTENSIONS = +MATHJAX_EXTENSIONS = -# When the SEARCHENGINE tag is enabled doxygen will generate a search box -# for the HTML output. The underlying search engine uses javascript -# and DHTML and should work on any modern browser. Note that when using -# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets -# (GENERATE_DOCSET) there is already a search function so this one should -# typically be disabled. For large projects the javascript based search engine +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine # can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. SEARCHENGINE = NO -# When the SERVER_BASED_SEARCH tag is enabled the search engine will be -# implemented using a PHP enabled web server instead of at the web client -# using Javascript. Doxygen will generate the search PHP script and index -# file to put on the web server. The advantage of the server -# based approach is that it scales better to large projects and allows -# full text search. The disadvantages are that it is more difficult to setup +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup # and does not have live searching capabilities. SERVER_BASED_SEARCH = NO @@ -1243,97 +1243,97 @@ SERVER_BASED_SEARCH = NO # configuration options related to the LaTeX output #--------------------------------------------------------------------------- -# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will # generate Latex output. GENERATE_LATEX = NO -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `latex' will be used as the default path. LATEX_OUTPUT = latex -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be -# invoked. If left blank `latex' will be used as the default command name. -# Note that when enabling USE_PDFLATEX this option is only used for -# generating bitmaps for formulas in the HTML output, but not in the +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the # Makefile that is written to the output directory. LATEX_CMD_NAME = latex -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to -# generate index for LaTeX. If left blank `makeindex' will be used as the +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the # default command name. MAKEINDEX_CMD_NAME = makeindex -# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact -# LaTeX documents. This may be useful for small projects and may help to +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_LATEX = NO -# The PAPER_TYPE tag can be used to set the paper type that is used -# by the printer. Possible values are: a4, letter, legal and +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and # executive. If left blank a4wide will be used. PAPER_TYPE = a4 -# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # packages that should be included in the LaTeX output. -EXTRA_PACKAGES = +EXTRA_PACKAGES = -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for -# the generated latex document. The header should contain everything until -# the first chapter. If it is left blank doxygen will generate a +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a # standard header. Notice: only use this tag if you know what you are doing! -LATEX_HEADER = +LATEX_HEADER = -# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for -# the generated latex document. The footer should contain everything after -# the last chapter. If it is left blank doxygen will generate a +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a # standard footer. Notice: only use this tag if you know what you are doing! -LATEX_FOOTER = +LATEX_FOOTER = -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated -# is prepared for conversion to pdf (using ps2pdf). The pdf file will -# contain links (just like the HTML output) instead of page references +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references # This makes the output suitable for online browsing using a pdf viewer. PDF_HYPERLINKS = YES -# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of -# plain latex in the generated Makefile. Set this option to YES to get a +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a # higher quality PDF documentation. USE_PDFLATEX = YES -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. -# command to the generated LaTeX files. This will instruct LaTeX to keep -# running if errors occur, instead of asking the user for help. +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. # This option is also used when generating formulas in HTML. LATEX_BATCHMODE = NO -# If LATEX_HIDE_INDICES is set to YES then doxygen will not -# include the index chapters (such as File Index, Compound Index, etc.) +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) # in the output. LATEX_HIDE_INDICES = NO -# If LATEX_SOURCE_CODE is set to YES then doxygen will include -# source code with syntax highlighting in the LaTeX output. -# Note that which sources are shown also depends on other settings +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings # such as SOURCE_BROWSER. LATEX_SOURCE_CODE = NO -# The LATEX_BIB_STYLE tag can be used to specify the style to use for the -# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See # http://en.wikipedia.org/wiki/BibTeX for more info. LATEX_BIB_STYLE = plain @@ -1342,68 +1342,68 @@ LATEX_BIB_STYLE = plain # configuration options related to the RTF output #--------------------------------------------------------------------------- -# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimized for Word 97 and may not look very pretty with +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with # other RTF readers or editors. GENERATE_RTF = NO -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `rtf' will be used as the default path. RTF_OUTPUT = rtf -# If the COMPACT_RTF tag is set to YES Doxygen generates more compact -# RTF documents. This may be useful for small projects and may help to +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_RTF = NO -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated -# will contain hyperlink fields. The RTF file will -# contain links (just like the HTML output) instead of page references. -# This makes the output suitable for online browsing using WORD or other -# programs which support those fields. +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. # Note: wordpad (write) and others do not support links. RTF_HYPERLINKS = NO -# Load style sheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assignments. You only have to provide +# Load style sheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide # replacements, missing definitions are set to their default value. -RTF_STYLESHEET_FILE = +RTF_STYLESHEET_FILE = -# Set optional variables used in the generation of an rtf document. +# Set optional variables used in the generation of an rtf document. # Syntax is similar to doxygen's config file. -RTF_EXTENSIONS_FILE = +RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # configuration options related to the man page output #--------------------------------------------------------------------------- -# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will # generate man pages GENERATE_MAN = NO -# The MAN_OUTPUT tag is used to specify where the man pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `man' will be used as the default path. MAN_OUTPUT = man -# The MAN_EXTENSION tag determines the extension that is added to +# The MAN_EXTENSION tag determines the extension that is added to # the generated man pages (default is the subroutine's section .3) MAN_EXTENSION = .3 -# If the MAN_LINKS tag is set to YES and Doxygen generates man output, -# then it will generate one additional man file for each entity -# documented in the real man page(s). These additional files -# only source the real man page, but without them the man command +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command # would be unable to find the correct page. The default is NO. MAN_LINKS = NO @@ -1412,33 +1412,33 @@ MAN_LINKS = NO # configuration options related to the XML output #--------------------------------------------------------------------------- -# If the GENERATE_XML tag is set to YES Doxygen will -# generate an XML file that captures the structure of +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of # the code including all documentation. GENERATE_XML = NO -# The XML_OUTPUT tag is used to specify where the XML pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `xml' will be used as the default path. XML_OUTPUT = xml -# The XML_SCHEMA tag can be used to specify an XML schema, -# which can be used by a validating XML parser to check the +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the # syntax of the XML files. -XML_SCHEMA = +XML_SCHEMA = -# The XML_DTD tag can be used to specify an XML DTD, -# which can be used by a validating XML parser to check the +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the # syntax of the XML files. -XML_DTD = +XML_DTD = -# If the XML_PROGRAMLISTING tag is set to YES Doxygen will -# dump the program listings (including syntax highlighting -# and cross-referencing information) to the XML output. Note that +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that # enabling this will significantly increase the size of the XML output. XML_PROGRAMLISTING = YES @@ -1447,10 +1447,10 @@ XML_PROGRAMLISTING = YES # configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- -# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will -# generate an AutoGen Definitions (see autogen.sf.net) file -# that captures the structure of the code including all -# documentation. Note that this feature is still experimental +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental # and incomplete at the moment. GENERATE_AUTOGEN_DEF = NO @@ -1459,97 +1459,97 @@ GENERATE_AUTOGEN_DEF = NO # configuration options related to the Perl module output #--------------------------------------------------------------------------- -# If the GENERATE_PERLMOD tag is set to YES Doxygen will -# generate a Perl module file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the # moment. GENERATE_PERLMOD = NO -# If the PERLMOD_LATEX tag is set to YES Doxygen will generate -# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able # to generate PDF and DVI output from the Perl module output. PERLMOD_LATEX = NO -# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be -# nicely formatted so it can be parsed by a human reader. This is useful -# if you want to understand what is going on. On the other hand, if this -# tag is set to NO the size of the Perl module output will be much smaller +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller # and Perl will parse it just the same. PERLMOD_PRETTY = YES -# The names of the make variables in the generated doxyrules.make file -# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. -# This is useful so different doxyrules.make files included by the same +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same # Makefile don't overwrite each other's variables. -PERLMOD_MAKEVAR_PREFIX = +PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the preprocessor #--------------------------------------------------------------------------- -# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will -# evaluate all C-preprocessor directives found in the sources and include +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include # files. ENABLE_PREPROCESSING = YES -# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro -# names in the source code. If set to NO (the default) only conditional -# compilation will be performed. Macro expansion can be done in a controlled +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled # way by setting EXPAND_ONLY_PREDEF to YES. MACRO_EXPANSION = NO -# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES -# then the macro expansion is limited to the macros specified with the +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the # PREDEFINED and EXPAND_AS_DEFINED tags. EXPAND_ONLY_PREDEF = NO -# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files # pointed to by INCLUDE_PATH will be searched when a #include is found. SEARCH_INCLUDES = YES -# The INCLUDE_PATH tag can be used to specify one or more directories that -# contain include files that are not input files but should be processed by +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by # the preprocessor. -INCLUDE_PATH = +INCLUDE_PATH = -# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard -# patterns (like *.h and *.hpp) to filter out the header-files in the -# directories. If left blank, the patterns specified with FILE_PATTERNS will +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will # be used. -INCLUDE_FILE_PATTERNS = +INCLUDE_FILE_PATTERNS = -# The PREDEFINED tag can be used to specify one or more macro names that -# are defined before the preprocessor is started (similar to the -D option of -# gcc). The argument of the tag is a list of macros of the form: name -# or name=definition (no spaces). If the definition and the = are -# omitted =1 is assumed. To prevent a macro definition from being -# undefined via #undef or recursively expanded use the := operator +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator # instead of the = operator. -PREDEFINED = +PREDEFINED = -# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then -# this tag can be used to specify a list of macro names that should be expanded. -# The macro definition that is found in the sources will be used. -# Use the PREDEFINED tag if you want to use a different macro definition that +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that # overrules the definition found in the source code. -EXPAND_AS_DEFINED = +EXPAND_AS_DEFINED = -# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then -# doxygen's preprocessor will remove all references to function-like macros -# that are alone on a line, have an all uppercase name, and do not end with a +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a # semicolon, because these will confuse the parser if not removed. SKIP_FUNCTION_MACROS = YES @@ -1558,41 +1558,41 @@ SKIP_FUNCTION_MACROS = YES # Configuration::additions related to external references #--------------------------------------------------------------------------- -# The TAGFILES option can be used to specify one or more tagfiles. -# Optionally an initial location of the external documentation -# can be added for each tagfile. The format of a tag file without -# this location is as follows: -# TAGFILES = file1 file2 ... -# Adding location for the tag files is done as follows: -# TAGFILES = file1=loc1 "file2 = loc2" ... -# where "loc1" and "loc2" can be relative or absolute paths or -# URLs. If a location is present for each tag, the installdox tool -# does not have to be run to correct the links. -# Note that each tag file must have a unique name -# (where the name does NOT include the path) -# If a tag file is not located in the directory in which doxygen +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen # is run, you must also specify the path to the tagfile here. -TAGFILES = +TAGFILES = -# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# When a file name is specified after GENERATE_TAGFILE, doxygen will create # a tag file that is based on the input files it reads. -GENERATE_TAGFILE = +GENERATE_TAGFILE = -# If the ALLEXTERNALS tag is set to YES all external classes will be listed -# in the class index. If set to NO only the inherited external classes +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes # will be listed. ALLEXTERNALS = NO -# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed -# in the modules index. If set to NO, only the current project's groups will +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will # be listed. EXTERNAL_GROUPS = YES -# The PERL_PATH should be the absolute path and name of the perl script +# The PERL_PATH should be the absolute path and name of the perl script # interpreter (i.e. the result of `which perl'). PERL_PATH = /usr/bin/perl @@ -1601,213 +1601,213 @@ PERL_PATH = /usr/bin/perl # Configuration options related to the dot tool #--------------------------------------------------------------------------- -# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will -# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base -# or super classes. Setting the tag to NO turns the diagrams off. Note that -# this option also works with HAVE_DOT disabled, but it is recommended to +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to # install and use dot, since it yields more powerful graphs. CLASS_DIAGRAMS = YES -# You can define message sequence charts within doxygen comments using the \msc -# command. Doxygen will then run the mscgen tool (see -# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the -# documentation. The MSCGEN_PATH tag allows you to specify the directory where -# the mscgen tool resides. If left empty the tool is assumed to be found in the +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the # default search path. -MSCGEN_PATH = +MSCGEN_PATH = -# If set to YES, the inheritance and collaboration graphs will hide -# inheritance and usage relations if the target is undocumented +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented # or is not a class. HIDE_UNDOC_RELATIONS = YES -# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is -# available from the path. This tool is part of Graphviz, a graph visualization -# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section # have no effect if this option is set to NO (the default) HAVE_DOT = NO -# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is -# allowed to run in parallel. When set to 0 (the default) doxygen will -# base this on the number of processors available in the system. You can set it -# explicitly to a value larger than 0 to get control over the balance +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance # between CPU load and processing speed. DOT_NUM_THREADS = 0 -# By default doxygen will use the Helvetica font for all dot files that -# doxygen generates. When you want a differently looking font you can specify -# the font name using DOT_FONTNAME. You need to make sure dot is able to find -# the font, which can be done by putting it in a standard location or by setting -# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the +# By default doxygen will use the Helvetica font for all dot files that +# doxygen generates. When you want a differently looking font you can specify +# the font name using DOT_FONTNAME. You need to make sure dot is able to find +# the font, which can be done by putting it in a standard location or by setting +# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the # directory containing the font. DOT_FONTNAME = Helvetica -# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. # The default size is 10pt. DOT_FONTSIZE = 10 -# By default doxygen will tell dot to use the Helvetica font. -# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to +# By default doxygen will tell dot to use the Helvetica font. +# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to # set the path where dot can find it. -DOT_FONTPATH = +DOT_FONTPATH = -# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect inheritance relations. Setting this tag to YES will force the +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the # CLASS_DIAGRAMS tag to NO. CLASS_GRAPH = YES -# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect implementation dependencies (inheritance, containment, and +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and # class references variables) of the class with other documented classes. COLLABORATION_GRAPH = YES -# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen # will generate a graph for groups, showing the direct groups dependencies GROUP_GRAPHS = YES -# If the UML_LOOK tag is set to YES doxygen will generate inheritance and -# collaboration diagrams in a style similar to the OMG's Unified Modeling +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling # Language. UML_LOOK = NO -# If set to YES, the inheritance and collaboration graphs will show the +# If set to YES, the inheritance and collaboration graphs will show the # relations between templates and their instances. TEMPLATE_RELATIONS = NO -# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT -# tags are set to YES then doxygen will generate a graph for each documented -# file showing the direct and indirect include dependencies of the file with +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with # other documented files. INCLUDE_GRAPH = YES -# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and -# HAVE_DOT tags are set to YES then doxygen will generate a graph for each -# documented header file showing the documented files that directly or +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or # indirectly include this file. INCLUDED_BY_GRAPH = YES -# If the CALL_GRAPH and HAVE_DOT options are set to YES then -# doxygen will generate a call dependency graph for every global function -# or class method. Note that enabling this option will significantly increase -# the time of a run. So in most cases it will be better to enable call graphs +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. 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This -# makes dot run faster, but since only newer versions of dot (>1.8.10) +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) # support this, this feature is disabled by default. DOT_MULTI_TARGETS = NO -# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will -# generate a legend page explaining the meaning of the various boxes and +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and # arrows in the dot generated graphs. GENERATE_LEGEND = YES -# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will -# remove the intermediate dot files that are used to generate +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate # the various graphs. DOT_CLEANUP = YES diff --git a/LICENSE b/LICENSE index 11f5603..0010eb6 100644 --- a/LICENSE +++ b/LICENSE @@ -1,7 +1,7 @@ Copyright (c) 2012 Interactive Matter -based on the stepper library by Tom Igoe, et. al. +Based on the stepper library by Tom Igoe, et. al. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: diff --git a/README.rst b/README.rst index 648f3e2..b2130fc 100644 --- a/README.rst +++ b/README.rst @@ -5,21 +5,21 @@ License ------- TMC26XStepper.cpp - - TMC 260/261/262 Stepper library for Wiring/Arduino - -based on the stepper library by Tom Igoe, et. al. - + +Based on the stepper library by Tom Igoe, et. al. + Copyright (c) 2011, Interactive Matter, Marcus Nowotny - + Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: - + The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. - + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE @@ -33,17 +33,17 @@ About The TMC26X is a stepper motor controller for bipolar stepper motors. From the trinamic web site: - The TMC262 is the first energy efficient high current high precision microstepping driver - IC for bipolar stepper motors. The unique high resolution sensorless load detection stallGuard2™ + The TMC262 is the first energy efficient high current high precision microstepping driver + IC for bipolar stepper motors. The unique high resolution sensorless load detection stallGuard2™ is used to for the world’s first integrated load dependent current control feature called coolStep™. - The ability to read out the load and detect an overload makes the TMC262 an optimum choice for - drives where a high reliability is desired at a low cost. The new patented spreadCycle PWM mixed - decay chopper scheme ensures best zero crossing performance as well as high speed operation. - The TMC262 can be driven with Step & Direction signals as well as by serial SPI™ interface. - Using the microPlyer allows to operate the motor with highest 256 μStep smoothness reducing the - input frequency to 16 μSteps. A full set of protection and diagnostic features makes this device - very rugged. It directly drives external MOSFETs for currents of up to 6A. This way it reaches - highest energy efficiency and allows driving of a high motor current without cooling measures + The ability to read out the load and detect an overload makes the TMC262 an optimum choice for + drives where a high reliability is desired at a low cost. The new patented spreadCycle PWM mixed + decay chopper scheme ensures best zero crossing performance as well as high speed operation. + The TMC262 can be driven with Step & Direction signals as well as by serial SPI™ interface. + Using the microPlyer allows to operate the motor with highest 256 μStep smoothness reducing the + input frequency to 16 μSteps. A full set of protection and diagnostic features makes this device + very rugged. It directly drives external MOSFETs for currents of up to 6A. This way it reaches + highest energy efficiency and allows driving of a high motor current without cooling measures even at high environment temperatures. @@ -55,7 +55,7 @@ The unique features of the TMC26X are that everything can (and must) be controll * current reduction according to load * stallGuard2™ sensorless load detection * coolStep™ load dependent current control -* spreadCycle hysteresis PWM chopper +* spreadCycle hysteresis PWM chopper * microPlyer 16-to-256 μStep multiplier * full protection and diagnostics @@ -67,5 +67,5 @@ motor is a breeze. How to use ---------- -Check out the Setup Guide here: +Check out the Setup Guide here: And the How To here: \ No newline at end of file diff --git a/TMC26XStepper.cpp b/TMC26XStepper.cpp index 389264c..53fa0f5 100644 --- a/TMC26XStepper.cpp +++ b/TMC26XStepper.cpp @@ -1,28 +1,28 @@ -/* - TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - - based on the stepper library by Tom Igoe, et. al. - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino + * + * Based on the stepper library by Tom Igoe, et. al. + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ #if defined(ARDUINO) && ARDUINO >= 100 @@ -114,23 +114,23 @@ TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int s started=false; //by default cool step is not enabled cool_step_enabled=false; - + //save the pins for later use this->cs_pin=cs_pin; this->dir_pin=dir_pin; this->step_pin = step_pin; - + //store the current sense resistor value for later use this->resistor = resistor; - + //initizalize our status values this->steps_left = 0; this->direction = 0; - + //initialize register values driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING; chopper_config_register=CHOPPER_CONFIG_REGISTER; - + //setting the default register values driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING; microsteps = (1 << INITIAL_MICROSTEPPING); @@ -156,7 +156,7 @@ TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int s */ void TMC26XStepper::start() { -#ifdef DEBUG +#ifdef DEBUG Serial.println("TMC26X stepper library"); Serial.print("CS pin: "); Serial.println(cs_pin); @@ -168,27 +168,27 @@ void TMC26XStepper::start() { Serial.println(current_scaling,DEC); #endif //set the pins as output & its initial value - pinMode(step_pin, OUTPUT); - pinMode(dir_pin, OUTPUT); - pinMode(cs_pin, OUTPUT); - digitalWrite(step_pin, LOW); - digitalWrite(dir_pin, LOW); - digitalWrite(cs_pin, HIGH); - + pinMode(step_pin, OUTPUT); + pinMode(dir_pin, OUTPUT); + pinMode(cs_pin, OUTPUT); + digitalWrite(step_pin, LOW); + digitalWrite(dir_pin, LOW); + digitalWrite(cs_pin, HIGH); + //configure the SPI interface SPI.setBitOrder(MSBFIRST); SPI.setClockDivider(SPI_CLOCK_DIV8); //todo this does not work reliably - find a way to foolprof set it (e.g. while communicating //SPI.setDataMode(SPI_MODE3); SPI.begin(); - + //set the initial values - send262(driver_control_register_value); + send262(driver_control_register_value); send262(chopper_config_register); send262(cool_step_register_value); send262(stall_guard2_current_register_value); send262(driver_configuration_register_value); - + //save that we are in running mode started=true; } @@ -214,7 +214,7 @@ void TMC26XStepper::setSpeed(unsigned int whatSpeed) Serial.println(this->step_delay); #endif //update the next step time - this->next_step_time = this->last_step_time+this->step_delay; + this->next_step_time = this->last_step_time+this->step_delay; } @@ -223,14 +223,14 @@ unsigned int TMC26XStepper::getSpeed(void) { } /* - Moves the motor steps_to_move steps. If the number is negative, + Moves the motor steps_to_move steps. If the number is negative, the motor moves in the reverse direction. */ char TMC26XStepper::step(int steps_to_move) -{ +{ if (this->steps_left==0) { this->steps_left = abs(steps_to_move); // how many steps to take - + // determine direction based on whether steps_to_mode is + or -: if (steps_to_move > 0) { this->direction = 1; @@ -246,20 +246,20 @@ char TMC26XStepper::step(int steps_to_move) char TMC26XStepper::move(void) { // decrement the number of steps, moving one step each time: if(this->steps_left>0) { - unsigned long time = micros(); + unsigned long time = micros(); // move only if the appropriate delay has passed: if (time >= this->next_step_time) { // increment or decrement the step number, // depending on direction: if (this->direction == 1) { digitalWrite(step_pin, HIGH); - } else { + } else { digitalWrite(dir_pin, HIGH); digitalWrite(step_pin, HIGH); } // get the timeStamp of when you stepped: this->last_step_time = time; - this->next_step_time = time+this->step_delay; + this->next_step_time = time+this->step_delay; // decrement the steps left: steps_left--; //disable the step & dir pins @@ -295,14 +295,14 @@ void TMC26XStepper::setCurrent(unsigned int current) { double mASetting = (double)current; double resistor_value = (double) this->resistor; // remove vesense flag - this->driver_configuration_register_value &= ~(VSENSE); + this->driver_configuration_register_value &= ~(VSENSE); //this is derrived from I=(cs+1)/32*(Vsense/Rsense) //leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V and I = 1000*current) //with Rsense=0,15 //for vsense = 0,310V (VSENSE not set) //or vsense = 0,165V (VSENSE set) current_scaling = (byte)((resistor_value*mASetting*32.0/(0.31*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5 - + //check if the current scalingis too low if (current_scaling<16) { //set the csense bit to get a use half the sense voltage (to support lower motor currents) @@ -346,7 +346,7 @@ unsigned int TMC26XStepper::getCurrent(void) { void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) { if (stall_guard_threshold<-64) { stall_guard_threshold = -64; - //We just have 5 bits + //We just have 5 bits } else if (stall_guard_threshold > 63) { stall_guard_threshold = 63; } @@ -431,7 +431,7 @@ void TMC26XStepper::setMicrosteps(int number_of_steps) { this->driver_control_register_value &=0xFFFF0ul; //set the new value this->driver_control_register_value |=setting_pattern; - + //if started we directly send it to the motor if (started) { send262(driver_control_register_value); @@ -448,7 +448,7 @@ int TMC26XStepper::getMicrosteps(void) { } /* - * constant_off_time: The off time setting controls the minimum chopper frequency. + * constant_off_time: The off time setting controls the minimum chopper frequency. * For most applications an off time within the range of 5μs to 20μs will fit. * 2...15: off time setting * @@ -460,12 +460,12 @@ int TMC26XStepper::getMicrosteps(void) { * 0: slow decay only * 1...15: duration of fast decay phase * - * sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset. + * sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset. * A positive offset corrects for zero crossing error. * -3..-1: negative offset 0: no offset 1...12: positive offset * - * use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle. - * If current comparator is enabled, it terminates the fast decay cycle in case the current + * use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle. + * If current comparator is enabled, it terminates the fast decay cycle in case the current * reaches a higher negative value than the actual positive value. * 1: enable comparator termination of fast decay cycle * 0: end by time only @@ -502,7 +502,7 @@ void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank } //shift the sine_wave_offset sine_wave_offset +=3; - + //calculate the register setting //first of all delete all the values for this chopper_config_register &= ~((1<<12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN); @@ -526,11 +526,11 @@ void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank //if started we directly send it to the motor if (started) { send262(driver_control_register_value); - } + } } /* - * constant_off_time: The off time setting controls the minimum chopper frequency. + * constant_off_time: The off time setting controls the minimum chopper frequency. * For most applications an off time within the range of 5μs to 20μs will fit. * 2...15: off time setting * @@ -541,7 +541,7 @@ void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank * hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND. * 1...8 * - * hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC. + * hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC. * The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited. * -3..-1: negative HEND 0: zero HEND 1...12: positive HEND * @@ -589,7 +589,7 @@ void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_tim } else if (hysteresis_decrement>3) { hysteresis_decrement=3; } - + //first of all delete all the values for this chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN); @@ -606,19 +606,19 @@ void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_tim //if started we directly send it to the motor if (started) { send262(driver_control_register_value); - } + } } /* - * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. - * The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position. - * With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a - * few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc. + * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. + * The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position. + * With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a + * few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc. * Further factors which can cause a similar effect are a poor layout of sense resistor GND connection. - * Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages + * Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages * (please refer to sense resistor layout hint in chapter 8.1). - * In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. - * It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum, + * In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. + * It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum, * reducing electromagnetic emission on single frequencies. */ void TMC26XStepper::setRandomOffTime(char value) { @@ -630,8 +630,8 @@ void TMC26XStepper::setRandomOffTime(char value) { //if started we directly send it to the motor if (started) { send262(driver_control_register_value); - } -} + } +} void TMC26XStepper::setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, unsigned char current_increment_step_size, unsigned char lower_current_limit) { @@ -723,7 +723,7 @@ void TMC26XStepper::setEnabled(boolean enabled) { //if not enabled we don't have to do anything since we already delete t_off from the register if (started) { send262(chopper_config_register); - } + } } boolean TMC26XStepper::isEnabled() { @@ -735,7 +735,7 @@ boolean TMC26XStepper::isEnabled() { } /* - * reads a value from the TMC26X status register. The value is not obtained directly but can then + * reads a value from the TMC26X status register. The value is not obtained directly but can then * be read by the various status routines. * */ @@ -755,7 +755,7 @@ void TMC26XStepper::readStatus(char read_value) { //because then we need to write the value twice - one time for configuring, second time to get the value, see below send262(driver_configuration_register_value); } - //write the configuration to get the last status + //write the configuration to get the last status send262(driver_configuration_register_value); } @@ -900,7 +900,7 @@ int TMC26XStepper::version(void) } void TMC26XStepper::debugLastStatus() { -#ifdef DEBUG +#ifdef DEBUG if (this->started) { if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) { Serial.println("WARNING: Overtemperature Prewarning!"); @@ -919,7 +919,7 @@ if (this->started) { if (this->isOpenLoadB()) { Serial.println("ERROR: Channel B seems to be unconnected!"); } - if (this->isStallGuardReached()) { + if (this->isStallGuardReached()) { Serial.println("INFO: Stall Guard level reached!"); } if (this->isStandStill()) { @@ -951,21 +951,21 @@ if (this->started) { */ inline void TMC26XStepper::send262(unsigned long datagram) { unsigned long i_datagram; - + //preserver the previous spi mode unsigned char oldMode = SPCR & SPI_MODE_MASK; - + //if the mode is not correct set it to mode 3 if (oldMode != SPI_MODE3) { SPI.setDataMode(SPI_MODE3); } - + //select the TMC driver digitalWrite(cs_pin,LOW); //ensure that only valid bist are set (0-19) //datagram &=REGISTER_BIT_PATTERN; - + #ifdef DEBUG Serial.print("Sending "); Serial.println(datagram,HEX); @@ -978,22 +978,22 @@ inline void TMC26XStepper::send262(unsigned long datagram) { i_datagram <<= 8; i_datagram |= SPI.transfer((datagram) & 0xff); i_datagram >>= 4; - + #ifdef DEBUG Serial.print("Received "); Serial.println(i_datagram,HEX); debugLastStatus(); #endif //deselect the TMC chip - digitalWrite(cs_pin,HIGH); - + digitalWrite(cs_pin,HIGH); + //restore the previous SPI mode if neccessary //if the mode is not correct set it to mode 3 if (oldMode != SPI_MODE3) { SPI.setDataMode(oldMode); } - + //store the datagram as status result driver_status_result = i_datagram; } \ No newline at end of file diff --git a/TMC26XStepper.h b/TMC26XStepper.h index b5d5131..bcc61a8 100644 --- a/TMC26XStepper.h +++ b/TMC26XStepper.h @@ -1,47 +1,46 @@ -/* - TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - - based on the stepper library by Tom Igoe, et. al. - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino + * + * Based on the stepper library by Tom Igoe, et. al. + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ - // ensure this library description is only included once #ifndef TMC26XStepper_h #define TMC26XStepper_h //! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TMC chip /*! - * This warning indicates that the TCM chip is too warm. - * It is still working but some parameters may be inferior. + * This warning indicates that the TCM chip is too warm. + * It is still working but some parameters may be inferior. * You should do something against it. */ #define TMC26X_OVERTEMPERATURE_PREWARING 1 //! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature shutdown in the TMC chip /*! - * This warning indicates that the TCM chip is too warm to operate and has shut down to prevent damage. + * This warning indicates that the TCM chip is too warm to operate and has shut down to prevent damage. * It will stop working until it cools down again. - * If you encouter this situation you must do something against it. Like reducing the current or improving the PCB layout + * If you encouter this situation you must do something against it. Like reducing the current or improving the PCB layout * and/or heat management. */ #define TMC26X_OVERTEMPERATURE_SHUTDOWN 2 @@ -77,7 +76,7 @@ /*! * \class TMC26XStepper * \brief Class representing a TMC26X stepper driver - * + * * In order to use one fo those drivers in your Arduino code you have to create an object of that class: * \code * TMC26XStepper stepper = TMC26XStepper(200,1,2,3,500); @@ -85,7 +84,7 @@ * see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current) * * Keep in mind that you need to start the driver with start() in order to get the TMC26X configured. - * + * * The most important function is the move(). It checks if the motor has to do a step or not. * It is important that you call move() as often as possible in your Arduino loop() routine. I suggest * to use a very fast loop routine and always call it at the beginning or the end. @@ -93,7 +92,7 @@ * In order to move you have to provide a movement speed with setSpeed(). The speed is a positive value setting * the rotations per minute. * - * To really move the motor you have to call step() to tell the driver to move the motor the given number + * To really move the motor you have to call step() to tell the driver to move the motor the given number * of steps in the given direction. Positive values move the motor in one direction, negative values in the other direction. * * You can check with isMoving() if the mototr is still moving or stop it apruptely with stop(). @@ -114,7 +113,7 @@ class TMC26XStepper { * * Keep in mind that you must also call TMC26XStepper.start() in order to configure the stepper driver for use. * - * By default the Constant Off Time chopper is used, see TCM262Stepper.setConstantOffTimeChopper() for details. + * By default the Constant Off Time chopper is used, see TCM262Stepper.setConstantOffTimeChopper() for details. * This should work on most motors (YMMV). You may want to configure and use the Spread Cycle Chopper, see setSpreadCycleChopper(). * * By default a microstepping of 1/32th is used to provide a smooth motor run, while still giving a good progression per step. @@ -122,20 +121,20 @@ class TMC26XStepper { * \sa start(), setMicrosteps() */ TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150); - + /*! * \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. * - * This routine configures the TMC26X stepper driver for the given values via SPI. + * This routine configures the TMC26X stepper driver for the given values via SPI. * Most member functions are non functional if the driver has not been started. * Therefore it is best to call this in your Arduino setup() function. */ void start(); - + /*! * \brief resets the stepper in unconfigured mode. * - * This routine enables you to call start again. It does not change anything + * This routine enables you to call start again. It does not change anything * in the internal stepper configuration or the desired configuration. * It just marks the stepper as not yet startet. You do not have to reconfigure * the stepper to start it again, but it is not reset to any factory settings @@ -150,7 +149,7 @@ class TMC26XStepper { * \param whatSpeed the desired speed in rotations per minute. */ void setSpeed(unsigned int whatSpeed); - + /*! * \brief reads out the currently selected speed in revolutions per minute. * \sa setSpeed() @@ -163,14 +162,14 @@ class TMC26XStepper { * This method set's the number of microsteps per step in 2^i interval. * This means you can select 1, 2, 4, 16, 32, 64, 128 or 256 as valid microsteps. * If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2). - * You can always check the current microstepping with getMicrosteps(). - */ + * You can always check the current microstepping with getMicrosteps(). + */ void setMicrosteps(int number_of_steps); - + /*! * \brief returns the effective current number of microsteps selected. * - * This function always returns the effective number of microsteps. + * This function always returns the effective number of microsteps. * This can be a bit different than the micro steps set in setMicrosteps() since it is rounded to 2^i. * * \sa setMicrosteps() @@ -186,18 +185,18 @@ class TMC26XStepper { * If the previous movement is not finished yet the function will return -1 and not change the steps to move the motor. * If the motor does not move it return 0 * - * The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right + * The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right * or left This depends on the internal construction of the motor and how you connected it to the stepper driver. * * You can always verify with isMoving() or even use stop() to stop the motor before giving it new step directions. * \sa isMoving(), getStepsLeft(), stop() */ char step(int number_of_steps); - + /*! * \brief Central movement method, must be called as often as possible in the lopp function and is very fast. * - * This routine checks if the motor still has to move, if the waiting delay has passed to send a new step command to the motor + * This routine checks if the motor still has to move, if the waiting delay has passed to send a new step command to the motor * and manages the number of steps yet to move to fulfill the current move command. * * This function is implemented to be as fast as possible to call it as often as possible in your loop routine. @@ -205,9 +204,9 @@ class TMC26XStepper { * possible is not a bad idea and if you even manage that the intervals you call this function are not too irregular helps too. * * You can call this routine even if you know that the motor is not miving. It introduces just a very small penalty in your code. - * You must not call isMoving() to determine if you need to call this function, since taht is done internally already and only + * You must not call isMoving() to determine if you need to call this function, since taht is done internally already and only * slows down you code. - * + * * How often you call this function directly influences your top miving speed for the motor. It may be a good idea to call this * from an timer overflow interrupt to ensure proper calling. * \sa step() @@ -222,13 +221,13 @@ class TMC26XStepper { *\sa step(), move() */ char isMoving(void); - + /*! * \brief Get the number of steps left in the current movement. * \return The number of steps left in the movement. This number is always positive. */ unsigned int getStepsLeft(void); - + /*! * \brief Stops the motor regardless if it moves or not. * \return -1 if the motor was moving and is really stoped or 0 if it was not moving at all. @@ -236,7 +235,7 @@ class TMC26XStepper { * This method directly and apruptely stops the motor and may be used as an emergency stop. */ char stop(void); - + /*! * \brief Sets and configure the classical Constant Off Timer Chopper * \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks) @@ -245,16 +244,16 @@ class TMC26XStepper { * \param sine_wave_offset Sine wave offset. Controls the sine wave offset. A positive offset corrects for zero crossing error. -3…-1: negative offset, 0: no offset,1…12: positive offset * \param use_curreent_comparator Selects usage of the current comparator for termination of the fast decay cycle. If current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. (0 disable, -1 enable). * - * The classic constant off time chopper uses a fixed portion of fast decay following each on phase. - * While the duration of the on time is determined by the chopper comparator, the fast decay time needs - * to be set by the user in a way, that the current decay is enough for the driver to be able to follow - * the falling slope of the sine wave, and on the other hand it should not be too long, in order to minimize - * motor current ripple and power dissipation. This best can be tuned using an oscilloscope or - * trying out motor smoothness at different velocities. A good starting value is a fast decay time setting + * The classic constant off time chopper uses a fixed portion of fast decay following each on phase. + * While the duration of the on time is determined by the chopper comparator, the fast decay time needs + * to be set by the user in a way, that the current decay is enough for the driver to be able to follow + * the falling slope of the sine wave, and on the other hand it should not be too long, in order to minimize + * motor current ripple and power dissipation. This best can be tuned using an oscilloscope or + * trying out motor smoothness at different velocities. A good starting value is a fast decay time setting * similar to the slow decay time setting. - * After tuning of the fast decay time, the offset should be determined, in order to have a smooth zero transition. - * This is necessary, because the fast decay phase leads to the absolute value of the motor current being lower - * than the target current (see figure 17). If the zero offset is too low, the motor stands still for a short + * After tuning of the fast decay time, the offset should be determined, in order to have a smooth zero transition. + * This is necessary, because the fast decay phase leads to the absolute value of the motor current being lower + * than the target current (see figure 17). If the zero offset is too low, the motor stands still for a short * moment during current zero crossing, if it is set too high, it makes a larger microstep. * Typically, a positive offset setting is required for optimum operation. * @@ -262,7 +261,7 @@ class TMC26XStepper { * \sa setRandomOffTime() for spreading the noise over a wider spectrum */ void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator); - + /*! * \brief Sets and configures with spread cycle chopper. * \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks) @@ -271,16 +270,16 @@ class TMC26XStepper { * \param hysteresis_end Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by hysteresis_decrement. The sum hysteresis_start + hysteresis_end must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited. * \param hysteresis_decrement Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. 0 (fast decrement) … 3 (slow decrement). * - * The spreadCycle chopper scheme (pat.fil.) is a precise and simple to use chopper principle, which automatically determines - * the optimum fast decay portion for the motor. Anyhow, a number of settings can be made in order to optimally fit the driver + * The spreadCycle chopper scheme (pat.fil.) is a precise and simple to use chopper principle, which automatically determines + * the optimum fast decay portion for the motor. Anyhow, a number of settings can be made in order to optimally fit the driver * to the motor. * Each chopper cycle is comprised of an on-phase, a slow decay phase, a fast decay phase and a second slow decay phase. - * The slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation. - * The hysteresis start setting limits the chopper frequency by forcing the driver to introduce a minimum amount of - * current ripple into the motor coils. The motor inductivity determines the ability to follow a changing motor current. - * The duration of the on- and fast decay phase needs to cover at least the blank time, because the current comparator is + * The slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation. + * The hysteresis start setting limits the chopper frequency by forcing the driver to introduce a minimum amount of + * current ripple into the motor coils. The motor inductivity determines the ability to follow a changing motor current. + * The duration of the on- and fast decay phase needs to cover at least the blank time, because the current comparator is * disabled during this time. - * + * * \sa setRandomOffTime() for spreading the noise over a wider spectrum */ void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement); @@ -289,19 +288,19 @@ class TMC26XStepper { * \brief Use random off time for noise reduction (0 for off, -1 for on). * \param value 0 for off, -1 for on * - * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. - * The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, - * thus it depends on the microstep position. With some motors a slightly audible beat can occur between the chopper - * frequencies, especially when they are near to each other. This typically occurs at a few microstep positions within - * each quarter wave. - * This effect normally is not audible when compared to mechanical noise generated by ball bearings, + * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. + * The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, + * thus it depends on the microstep position. With some motors a slightly audible beat can occur between the chopper + * frequencies, especially when they are near to each other. This typically occurs at a few microstep positions within + * each quarter wave. + * This effect normally is not audible when compared to mechanical noise generated by ball bearings, * etc. Further factors which can cause a similar effect are a poor layout of sense resistor GND connection. - * In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. + * In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. * It modulates the slow decay time setting when switched on. The random off time feature further spreads the chopper spectrum, * reducing electromagnetic emission on single frequencies. */ void setRandomOffTime(char value); - + /*! * \brief set the maximum motor current in mA (1000 is 1 Amp) * Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller @@ -310,7 +309,7 @@ class TMC26XStepper { * \sa getCurrent(), getCurrentCurrent() */ void setCurrent(unsigned int current); - + /*! * \brief readout the motor maximum current in mA (1000 is an Amp) * This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent() @@ -318,7 +317,7 @@ class TMC26XStepper { * \sa getCurrentCurrent() */ unsigned int getCurrent(void); - + /*! * \brief set the StallGuard threshold in order to get sensible StallGuard readings. * \param stall_guard_threshold -64 … 63 the StallGuard threshold @@ -331,23 +330,23 @@ class TMC26XStepper { * * If you switch on the filter the StallGuard reading is only updated each 4th full step to reduce the noise in the * reading. - * + * * \sa getCurrentStallGuardReading() to read out the current value. - */ + */ void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled); - + /*! * \brief reads out the StallGuard threshold * \return a number between -64 and 63. */ char getStallGuardThreshold(void); - + /*! * \brief returns the current setting of the StallGuard filter * \return 0 if not set, -1 if set */ char getStallGuardFilter(void); - + /*! * \brief This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature. * \param lower_SG_threshold Sets the lower threshold for stallGuard2TM reading. Below this value, the motor current becomes increased. Allowed values are 0...480 @@ -357,7 +356,7 @@ class TMC26XStepper { * \param lower_current_limit Sets the lower motor current limit for coolStepTM operation by scaling the CS value. Values can be COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT * The CoolStep smart energy operation automatically adjust the current sent into the motor according to the current load, * read out by the StallGuard in order to provide the optimum torque with the minimal current consumption. - * You configure the CoolStep current regulator by defining upper and lower bounds of StallGuard readouts. If the readout is above the + * You configure the CoolStep current regulator by defining upper and lower bounds of StallGuard readouts. If the readout is above the * limit the current gets increased, below the limit the current gets decreased. * You can specify the upper an lower threshold of the StallGuard readout in order to adjust the current. You can also set the number of * StallGuard readings neccessary above or below the limit to get a more stable current adjustement. @@ -367,15 +366,15 @@ class TMC26XStepper { */ void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, unsigned char current_increment_step_size, unsigned char lower_current_limit); - + /*! * \brief enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it. * \param enabled true if CoolStep should be enabled, false if not. * \sa setCoolStepConfiguration() */ void setCoolStepEnabled(boolean enabled); - - + + /*! * \brief check if the CoolStep feature is enabled * \sa setCoolStepEnabled() @@ -387,40 +386,40 @@ class TMC26XStepper { * \sa setCoolStepConfiguration() */ unsigned int getCoolStepLowerSgThreshold(); - + /*! * \brief returns the upper StallGuard threshold for the CoolStep operation * \sa setCoolStepConfiguration() */ unsigned int getCoolStepUpperSgThreshold(); - + /*! * \brief returns the number of StallGuard readings befor CoolStep adjusts the motor current. * \sa setCoolStepConfiguration() */ unsigned char getCoolStepNumberOfSGReadings(); - + /*! * \brief returns the increment steps for the current for the CoolStep operation * \sa setCoolStepConfiguration() */ unsigned char getCoolStepCurrentIncrementSize(); - + /*! * \brief returns the absolut minium current for the CoolStep operation * \sa setCoolStepConfiguration() * \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT */ unsigned char getCoolStepLowerCurrentLimit(); - + /*! * \brief Get the current microstep position for phase A * \return The current microstep position for phase A 0…255 - * + * * Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time. */ int getMotorPosition(void); - + /*! * \brief Reads the current StallGuard value. * \return The current StallGuard value, lesser values indicate higher load, 0 means stall detected. @@ -428,15 +427,15 @@ class TMC26XStepper { * \sa setStallGuardThreshold() for tuning the readout to sensible ranges. */ int getCurrentStallGuardReading(void); - + /*! * \brief Reads the current current setting value as fraction of the maximum current * Returns values between 0 and 31, representing 1/32 to 32/32 (=1) * \sa setCoolStepConfiguration() */ unsigned char getCurrentCSReading(void); - - + + /*! *\brief a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference. *\return false if 0.13V is the reference voltage, true if 0.165V is used. @@ -446,12 +445,12 @@ class TMC26XStepper { /*! * \brief Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000). * This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs - * the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it + * the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it * may not be the fastest. * \sa getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent() */ unsigned int getCurrentCurrent(void); - + /*! * \brief checks if there is a StallGuard warning in the last status * \return 0 if there was no warning, -1 if there was some warning. @@ -461,7 +460,7 @@ class TMC26XStepper { * \sa setStallGuardThreshold() for tuning the readout to sensible ranges. */ boolean isStallGuardOverThreshold(void); - + /*! * \brief Return over temperature status of the last status readout * return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown. @@ -469,14 +468,14 @@ class TMC26XStepper { * You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. */ char getOverTemperature(void); - + /*! * \brief Is motor channel A shorted to ground detected in the last status readout. * \return true is yes, false if not. * Keep in mind that this method does not enforce a readout but uses the value of the last status readout. * You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. */ - + boolean isShortToGroundA(void); /*! @@ -501,7 +500,7 @@ class TMC26XStepper { * You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout. */ boolean isOpenLoadB(void); - + /*! * \brief Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s * \return true is yes, false if not. @@ -522,13 +521,13 @@ class TMC26XStepper { * \sa setStallGuardThreshold() for tuning the readout to sensible ranges. */ boolean isStallGuardReached(void); - + /*! *\brief enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not. *\param enabled a boolean value true if the motor should be enabled, false otherwise. */ void setEnabled(boolean enabled); - + /*! *\brief checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely *\return true if the bridges and by that the motor driver are enabled, false if not. @@ -540,13 +539,13 @@ class TMC26XStepper { * \brief Manually read out the status register * This function sends a byte to the motor driver in order to get the current readout. The parameter read_value * seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method - * automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method + * automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method * may take time to send and read one or two bits - depending on the previous readout. * \param read_value selects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT * \sa TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT */ void readStatus(char read_value); - + /*! * \brief Returns the current sense resistor value in milliohm. * The default value of ,15 Ohm will return 150. @@ -554,7 +553,7 @@ class TMC26XStepper { int getResistor(); /*! - * \brief Prints out all the information that can be found in the last status read out - it does not force a status readout. + * \brief Prints out all the information that can be found in the last status read out - it does not force a status readout. * The result is printed via Serial */ void debugLastStatus(void); @@ -564,17 +563,17 @@ class TMC26XStepper { */ int version(void); - private: + private: unsigned int steps_left; //the steps the motor has to do to complete the movement int direction; // Direction of rotation unsigned long step_delay; // delay between steps, in ms, based on speed int number_of_steps; // total number of steps this motor can take unsigned int speed; // we need to store the current speed in order to change the speed after changing microstepping unsigned int resistor; //current sense resitor value in milliohm - + unsigned long last_step_time; // time stamp in ms of when the last step was taken unsigned long next_step_time; // time stamp in ms of when the last step was taken - + //driver control register copies to easily set & modify the registers unsigned long driver_control_register_value; unsigned long chopper_config_register; @@ -583,22 +582,22 @@ class TMC26XStepper { unsigned long driver_configuration_register_value; //the driver status result unsigned long driver_status_result; - + //helper routione to get the top 10 bit of the readout inline int getReadoutValue(); - + //the pins for the stepper driver unsigned char cs_pin; unsigned char step_pin; unsigned char dir_pin; - - //status values + + //status values boolean started; //if the stepper has been started yet int microsteps; //the current number of micro steps char constant_off_time; //we need to remember this value in order to enable and disable the motor unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature boolean cool_step_enabled; //we need to remember this to configure the coolstep if it si enabled - + //SPI sender inline void send262(unsigned long datagram); }; diff --git a/documentation/html/_t_m_c26_x_stepper_8cpp.html b/documentation/html/_t_m_c26_x_stepper_8cpp.html index a577ca3..806902f 100644 --- a/documentation/html/_t_m_c26_x_stepper_8cpp.html +++ b/documentation/html/_t_m_c26_x_stepper_8cpp.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/_t_m_c26_x_stepper_8cpp_source.html b/documentation/html/_t_m_c26_x_stepper_8cpp_source.html index f7f4741..a67c5e4 100644 --- a/documentation/html/_t_m_c26_x_stepper_8cpp_source.html +++ b/documentation/html/_t_m_c26_x_stepper_8cpp_source.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
@@ -58,7 +58,7 @@ Go to the documentation of this file.
00001 /*
 00002  TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - Version 0.1
 00003  
-00004  based on the stepper library by Tom Igoe, et. al.
+00004  Based on the stepper library by Tom Igoe, et. al.
 00005  
 00006  Copyright (c) 2011, Interactive Matter, Marcus Nowotny
 00007  
@@ -81,7 +81,7 @@
 00024  THE SOFTWARE.
 00025  
 00026  */
-00027 
+00027
 00028 #if defined(ARDUINO) && ARDUINO >= 100
 00029         #include <Arduino.h>
 00030 #else
@@ -89,7 +89,7 @@
 00032 #endif
 00033 #include <SPI.h>
 00034 #include "TMC26XStepper.h"
-00035 
+00035
 00036 //some default values used in initialization
 00037 #define DEFAULT_MICROSTEPPING_VALUE 32
 00038 
@@ -157,7 +157,7 @@
 00100 
 00101 //debuging output
 00102 //#define DEBUG
-00103 
+00103
 00104 /*
 00105  * Constructor
 00106  * number_of_steps - the steps per rotation
@@ -171,23 +171,23 @@
 00114         started=false;
 00115     //by default cool step is not enabled
 00116     cool_step_enabled=false;
-00117         
+00117
 00118         //save the pins for later use
 00119         this->cs_pin=cs_pin;
 00120         this->dir_pin=dir_pin;
 00121         this->step_pin = step_pin;
-00122     
+00122
 00123     //store the current sense resistor value for later use
 00124     this->resistor = resistor;
-00125         
+00125
 00126         //initizalize our status values
 00127         this->steps_left = 0;
 00128         this->direction = 0;
-00129         
+00129
 00130         //initialize register values
 00131         driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING;
 00132         chopper_config_register=CHOPPER_CONFIG_REGISTER;
-00133         
+00133
 00134         //setting the default register values
 00135         driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING;
 00136         microsteps = (1 << INITIAL_MICROSTEPPING);
@@ -195,7 +195,7 @@
 00138         cool_step_register_value=COOL_STEP_REGISTER;
 00139         stall_guard2_current_register_value=STALL_GUARD2_LOAD_MEASURE_REGISTER;
 00140         driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
-00141 
+00141
 00142         //set the current
 00143         setCurrent(current);
 00144         //set to a conservative start value
@@ -205,14 +205,14 @@
 00148     //save the number of steps
 00149     this->number_of_steps =   number_of_steps;
 00150 }
-00151 
-00152 
+00151
+00152
 00153 /*
 00154  * start & configure the stepper driver
 00155  * just must be called.
 00156  */
 00157 void TMC26XStepper::start() {
-00158 
+00158
 00159 #ifdef DEBUG    
 00160         Serial.println("TMC26X stepper library");
 00161         Serial.print("CS pin: ");
@@ -225,39 +225,39 @@
 00168         Serial.println(current_scaling,DEC);
 00169 #endif
 00170         //set the pins as output & its initial value
-00171         pinMode(step_pin, OUTPUT);     
-00172         pinMode(dir_pin, OUTPUT);     
-00173         pinMode(cs_pin, OUTPUT);     
-00174         digitalWrite(step_pin, LOW);     
-00175         digitalWrite(dir_pin, LOW);     
-00176         digitalWrite(cs_pin, HIGH);   
-00177         
+00171         pinMode(step_pin, OUTPUT);
+00172         pinMode(dir_pin, OUTPUT);
+00173         pinMode(cs_pin, OUTPUT);
+00174         digitalWrite(step_pin, LOW);
+00175         digitalWrite(dir_pin, LOW);
+00176         digitalWrite(cs_pin, HIGH);
+00177
 00178         //configure the SPI interface
 00179     SPI.setBitOrder(MSBFIRST);
 00180         SPI.setClockDivider(SPI_CLOCK_DIV8);
 00181         //todo this does not work reliably - find a way to foolprof set it (e.g. while communicating
 00182         //SPI.setDataMode(SPI_MODE3);
 00183         SPI.begin();
-00184                 
+00184
 00185         //set the initial values
-00186         send262(driver_control_register_value); 
+00186         send262(driver_control_register_value);
 00187         send262(chopper_config_register);
 00188         send262(cool_step_register_value);
 00189         send262(stall_guard2_current_register_value);
 00190         send262(driver_configuration_register_value);
-00191         
+00191
 00192         //save that we are in running mode
 00193         started=true;
 00194 }
-00195 
+00195
 00196 /*
 00197  Mark the driver as unstarted to be able to start it again
 00198  */
 00199 void TMC26XStepper::un_start() {
 00200     started=false;
 00201 }
-00202 
-00203 
+00202
+00203
 00204 /*
 00205   Sets the speed in revs per minute
 00206 
@@ -271,23 +271,23 @@
 00214     Serial.println(this->step_delay);
 00215 #endif
 00216     //update the next step time
-00217     this->next_step_time = this->last_step_time+this->step_delay; 
-00218 
+00217     this->next_step_time = this->last_step_time+this->step_delay;
+00218
 00219 }
-00220 
+00220
 00221 unsigned int TMC26XStepper::getSpeed(void) {
 00222     return this->speed;
 00223 }
-00224 
+00224
 00225 /*
 00226   Moves the motor steps_to_move steps.  If the number is negative, 
 00227    the motor moves in the reverse direction.
 00228  */
 00229 char TMC26XStepper::step(int steps_to_move)
-00230 {  
+00230 {
 00231         if (this->steps_left==0) {
 00232                 this->steps_left = abs(steps_to_move);  // how many steps to take
-00233   
+00233
 00234                 // determine direction based on whether steps_to_mode is + or -:
 00235                 if (steps_to_move > 0) {
 00236                         this->direction = 1;
@@ -299,24 +299,24 @@
 00242         return -1;
 00243     }
 00244 }
-00245 
+00245
 00246 char TMC26XStepper::move(void) {
 00247   // decrement the number of steps, moving one step each time:
 00248   if(this->steps_left>0) {
-00249       unsigned long time = micros();  
+00249       unsigned long time = micros();
 00250           // move only if the appropriate delay has passed:
 00251          if (time >= this->next_step_time) {
 00252                 // increment or decrement the step number,
 00253                 // depending on direction:
 00254                 if (this->direction == 1) {
 00255                         digitalWrite(step_pin, HIGH);
-00256         } else { 
+00256         } else {
 00257                   digitalWrite(dir_pin, HIGH);
 00258                   digitalWrite(step_pin, HIGH);
 00259             }
 00260         // get the timeStamp of when you stepped:
 00261         this->last_step_time = time;
-00262         this->next_step_time = time+this->step_delay; 
+00262         this->next_step_time = time+this->step_delay;
 00263         // decrement the steps left:
 00264         steps_left--;
 00265                 //disable the step & dir pins
@@ -327,15 +327,15 @@
 00270         }
 00271     return 0;
 00272 }
-00273 
+00273
 00274 char TMC26XStepper::isMoving(void) {
 00275         return (this->steps_left>0);
 00276 }
-00277 
+00277
 00278 unsigned int TMC26XStepper::getStepsLeft(void) {
 00279         return this->steps_left;
 00280 }
-00281 
+00281
 00282 char TMC26XStepper::stop(void) {
 00283         //note to self if the motor is currently moving
 00284         char state = isMoving();
@@ -345,21 +345,21 @@
 00288         //return if it was moving
 00289         return state;
 00290 }
-00291 
+00291
 00292 void TMC26XStepper::setCurrent(unsigned int current) {
 00293     unsigned char current_scaling = 0;
 00294         //calculate the current scaling from the max current setting (in mA)
 00295         double mASetting = (double)current;
 00296     double resistor_value = (double) this->resistor;
 00297         // remove vesense flag
-00298         this->driver_configuration_register_value &= ~(VSENSE); 
+00298         this->driver_configuration_register_value &= ~(VSENSE);
 00299         //this is derrived from I=(cs+1)/32*(Vsense/Rsense)
 00300     //leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V  and I = 1000*current)
 00301         //with Rsense=0,15
 00302         //for vsense = 0,310V (VSENSE not set)
 00303         //or vsense = 0,165V (VSENSE set)
 00304         current_scaling = (byte)((resistor_value*mASetting*32.0/(0.31*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
-00305         
+00305
 00306         //check if the current scalingis too low
 00307         if (current_scaling<16) {
 00308         //set the csense bit to get a use half the sense voltage (to support lower motor currents)
@@ -374,7 +374,7 @@
 00317         Serial.println(current_scaling);
 00318 #endif
 00319     }
-00320 
+00320
 00321         //do some sanity checks
 00322         if (current_scaling>31) {
 00323                 current_scaling=31;
@@ -389,7 +389,7 @@
 00332                 send262(stall_guard2_current_register_value);
 00333         }
 00334 }
-00335 
+00335
 00336 unsigned int TMC26XStepper::getCurrent(void) {
 00337     //we calculate the current according to the datasheet to be on the safe side
 00338     //this is not the fastest but the most accurate and illustrative way
@@ -399,7 +399,7 @@
 00342     result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
 00343     return (unsigned int)result;
 00344 }
-00345 
+00345
 00346 void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) {
 00347         if (stall_guard_threshold<-64) {
 00348                 stall_guard_threshold = -64;
@@ -421,7 +421,7 @@
 00364                 send262(stall_guard2_current_register_value);
 00365         }
 00366 }
-00367 
+00367
 00368 char TMC26XStepper::getStallGuardThreshold(void) {
 00369     unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
 00370     //shift it down to bit 0
@@ -434,7 +434,7 @@
 00377     }
 00378     return result;
 00379 }
-00380 
+00380
 00381 char TMC26XStepper::getStallGuardFilter(void) {
 00382     if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED) {
 00383         return -1;
@@ -488,7 +488,7 @@
 00431         this->driver_control_register_value &=0xFFFF0ul;
 00432         //set the new value
 00433         this->driver_control_register_value |=setting_pattern;
-00434         
+00434
 00435         //if started we directly send it to the motor
 00436         if (started) {
 00437                 send262(driver_control_register_value);
@@ -496,14 +496,14 @@
 00439     //recalculate the stepping delay by simply setting the speed again
 00440     this->setSpeed(this->speed);
 00441 }
-00442 
+00442
 00443 /*
 00444  * returns the effective number of microsteps at the moment
 00445  */
 00446 int TMC26XStepper::getMicrosteps(void) {
 00447         return microsteps;
 00448 }
-00449 
+00449
 00450 /*
 00451  * constant_off_time: The off time setting controls the minimum chopper frequency. 
 00452  * For most applications an off time within     the range of 5μs to 20μs will fit.
@@ -559,7 +559,7 @@
 00502         }
 00503         //shift the sine_wave_offset
 00504         sine_wave_offset +=3;
-00505         
+00505
 00506         //calculate the register setting
 00507         //first of all delete all the values for this
 00508         chopper_config_register &= ~((1<<12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
@@ -583,9 +583,9 @@
 00526         //if started we directly send it to the motor
 00527         if (started) {
 00528                 send262(driver_control_register_value);
-00529         }       
+00529         }
 00530 }
-00531 
+00531
 00532 /*
 00533  * constant_off_time: The off time setting controls the minimum chopper frequency. 
 00534  * For most applications an off time within     the range of 5μs to 20μs will fit.
@@ -605,7 +605,7 @@
 00548  * hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
 00549  *              0: fast decrement 3: very slow decrement
 00550  */
-00551 
+00551
 00552 void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) {
 00553         //perform some sanity checks
 00554         if (constant_off_time<2) {
@@ -632,7 +632,7 @@
 00575                 hysteresis_start=8;
 00576         }
 00577         hysteresis_start--;
-00578 
+00578
 00579         if (hysteresis_end < -3) {
 00580                 hysteresis_end = -3;
 00581         } else if (hysteresis_end>12) {
@@ -640,16 +640,16 @@
 00583         }
 00584         //shift the hysteresis_end
 00585         hysteresis_end +=3;
-00586 
+00586
 00587         if (hysteresis_decrement<0) {
 00588                 hysteresis_decrement=0;
 00589         } else if (hysteresis_decrement>3) {
 00590                 hysteresis_decrement=3;
 00591         }
-00592         
+00592
 00593         //first of all delete all the values for this
 00594         chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
-00595 
+00595
 00596         //set the blank timing value
 00597         chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
 00598         //setting the constant off time
@@ -663,9 +663,9 @@
 00606         //if started we directly send it to the motor
 00607         if (started) {
 00608                 send262(driver_control_register_value);
-00609         }       
+00609         }
 00610 }
-00611 
+00611
 00612 /*
 00613  * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. 
 00614  * The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position. 
@@ -687,9 +687,9 @@
 00630         //if started we directly send it to the motor
 00631         if (started) {
 00632                 send262(driver_control_register_value);
-00633         }       
-00634 }       
-00635 
+00633         }
+00634 }
+00635
 00636 void TMC26XStepper::setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
 00637                               unsigned char current_increment_step_size, unsigned char lower_current_limit) {
 00638     //sanitize the input values
@@ -729,7 +729,7 @@
 00672         send262(cool_step_register_value);
 00673     }
 00674 }
-00675 
+00675
 00676 void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
 00677     //simply delete the lower limit to disable the cool step
 00678     cool_step_register_value &= ~SE_MIN_PATTERN;
@@ -744,32 +744,32 @@
 00687         send262(cool_step_register_value);
 00688     }
 00689 }
-00690 
+00690
 00691 boolean TMC26XStepper::isCoolStepEnabled(void) {
 00692     return this->cool_step_enabled;
 00693 }
-00694 
+00694
 00695 unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() {
 00696     //we return our internally stored value - in order to provide the correct setting even if cool step is not enabled
 00697     return this->cool_step_lower_threshold<<5;
 00698 }
-00699 
+00699
 00700 unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() {
 00701     return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN)>>8)<<5;
 00702 }
-00703 
+00703
 00704 unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() {
 00705     return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN)>>13);
 00706 }
-00707 
+00707
 00708 unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() {
 00709     return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN)>>5);
 00710 }
-00711 
+00711
 00712 unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() {
 00713     return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH)>>15);
 00714 }
-00715 
+00715
 00716 void TMC26XStepper::setEnabled(boolean enabled) {
 00717     //delete the t_off in the chopper config to get sure
 00718     chopper_config_register &= ~(T_OFF_PATTERN);
@@ -780,9 +780,9 @@
 00723     //if not enabled we don't have to do anything since we already delete t_off from the register
 00724         if (started) {
 00725                 send262(chopper_config_register);
-00726         }       
+00726         }
 00727 }
-00728 
+00728
 00729 boolean TMC26XStepper::isEnabled() {
 00730     if (chopper_config_register & T_OFF_PATTERN) {
 00731         return true;
@@ -790,7 +790,7 @@
 00733         return false;
 00734     }
 00735 }
-00736 
+00736
 00737 /*
 00738  * reads a value from the TMC26X status register. The value is not obtained directly but can then 
 00739  * be read by the various status routines.
@@ -815,13 +815,13 @@
 00758     //write the configuration to get the last status    
 00759         send262(driver_configuration_register_value);
 00760 }
-00761 
+00761
 00762 int TMC26XStepper::getMotorPosition(void) {
 00763         //we read it out even if we are not started yet - perhaps it is useful information for somebody
 00764         readStatus(TMC26X_READOUT_POSITION);
 00765     return getReadoutValue();
 00766 }
-00767 
+00767
 00768 //reads the stall guard setting from last status
 00769 //returns -1 if stallguard information is not present
 00770 int TMC26XStepper::getCurrentStallGuardReading(void) {
@@ -834,7 +834,7 @@
 00777         readStatus(TMC26X_READOUT_STALLGUARD);
 00778         return getReadoutValue();
 00779 }
-00780 
+00780
 00781 unsigned char TMC26XStepper::getCurrentCSReading(void) {
 00782         //if we don't yet started there cannot be a stall guard value
 00783         if (!started) {
@@ -845,7 +845,7 @@
 00788         readStatus(TMC26X_READOUT_CURRENT);
 00789         return (getReadoutValue() & 0x1f);
 00790 }
-00791 
+00791
 00792 unsigned int TMC26XStepper::getCurrentCurrent(void) {
 00793     double result = (double)getCurrentCSReading();
 00794     double resistor_value = (double)this->resistor;
@@ -853,7 +853,7 @@
 00796     result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
 00797     return (unsigned int)result;
 00798 }
-00799 
+00799
 00800 /*
 00801  return true if the stallguard threshold has been reached
 00802 */
@@ -863,7 +863,7 @@
 00806         }
 00807         return (driver_status_result & STATUS_STALL_GUARD_STATUS);
 00808 }
-00809 
+00809
 00810 /*
 00811  returns if there is any over temperature condition:
 00812  OVER_TEMPERATURE_PREWARING if pre warning level has been reached
@@ -882,7 +882,7 @@
 00825         }
 00826         return 0;
 00827 }
-00828 
+00828
 00829 //is motor channel A shorted to ground
 00830 boolean TMC26XStepper::isShortToGroundA(void) {
 00831         if (!this->started) {
@@ -890,7 +890,7 @@
 00833         }
 00834         return (driver_status_result & STATUS_SHORT_TO_GROUND_A);
 00835 }
-00836 
+00836
 00837 //is motor channel B shorted to ground
 00838 boolean TMC26XStepper::isShortToGroundB(void) {
 00839         if (!this->started) {
@@ -898,7 +898,7 @@
 00841         }
 00842         return (driver_status_result & STATUS_SHORT_TO_GROUND_B);
 00843 }
-00844 
+00844
 00845 //is motor channel A connected
 00846 boolean TMC26XStepper::isOpenLoadA(void) {
 00847         if (!this->started) {
@@ -906,7 +906,7 @@
 00849         }
 00850         return (driver_status_result & STATUS_OPEN_LOAD_A);
 00851 }
-00852 
+00852
 00853 //is motor channel B connected
 00854 boolean TMC26XStepper::isOpenLoadB(void) {
 00855         if (!this->started) {
@@ -914,7 +914,7 @@
 00857         }
 00858         return (driver_status_result & STATUS_OPEN_LOAD_B);
 00859 }
-00860 
+00860
 00861 //is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
 00862 boolean TMC26XStepper::isStandStill(void) {
 00863         if (!this->started) {
@@ -922,7 +922,7 @@
 00865         }
 00866         return (driver_status_result & STATUS_STAND_STILL);
 00867 }
-00868 
+00868
 00869 //is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
 00870 boolean TMC26XStepper::isStallGuardReached(void) {
 00871         if (!this->started) {
@@ -930,17 +930,17 @@
 00873         }
 00874         return (driver_status_result & STATUS_STALL_GUARD_STATUS);
 00875 }
-00876 
+00876
 00877 //reads the stall guard setting from last status
 00878 //returns -1 if stallguard inforamtion is not present
 00879 int TMC26XStepper::getReadoutValue(void) {
 00880         return (int)(driver_status_result >> 10);
 00881 }
-00882 
+00882
 00883 int TMC26XStepper::getResistor() {
 00884     return this->resistor;
 00885 }
-00886 
+00886
 00887 boolean TMC26XStepper::isCurrentScalingHalfed() {
 00888     if (this->driver_configuration_register_value & VSENSE) {
 00889         return true;
@@ -955,7 +955,7 @@
 00898 {
 00899         return 1;
 00900 }
-00901 
+00901
 00902 void TMC26XStepper::debugLastStatus() {
 00903 #ifdef DEBUG    
 00904 if (this->started) {
@@ -976,7 +976,7 @@
 00919                 if (this->isOpenLoadB()) {
 00920                         Serial.println("ERROR: Channel B seems to be unconnected!");
 00921                 }
-00922                 if (this->isStallGuardReached()) {      
+00922                 if (this->isStallGuardReached()) {
 00923                         Serial.println("INFO: Stall Guard level reached!");
 00924                 }
 00925                 if (this->isStandStill()) {
@@ -1001,28 +1001,28 @@
 00944         }
 00945 #endif
 00946 }
-00947 
+00947
 00948 /*
 00949  * send register settings to the stepper driver via SPI
 00950  * returns the current status
 00951  */
 00952 inline void TMC26XStepper::send262(unsigned long datagram) {
 00953         unsigned long i_datagram;
-00954     
+00954
 00955     //preserver the previous spi mode
 00956     unsigned char oldMode =  SPCR & SPI_MODE_MASK;
-00957         
+00957
 00958     //if the mode is not correct set it to mode 3
 00959     if (oldMode != SPI_MODE3) {
 00960         SPI.setDataMode(SPI_MODE3);
 00961     }
-00962         
+00962
 00963         //select the TMC driver
 00964         digitalWrite(cs_pin,LOW);
-00965 
+00965
 00966         //ensure that only valid bist are set (0-19)
 00967         //datagram &=REGISTER_BIT_PATTERN;
-00968         
+00968
 00969 #ifdef DEBUG
 00970         Serial.print("Sending ");
 00971         Serial.println(datagram,HEX);
@@ -1035,22 +1035,22 @@
 00978         i_datagram <<= 8;
 00979         i_datagram |= SPI.transfer((datagram) & 0xff);
 00980         i_datagram >>= 4;
-00981         
+00981
 00982 #ifdef DEBUG
 00983         Serial.print("Received ");
 00984         Serial.println(i_datagram,HEX);
 00985         debugLastStatus();
 00986 #endif
 00987         //deselect the TMC chip
-00988         digitalWrite(cs_pin,HIGH); 
-00989     
+00988         digitalWrite(cs_pin,HIGH);
+00989
 00990     //restore the previous SPI mode if neccessary
 00991     //if the mode is not correct set it to mode 3
 00992     if (oldMode != SPI_MODE3) {
 00993         SPI.setDataMode(oldMode);
 00994     }
-00995 
-00996         
+00995
+00996
 00997         //store the datagram as status result
 00998         driver_status_result = i_datagram;
 00999 }
diff --git a/documentation/html/_t_m_c26_x_stepper_8h.html b/documentation/html/_t_m_c26_x_stepper_8h.html
index 34fda0a..4dd5cd0 100644
--- a/documentation/html/_t_m_c26_x_stepper_8h.html
+++ b/documentation/html/_t_m_c26_x_stepper_8h.html
@@ -19,17 +19,17 @@
 
-  
-  
+
+
   
-  
-  
-  
+
+
+
  

  
  

    
Trinamic TMC26X Stepper Driver for Arduino
-   
+
    

-   
+
   

  
 

diff --git a/documentation/html/_t_m_c26_x_stepper_8h_source.html b/documentation/html/_t_m_c26_x_stepper_8h_source.html
index 521b53a..1034b4b 100644
--- a/documentation/html/_t_m_c26_x_stepper_8h_source.html
+++ b/documentation/html/_t_m_c26_x_stepper_8h_source.html
@@ -19,17 +19,17 @@
 
-  
-  
+
+
   
-  
-  
-  
+
+
+
  

  
  

    
Trinamic TMC26X Stepper Driver for Arduino
-   
+
    

-   
+
   

  
 

@@ -58,7 +58,7 @@
 Go to the documentation of this file.
00001 /*
 00002  TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - Version 0.1
 00003  
-00004  based on the stepper library by Tom Igoe, et. al.
+00004  Based on the stepper library by Tom Igoe, et. al.
 00005 
 00006  Copyright (c) 2011, Interactive Matter, Marcus Nowotny
 00007  
@@ -81,16 +81,16 @@
 00024  THE SOFTWARE.
 00025 
 00026  */
-00027 
-00028 
+00027
+00028
 00029 // ensure this library description is only included once
 00030 #ifndef TMC26XStepper_h
 00031 #define TMC26XStepper_h
 00032 
-00034 
+00034
 00039 #define TMC26X_OVERTEMPERATURE_PREWARING 1
 00040 
-00041 
+00041
 00047 #define TMC26X_OVERTEMPERATURE_SHUTDOWN 2
 00048 
 00049 //which values can be read out
@@ -107,112 +107,112 @@
 00101 class TMC26XStepper {
 00102   public:
 00124         TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150);
-00125         
+00125
 00133         void start();
-00134     
+00134
 00145         void un_start();
-00146 
-00147 
+00146
+00147
 00152     void setSpeed(unsigned int whatSpeed);
-00153     
+00153
 00158     unsigned int getSpeed(void);
-00159 
+00159
 00168         void setMicrosteps(int number_of_steps);
-00169     
+00169
 00178         int getMicrosteps(void);
-00179 
+00179
 00195     char step(int number_of_steps);
-00196     
+00196
 00215     char move(void);
-00216 
+00216
 00224     char isMoving(void);
-00225     
+00225
 00230     unsigned int getStepsLeft(void);
-00231     
+00231
 00238     char stop(void);
-00239     
+00239
 00264         void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
-00265     
+00265
 00286         void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement);
-00287 
+00287
 00303         void setRandomOffTime(char value);
-00304     
+00304
 00312         void setCurrent(unsigned int current);
-00313     
+00313
 00320     unsigned int getCurrent(void);
-00321     
+00321
 00337         void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
-00338     
+00338
 00343     char getStallGuardThreshold(void);
-00344     
+00344
 00349     char getStallGuardFilter(void);
-00350     
+00350
 00368     void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
 00369                                   unsigned char current_increment_step_size, unsigned char lower_current_limit);
-00370     
+00370
 00376     void setCoolStepEnabled(boolean enabled);
-00377     
-00378     
+00377
+00378
 00383     boolean isCoolStepEnabled();
-00384 
+00384
 00389     unsigned int getCoolStepLowerSgThreshold();
-00390     
+00390
 00395     unsigned int getCoolStepUpperSgThreshold();
-00396     
+00396
 00401     unsigned char getCoolStepNumberOfSGReadings();
-00402     
+00402
 00407     unsigned char getCoolStepCurrentIncrementSize();
-00408     
+00408
 00414     unsigned char getCoolStepLowerCurrentLimit();
-00415     
+00415
 00422         int getMotorPosition(void);
-00423     
+00423
 00430         int getCurrentStallGuardReading(void);
-00431     
+00431
 00437     unsigned char getCurrentCSReading(void);
-00438     
-00439     
+00438
+00439
 00444     boolean isCurrentScalingHalfed();
-00445 
+00445
 00453     unsigned int getCurrentCurrent(void);
-00454     
+00454
 00463         boolean isStallGuardOverThreshold(void);
-00464     
+00464
 00471         char getOverTemperature(void);
-00472     
+00472
 00480         boolean isShortToGroundA(void);
-00481 
+00481
 00488         boolean isShortToGroundB(void);
 00495         boolean isOpenLoadA(void);
-00496 
+00496
 00503         boolean isOpenLoadB(void);
-00504     
+00504
 00511         boolean isStandStill(void);
-00512 
+00512
 00524         boolean isStallGuardReached(void);
-00525     
+00525
 00530     void setEnabled(boolean enabled);
-00531     
+00531
 00537     boolean isEnabled();
-00538 
+00538
 00548         void readStatus(char read_value);
-00549     
+00549
 00554     int getResistor();
-00555 
+00555
 00560         void debugLastStatus(void);
 00565     int version(void);
-00566 
-00567   private:    
+00566
+00567   private:
 00568         unsigned int steps_left;                //the steps the motor has to do to complete the movement
 00569     int direction;        // Direction of rotation
 00570     unsigned long step_delay;    // delay between steps, in ms, based on speed
 00571     int number_of_steps;      // total number of steps this motor can take
 00572     unsigned int speed; // we need to store the current speed in order to change the speed after changing microstepping
 00573     unsigned int resistor; //current sense resitor value in milliohm
-00574         
+00574
 00575     unsigned long last_step_time;      // time stamp in ms of when the last step was taken
 00576     unsigned long next_step_time;      // time stamp in ms of when the last step was taken
-00577         
+00577
 00578         //driver control register copies to easily set & modify the registers
 00579         unsigned long driver_control_register_value;
 00580         unsigned long chopper_config_register;
@@ -221,26 +221,26 @@
 00583         unsigned long driver_configuration_register_value;
 00584         //the driver status result
 00585         unsigned long driver_status_result;
-00586         
+00586
 00587         //helper routione to get the top 10 bit of the readout
 00588         inline int getReadoutValue();
-00589         
+00589
 00590         //the pins for the stepper driver
 00591         unsigned char cs_pin;
 00592         unsigned char step_pin;
 00593         unsigned char dir_pin;
-00594         
+00594
 00595         //status values 
 00596         boolean started; //if the stepper has been started yet
 00597         int microsteps; //the current number of micro steps
 00598     char constant_off_time; //we need to remember this value in order to enable and disable the motor
 00599     unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
 00600     boolean cool_step_enabled; //we need to remember this to configure the coolstep if it si enabled
-00601         
+00601
 00602         //SPI sender
 00603         inline void send262(unsigned long datagram);
 00604 };
-00605 
+00605
 00606 #endif
 00607
diff --git a/documentation/html/annotated.html b/documentation/html/annotated.html index 193044c..6f3da95 100644 --- a/documentation/html/annotated.html +++ b/documentation/html/annotated.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/class_t_m_c26_x_stepper-members.html b/documentation/html/class_t_m_c26_x_stepper-members.html index 4547542..2f61421 100644 --- a/documentation/html/class_t_m_c26_x_stepper-members.html +++ b/documentation/html/class_t_m_c26_x_stepper-members.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/class_t_m_c26_x_stepper.html b/documentation/html/class_t_m_c26_x_stepper.html index 77c36f0..0567789 100644 --- a/documentation/html/class_t_m_c26_x_stepper.html +++ b/documentation/html/class_t_m_c26_x_stepper.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
@@ -59,7 +59,7 @@
-

Class representing a TMC26X stepper driver. +

Class representing a TMC26X stepper driver. More...

#include <TMC26XStepper.h>

diff --git a/documentation/html/classes.html b/documentation/html/classes.html index 5b5e667..f8b6958 100644 --- a/documentation/html/classes.html +++ b/documentation/html/classes.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/doxygen.css b/documentation/html/doxygen.css index cee0d06..db92508 100644 --- a/documentation/html/doxygen.css +++ b/documentation/html/doxygen.css @@ -123,11 +123,11 @@ a.elRef { } a.code, a.code:visited { - color: #4665A2; + color: #4665A2; } a.codeRef, a.codeRef:visited { - color: #4665A2; + color: #4665A2; } /* @end */ @@ -219,7 +219,7 @@ p.formulaDsp { } img.formulaDsp { - + } img.formulaInl { @@ -277,20 +277,20 @@ span.charliteral { color: #008080 } -span.vhdldigit { - color: #ff00ff +span.vhdldigit { + color: #ff00ff } -span.vhdlchar { - color: #000000 +span.vhdlchar { + color: #000000 } -span.vhdlkeyword { - color: #700070 +span.vhdlkeyword { + color: #700070 } -span.vhdllogic { - color: #ff0000 +span.vhdllogic { + color: #ff0000 } /* @end */ @@ -442,9 +442,9 @@ table.memberdecls { } .memdoc, dl.reflist dd { - border-bottom: 1px solid #A8B8D9; - border-left: 1px solid #A8B8D9; - border-right: 1px solid #A8B8D9; + border-bottom: 1px solid #A8B8D9; + border-left: 1px solid #A8B8D9; + border-right: 1px solid #A8B8D9; padding: 2px 5px; background-color: #FBFCFD; border-top-width: 0; @@ -491,18 +491,18 @@ dl.reflist dd { .params, .retval, .exception, .tparams { border-spacing: 6px 2px; -} +} .params .paramname, .retval .paramname { font-weight: bold; vertical-align: top; } - + .params .paramtype { font-style: italic; vertical-align: top; -} - +} + .params .paramdir { font-family: "courier new",courier,monospace; vertical-align: top; @@ -754,7 +754,7 @@ div.summary padding-right: 5px; width: 50%; text-align: right; -} +} div.summary a { @@ -841,19 +841,19 @@ dl.bug vertical-align: bottom; border-collapse: separate; } - + #projectlogo img -{ +{ border: 0px none; } - + #projectname { font: 300% Tahoma, Arial,sans-serif; margin: 0px; padding: 2px 0px; } - + #projectbrief { font: 120% Tahoma, Arial,sans-serif; diff --git a/documentation/html/files.html b/documentation/html/files.html index 3d40b88..d31bec3 100644 --- a/documentation/html/files.html +++ b/documentation/html/files.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/functions.html b/documentation/html/functions.html index f53a733..c505b7a 100644 --- a/documentation/html/functions.html +++ b/documentation/html/functions.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/functions_func.html b/documentation/html/functions_func.html index 1730ddd..8beb6c5 100644 --- a/documentation/html/functions_func.html +++ b/documentation/html/functions_func.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/globals.html b/documentation/html/globals.html index 438a5e8..8c4393c 100644 --- a/documentation/html/globals.html +++ b/documentation/html/globals.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/globals_defs.html b/documentation/html/globals_defs.html index 58a880e..544d17c 100644 --- a/documentation/html/globals_defs.html +++ b/documentation/html/globals_defs.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/index.html b/documentation/html/index.html index 35d5d3b..3a7cf7e 100644 --- a/documentation/html/index.html +++ b/documentation/html/index.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/documentation/html/jquery.js b/documentation/html/jquery.js index 90b3a2b..daac996 100644 --- a/documentation/html/jquery.js +++ b/documentation/html/jquery.js @@ -24,7 +24,7 @@ var I=(K>0?this.clone(true):this).get();o.fn[F].apply(o(L[K]),I);J=J.concat(I)}r /* * jQuery hashchange event - v1.3 - 7/21/2010 * http://benalman.com/projects/jquery-hashchange-plugin/ - * + * * Copyright (c) 2010 "Cowboy" Ben Alman * Dual licensed under the MIT and GPL licenses. * http://benalman.com/about/license/ diff --git a/documentation/html/mainpage_8dox.html b/documentation/html/mainpage_8dox.html index 0e6bc68..c6f0ba7 100644 --- a/documentation/html/mainpage_8dox.html +++ b/documentation/html/mainpage_8dox.html @@ -19,17 +19,17 @@ - - + + - - - + + +
Trinamic TMC26X Stepper Driver for Arduino - +
- +
diff --git a/examples/TMC26XExample/TMC26XExample.ino b/examples/TMC26XExample/TMC26XExample.ino index a2cc690..a45dd5c 100644 --- a/examples/TMC26XExample/TMC26XExample.ino +++ b/examples/TMC26XExample/TMC26XExample.ino @@ -1,26 +1,26 @@ -/* - TMC26XExample.ino - - TMC26X Stepper library Example for Wiring/Arduino - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XExample.ino - TMC26X Stepper library Example for Wiring/Arduino + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ #include #include @@ -42,7 +42,7 @@ void setup() { //char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement tmc26XStepper.setSpreadCycleChopper(2,24,8,6,0); tmc26XStepper.setRandomOffTime(0); - + tmc26XStepper.setMicrosteps(32); tmc26XStepper.setStallGuardThreshold(4,0); Serial.println("config finished, starting"); @@ -74,8 +74,8 @@ void loop() { if (tmc26XStepper.getStepsLeft()%100==0) { Serial.print("Stall Guard: "); Serial.println(tmc26XStepper.getCurrentStallGuardReading()); - } - } + } + } tmc26XStepper.move(); } diff --git a/examples/TMC26XMotorTester/Motor.ino b/examples/TMC26XMotorTester/Motor.ino index 808563f..b0a70ab 100644 --- a/examples/TMC26XMotorTester/Motor.ino +++ b/examples/TMC26XMotorTester/Motor.ino @@ -1,28 +1,28 @@ -/* - TMC26XMotorTest.ino - - TMC26X Stepper library tester for Wiring/Arduino - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XMotorTest.ino - TMC26X Stepper library tester for Wiring/Arduino + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ - unsigned int motor_counter = 0; +unsigned int motor_counter = 0; unsigned char motor_moved = 0; int sgThreshold = 4; int sgFilter = 0; @@ -30,40 +30,40 @@ int direction = 1; unsigned int lower_SG_threshold = 0; unsigned int upper_SG_threshold = 0; -unsigned char number_of_SG_readings=0; -unsigned char current_increment_step_size=0; -unsigned char lower_current_limit=0; +unsigned char number_of_SG_readings = 0; +unsigned char current_increment_step_size = 0; +unsigned char lower_current_limit = 0; - -char chopperMode = 0; //0 for spread, 1 for constant off +char chopperMode = 0; // 0 for spread, 1 for constant off char t_off = 2; char t_blank = 24; char h_start = 8; char h_end = 6; char h_decrement = 0; - void startMotor() { Serial.println(F("Configuring stepper driver")); //char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement - tmc26XStepper.setSpreadCycleChopper(t_off,t_blank,h_start,h_end,h_decrement); + tmc26XStepper.setSpreadCycleChopper(t_off, t_blank, h_start, h_end, h_decrement); tmc26XStepper.setRandomOffTime(0); tmc26XStepper.setMicrosteps(32); - tmc26XStepper.setStallGuardThreshold(sgThreshold,sgFilter); - // Serial.println("config finished, starting"); + tmc26XStepper.setStallGuardThreshold(sgThreshold, sgFilter); + //Serial.println("config finished, starting"); + #ifdef ENABLE_PIN - digitalWrite(ENABLE_PIN,LOW); + digitalWrite(ENABLE_PIN, LOW); #endif + tmc26XStepper.start(); tmc26XStepper.setSpeed(10); - TCNT2=setupTimer2(10000); + TCNT2 = setupTimer2(10000); sei(); } void runMotor() { if (running && !tmc26XStepper.isMoving()) { - tmc26XStepper.step(direction*10000); + tmc26XStepper.step(direction * 10000); Serial.println("run"); } if (!running & tmc26XStepper.isMoving()) { @@ -74,10 +74,10 @@ void runMotor() { void setSpeed(unsigned int targetSpeed) { if (targetSpeed>0 && targetSpeed256) { Serial.print(F("Improperd microstepping setting [1...256]: ")); Serial.print(microstepping); - } + } else { tmc26XStepper.setMicrosteps(microstepping); } @@ -98,7 +98,7 @@ void setStallGuardThreshold(int threshold) { if (threshold<-64 || threshold > 63) { Serial.print(F("Improper Stall Guard Threshold [-64...63]: ")); Serial.println(threshold); - } + } else { sgThreshold = threshold; tmc26XStepper.setStallGuardThreshold(threshold,sgFilter); @@ -106,30 +106,24 @@ void setStallGuardThreshold(int threshold) { } void setStallGuardFilter(int filter) { - if (filter) { - sgFilter=1; - } - else { - sgFilter=0; - } - tmc26XStepper.setStallGuardThreshold(sgThreshold,sgFilter); + tmc26XStepper.setStallGuardThreshold(sgThreshold, filter ? 1 : 0); } void setCurrent(int current) { - if (current>0 && current <1700) { + if (current > 0 && current < 1700) { tmc26XStepper.setCurrent(current); - } + } else { - Serial.print(F("Improper current {0 ... 1200}: ")); + Serial.print(F("Improper current {0 ... 1699}: ")); Serial.print(current); } } void updateChopper() { - //we can do only spread now - if (chopperMode==0) { - tmc26XStepper.setSpreadCycleChopper(t_off,t_blank,h_start,h_end,h_decrement); - } + // We can do only spread now + if (chopperMode == 0) { + tmc26XStepper.setSpreadCycleChopper(t_off, t_blank, h_start, h_end, h_decrement); + } } void updateCoolStep() { @@ -138,32 +132,32 @@ void updateCoolStep() { current_increment_step_size, lower_current_limit); } -//from http://www.uchobby.com/index.php/2007/11/24/arduino-interrupts/ -//Setup Timer2.s -//Configures the ATMega168 8-Bit Timer2 to generate an interrupt -//at the specified frequency. -//Returns the timer load value which must be loaded into TCNT2 -//inside your ISR routine. -//See the example usage below. -unsigned char setupTimer2(float timeoutFrequency){ - unsigned char result; //The timer load value. - - //Calculate the timer load value - result=(int)((257.0-(TIMER_CLOCK_FREQ/timeoutFrequency))+0.5); - //The 257 really should be 256 but I get better results with 257. - - //Timer2 Settings: Timer Prescaler /8, mode 0 - //Timer clock = 16MHz/8 = 2Mhz or 0.5us - //The /8 prescale gives us a good range to work with - //so we just hard code this for now. +/** + * From http://www.uchobby.com/index.php/2007/11/24/arduino-interrupts/ + * Set up Timer2. + * Configure the ATMega168 8-Bit Timer2 to generate an interrupt at the specified frequency. + * Return the timer load value which must be loaded into TCNT2 inside your ISR routine. + * See the example usage below. + */ +unsigned char setupTimer2(float timeoutFrequency) { + unsigned char result; // The timer load value. + + // Calculate the timer load value + result = (int)((257.0 - (TIMER_CLOCK_FREQ / timeoutFrequency)) + 0.5); + // The 257 really should be 256 but I get better results with 257. + + // Timer2 Settings: Timer Prescaler /8, mode 0 + // Timer clock = 16MHz/8 = 2Mhz or 0.5us + // The /8 prescale gives us a good range to work with + // so we just hard code this for now. TCCR2A = 0; - TCCR2B = 0<='0') { result *= 10; result += number - '0'; - } + } } if (negative) { return -result; - } + } else { return result; } diff --git a/examples/TMC26XMotorTester/TMC26XMotorTester.ino b/examples/TMC26XMotorTester/TMC26XMotorTester.ino index a24d241..1cdf645 100644 --- a/examples/TMC26XMotorTester/TMC26XMotorTester.ino +++ b/examples/TMC26XMotorTester/TMC26XMotorTester.ino @@ -1,58 +1,54 @@ -/* - TMC26XMotorTest.ino - - TMC26X Stepper library Example for Wiring/Arduino - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XMotorTest.ino - TMC26X Stepper library Example for Wiring/Arduino + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ #include #include -//you may adapt this to your shield or breakout board connection +// You may adapt this to your shield or breakout board connection #define CS_PIN 2 #define DIR_PIN 6 #define STEP_PIN 7 -//if it is not connected it won't be a problem -// Comment the line if you do not have an enable pin assigned, or the -// enable pin collides with any of your boards CS pins -#define ENABLE_PIN 8 +#define ENABLE_PIN 8 // Comment out if not connected - -#define TIMER_CLOCK_FREQ 2000000.0 //2MHz for /8 prescale from 16MHz -#define INITIAL_CURRENT 500 //in mA +#define TIMER_CLOCK_FREQ 2000000.0 // 2MHz for /8 prescale from 16MHz +#define INITIAL_CURRENT 500 // In mA #define MAX_SPEED 1000 - -//we have a stepper motor with 200 steps per rotation, CS pin 2, dir pin 3, step pin 4 and a current of 500mA -TMC26XStepper tmc26XStepper = TMC26XStepper(200,CS_PIN,DIR_PIN,STEP_PIN,INITIAL_CURRENT); +// A stepper motor with 200 steps per rotation, CS pin 2, DIR pin 3, STEP pin 4 and a current of 300mA +TMC26XStepper tmc26XStepper = TMC26XStepper(200, CS_PIN, DIR_PIN, STEP_PIN, INITIAL_CURRENT); char running; void setup() { - //configure the enable pin #ifdef ENABLE_PIN - pinMode(ENABLE_PIN, OUTPUT); - digitalWrite(ENABLE_PIN,HIGH); + // Configure the enable pin + pinMode(ENABLE_PIN, OUTPUT); + digitalWrite(ENABLE_PIN, HIGH); #endif + startSerial(); startMotor(); - //set this according to you stepper + // Set this according to you stepper Serial.println(F("started")); } @@ -60,6 +56,3 @@ void loop() { loopSerial(); runMotor(); } - - - diff --git a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/Arduino.pde b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/Arduino.pde index 06565e7..3286ca4 100644 --- a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/Arduino.pde +++ b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/Arduino.pde @@ -1,26 +1,26 @@ -/* - TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XMotorTest.pde - TMC26X Stepper Tester for Processing + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ String channelAStatus=null; @@ -36,45 +36,44 @@ String[] ports; int activePortIndex = -1; String identString="TMC26X Stepper Driver Motor Tester"; -int connectTimeout=10*1000; //how long do we wait until the Arduino is connected +int connectTimeout=10*1000; // How long do we wait until the Arduino is connected StringBuilder serialStringBuilder = new StringBuilder(); void setupSerialConfig() { Tab defaultTab = controlP5.getTab("default"); - //add the list of serial interfaces - it get's populated later + // Add the list of serial interfaces - it gets populated later serialButtons = controlP5.addRadioButton("serialport", 200, 100+TMCLogo.height*2+50); serialConfigElements.add(serialButtons); - serialButtons.captionLabel().set("Select Serial Port"); + serialButtons.getCaptionLabel().set("Select Serial Port"); serialButtons.showBar(); serialButtons.moveTo(defaultTab); - //ad the ok button + // Ad the ok button serialOkButton = controlP5.addButton("serialOk", 1, 200, height-300, 30, 30); serialConfigElements.add(serialOkButton); serialOkButton.setCaptionLabel("OK"); runToggle.moveTo(defaultTab); - //add the status area + // Add the status area statusArea = controlP5.addTextarea("statusArea","",200,height-250,300,50); serialConfigElements.add(statusArea); statusArea.moveTo(defaultTab); - + helpButton = controlP5.addButton("help", 1, 200, height-250, 80, 30); serialConfigElements.add(helpButton); helpButton.moveTo(defaultTab); - - //finally update the list of serial ports + // Finally update the list of serial ports updateSerialPortList(); } void updateSerialPortList() { - //first remove all present serial ports + // First remove all present serial ports List items = serialButtons.getItems(); for (Object i:items) { Toggle item = (Toggle) i; serialButtons.removeItem(item.getName()); } - //add the serial ports + // Add the serial ports ports = Serial.list(); for (int i=0; i< ports.length; i++) { serialButtons.addItem(ports[i],i); @@ -84,26 +83,24 @@ void updateSerialPortList() { } void serialport(int value) { - //ok button is only active if a serial port is selected + // Ok button is only active if a serial port is selected serialOkButton.setVisible(value>-1); - if (value>-1) { - statusArea.setText(""); - } + if (value > -1) statusArea.setText(""); activePortIndex = value; } void serialOk(int value) { String error = null; - if (value!=0 && activePortIndex>-1) { + if (value != 0 && activePortIndex > -1) { try { arduinoPort = new Serial(this, ports[activePortIndex], 115200); int timeStarted = millis(); StringBuilder identBuffer = new StringBuilder(); - while (!motor_connected && (millis()-timeStarted)0) { + while (!motor_connected && (millis() - timeStarted) < connectTimeout) { + if (arduinoPort.available () > 0) { char c = arduinoPort.readChar(); identBuffer.append(c); - if (c=='\n') { + if (c == '\n') { if (identString.contains(identString)) { motor_connected = true; toggleUi(true); @@ -111,14 +108,14 @@ void serialOk(int value) { } identBuffer = new StringBuilder(); } - } + } } } catch (RuntimeException e) { - //we simply do nothing - //TODO set status label + // We simply do nothing + // TODO set status label error = "There was a problem with serial port "+ports[activePortIndex]+": "+e.getMessage(); } - //ok appearantly we did not find an motor tester - so lets deselect that port + // Ok appearantly we did not find an motor tester - so lets deselect that port if (error == null) { error = "Could not find TMC26XMotorTester on serial port "+ports[activePortIndex]; } @@ -129,13 +126,12 @@ void serialOk(int value) { } } - void decodeSerial() { if (motor_connected) { - while (arduinoPort.available ()>0) { + while (arduinoPort.available () > 0) { char c = arduinoPort.readChar(); serialStringBuilder.append(c); - if (c=='\n') { + if (c == '\n') { decodeSerial(serialStringBuilder.toString()); serialStringBuilder = new StringBuilder(); } @@ -144,126 +140,119 @@ void decodeSerial() { } void sendCommand(String command) { - if (motor_connected) { - arduinoPort.write(command+"\n"); - } + if (motor_connected) arduinoPort.write(command + "\n"); } void decodeSerial(String line) { - settingStatus=true; + settingStatus = true; if (line.startsWith("#")) { String status = line.substring(1); StringTokenizer statusTokenizer = new StringTokenizer(status, ","); - while (statusTokenizer.hasMoreTokens ()) { + while (statusTokenizer.hasMoreTokens()) { String statusToken = statusTokenizer.nextToken(); if ("s".equals(statusToken)) { runToggle.setValue(0); - } + } else if ("r".equals(statusToken)) { runToggle.setValue(1); - } + } else if (statusToken.startsWith("e")) { int enabled = getValueOfToken(statusToken, 1); - if (enabled!=0) { - enabledToggle.setValue(1); - } - else { - enabledToggle.setValue(0); - } + enabledToggle.setValue(enabled != 0 ? 1 : 0); } else if (statusToken.startsWith("S")) { speedSlider.setValue(getValueOfToken(statusToken, 1)); - } + } else if (statusToken.startsWith("m")) { - microsteppingButtons.activate("m_1/"+String.valueOf(getValueOfToken(statusToken, 1))); - } + microsteppingButtons.activate("m_1/" + String.valueOf(getValueOfToken(statusToken, 1))); + } else if (statusToken.startsWith("sg")) { addStallGuardReading(getValueOfToken(statusToken, 2)); - } + } else if (statusToken.startsWith("p")) { addPositionReading(getValueOfToken(statusToken, 1)); - } + } else if (statusToken.startsWith("k")) { addCurrentReading(getValueOfToken(statusToken, 1)); - } + } else if (statusToken.startsWith("t")) { sgtSlider.setValue(getValueOfToken(statusToken, 1)); - } + } else if (statusToken.startsWith("f")) { sgFilterToggle.setValue(getValueOfToken(statusToken, 1)); - } + } else if (statusToken.startsWith("d")) { setDirection(getValueOfToken(statusToken, 1)); } else if (statusToken.startsWith("c")) { setCurrent(getValueOfToken(statusToken, 1)); - } + } else if (statusToken.startsWith("a")) { - if (statusToken.charAt(1)=='o') { - channelAStatus="Open Load"; - } - else if (statusToken.charAt(1)=='g') { - channelAStatus="Short to Ground!"; - } + if (statusToken.charAt(1) == 'o') { + channelAStatus = "Open Load"; + } + else if (statusToken.charAt(1) == 'g') { + channelAStatus = "Short to Ground!"; + } else { - channelAStatus=null; + channelAStatus = null; } - } + } else if (statusToken.startsWith("b")) { - if (statusToken.charAt(1)=='o') { + if (statusToken.charAt(1) == 'o') { channelBStatus="Open Load"; - } - else if (statusToken.charAt(1)=='g') { + } + else if (statusToken.charAt(1) == 'g') { channelBStatus="Short to Ground!"; - } + } else { - channelBStatus=null; + channelBStatus = null; } - } + } else if (statusToken.startsWith("x")) { - if (statusToken.charAt(1)=='w') { + if (statusToken.charAt(1) == 'w') { temperatureStatus="Prewarning!"; - } - else if (statusToken.charAt(1)=='e') { + } + else if (statusToken.charAt(1) == 'e') { temperatureStatus="Error"; - } + } else { - temperatureStatus=null; + temperatureStatus = null; } } else if (statusToken.startsWith("Cm")) { - //chopper mode is currently ignored - } + // Chopper mode is currently ignored + } else if (statusToken.startsWith("Co")) { constantOffSlider.setValue(getValueOfToken(statusToken, 2)); - } + } else if (statusToken.startsWith("Cb")) { blankTimeSlider.setValue(getValueOfToken(statusToken, 2)); - } + } else if (statusToken.startsWith("Cs")) { hysteresisStartSlider.setValue(getValueOfToken(statusToken, 2)); - } + } else if (statusToken.startsWith("Ce")) { hysteresisEndSlider.setValue(getValueOfToken(statusToken, 2)); - } + } else if (statusToken.startsWith("Cd")) { setHystDecrement(getValueOfToken(statusToken, 2)); - } + } else if ("Ke+".equals(statusToken)) { coolStepActiveToggle.setValue(1); - } + } else if ("Ke-".equals(statusToken)) { coolStepActiveToggle.setValue(0); - } + } else if (statusToken.startsWith("Kl")) { coolStepMinSlider.setValue(getValueOfToken(statusToken, 2)); - } + } else if (statusToken.startsWith("Ku")) { coolStepMaxSlider.setValue(getValueOfToken(statusToken, 2)); } else if (statusToken.startsWith("Kn")) { coolStepDecrementButtons.activate(getValueOfToken(statusToken, 2)); - } + } else if (statusToken.startsWith("Ki")) { coolStepIncrementButtons.activate(getValueOfToken(statusToken, 2)); } @@ -282,7 +271,7 @@ int getValueOfToken(String token, int position) { String value = token.substring(position); try { return Integer.valueOf(value); - } + } catch (NumberFormatException e) { println("Unable to decode '"+value+"'of '"+token+"' !"); return 0; @@ -290,7 +279,7 @@ int getValueOfToken(String token, int position) { } void drawSerial() { - //draw the logo and some epxlaining text while setting up the serial port + // Draw the logo and some epxlaining text while setting up the serial port if (!motor_connected) { image(TMCLogo,200, 100); fill(uiTextColor); @@ -299,8 +288,5 @@ void drawSerial() { } void help(float value) { - if (value!=0) { - link(helpUrl); - } + if (value != 0) link(helpUrl); } - diff --git a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/ChopperConfiguration.pde b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/ChopperConfiguration.pde index 2fc2a16..ac5dcf0 100644 --- a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/ChopperConfiguration.pde +++ b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/ChopperConfiguration.pde @@ -1,37 +1,37 @@ -/* - TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XMotorTest.pde - TMC26X Stepper Tester for Processing + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ Slider constantOffSlider; Slider blankTimeSlider; Toggle randomOffTimeToggle; RadioButton ChopperModeButtons; -//for constant off time chopeer +// For constant off time chopper Slider fastDecaySlider; Slider sineWaveOffsetSlider; Toggle currentComparatorToggle; -//for spread chopper +// For spread chopper Slider hysteresisStartSlider; Slider hysteresisEndSlider; Numberbox motorVoltageBox; @@ -44,35 +44,35 @@ RadioButton hysteresisDecrementButtons; PImage spreadChopperImage; void setupChooperConfig() { - //add input fields for the various motor parameters + // Add input fields for the various motor parameters motorVoltageBox = controlP5.addNumberbox("motorvoltage",12.0,20,40,100,20); motorVoltageBox.setCaptionLabel("Motor Voltage (V)"); motorVoltageBox.setMultiplier(0.025); motorVoltageBox.setMin(0); motorVoltageBox.setMax(40.0); motorVoltageBox.moveTo(configureTab); - + motorCurrentBox = controlP5.addNumberbox("motorcurrent",0.5,140,40,100,20); motorCurrentBox.setCaptionLabel("Motor Current (A)"); motorCurrentBox.setMultiplier(0.025); motorCurrentBox.setMin(0.46); motorCurrentBox.setMax(1.7); motorCurrentBox.moveTo(configureTab); - + motorResistanceBox = controlP5.addNumberbox("motorresistance",2,260,40,100,20); motorResistanceBox.setCaptionLabel("Motor Resistance (Ohm)"); motorResistanceBox.setMultiplier(0.1); motorResistanceBox.setMin(0); motorResistanceBox.setMax(250); motorResistanceBox.moveTo(configureTab); - + motorInductanceBox = controlP5.addNumberbox("motorinductance",2,380,40,100,20); motorInductanceBox.setMultiplier(0.1); motorInductanceBox.setMin(0); motorInductanceBox.setMax(250); motorInductanceBox.setCaptionLabel("Motor Inductance (mH)"); motorInductanceBox.moveTo(configureTab); - // add a vertical slider for speed + // Add a vertical slider for speed constantOffSlider = controlP5.addSlider("constantoff", 1, 15, 1, 20, 80, 400, 20); constantOffSlider.setCaptionLabel("Constant Off Time"); constantOffSlider.setSliderMode(Slider.FIX); @@ -102,73 +102,73 @@ void setupChooperConfig() { } void drawChopper() { - if (activeTab!=null && configureTab.equals(activeTab)) { + if (activeTab != null && configureTab.equals(activeTab)) { image(spreadChopperImage, 200, 400); } } void constantoff(int theValue) { if (!settingStatus) { - if (theValue>0 && theValue<16) { - println("Constant off "+theValue); - sendCommand("cO"+theValue); - } + if (theValue > 0 && theValue < 16) { + println("Constant off " + theValue); + sendCommand("cO" + theValue); + } else { - println("invalid blank time of "+theValue); + println("invalid blank time of " + theValue); } } } void blanktime(int theValue) { if (!settingStatus) { - if (theValue>=0 && theValue<=3) { - println("blank time "+theValue); - sendCommand("Cb"+theValue); + if (theValue >= 0 && theValue <= 3) { + println("blank time " + theValue); + sendCommand("Cb" + theValue); } } } void hysteresisstart(int start) { if (!settingStatus) { - if (start>=1 && start<=8) { - println("hystereis start "+start); - sendCommand("Cs"+start); + if (start >= 1 && start <= 8) { + println("hysteresis start " + start); + sendCommand("Cs" + start); } } } void hysteresisend(int end) { if (!settingStatus) { - if (end>=-3 && end<=12) { - println("hystereis end "+end); - sendCommand("Ce"+end); + if (end >= -3 && end <= 12) { + println("hysteresis end " + end); + sendCommand("Ce" + end); } } } void setHysteresisDecrement(int theValue) { if (!settingStatus) { - if (theValue>=0 && theValue<=3) { - println("Hysteresis decrement "+theValue); - sendCommand("Cd"+theValue); - } + if (theValue >= 0 && theValue <= 3) { + println("hysteresis decrement " + theValue); + sendCommand("Cd" + theValue); + } else { - println("cannot set decrement to "+theValue); + println("cannot set decrement to " + theValue); } } } void setHystDecrement(int value) { - if (value>=0 && value<=3) { + if (value >= 0 && value <= 3) { hysteresisDecrementButtons.activate(value); - } + } else { - println("this is no proper hysteresis decerement value: "+value); + println("bad hysteresis decrement value: " + value); } } void motorcurrent(float value) { - if (activeTab!=null && "default".equals(activeTab.name())) { + if (activeTab != null && "default".equals(activeTab.getName())) { currentSlider.setValue(value); } } diff --git a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/DataRendering.pde b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/DataRendering.pde index 56a0833..7424e16 100644 --- a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/DataRendering.pde +++ b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/DataRendering.pde @@ -1,26 +1,26 @@ -/* - TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XMotorTest.pde - TMC26X Stepper Tester for Processing + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ //our graph dimensions @@ -103,9 +103,9 @@ void drawData() { stroke(stallGuardColor); drawDataPoints(stallGuardTable, stallGuardMin, stallGuardMax); drawDataHighLight(stallGuardTable, stallGuardMin, stallGuardMax, stallGuardHighLightDistance, labelColor, "Stall Guard", true); - + if (coolStepActive) { - strokeWeight(coolStepActiveStroke); + strokeWeight(coolStepActiveStroke); } else { strokeWeight(coolStepInactiveStroke); } @@ -127,22 +127,22 @@ void drawData() { for (int i=0; i<=currentScaleMax; i++) { float y = map(i, 0, currentScaleMax, plotBottom, plotTop); if (i % currentLabelInterval == 0) { - if (i==0) { + if (i == 0) { textAlign(RIGHT, BOTTOM); - } - else if (i==currentScaleMax) { + } + else if (i == currentScaleMax) { textAlign(RIGHT, TOP); - } + } else { textAlign(RIGHT, CENTER); - } + } text(currentLabelFormat.format((float)i/1000.0), plotLeft-58, y); line (plotLeft-55, y, plotLeft-50, y); - } + } else if (i % currentMinorTickInterval == 0) { line (plotLeft-53, y, plotLeft-50, y); } - + } textSize(legendTitleSize); @@ -156,18 +156,18 @@ void drawData() { for (int i=stallGuardMin; i<=stallGuardMax; i++) { float y = map(i, stallGuardMin, stallGuardMax, plotBottom, plotTop); if (i % stallGuardLabelInterval == 0) { - if (i==stallGuardMin) { + if (i == stallGuardMin) { textAlign(RIGHT, BOTTOM); - } - else if (i==stallGuardMax) { + } + else if (i == stallGuardMax) { textAlign(RIGHT, TOP); - } + } else { textAlign(RIGHT, CENTER); - } + } text(i, plotLeft-8, y); line (plotLeft-5, y, plotLeft, y); - } + } else if (i % stallGuardMinorTickInterval == 0) { line (plotLeft-3, y, plotLeft, y); } @@ -184,18 +184,18 @@ void drawData() { for (int i=positionMin; i<=positionMax; i++) { float y = map(i, positionMin, positionMax, plotBottom, plotTop); if (i % positionLabelInterval == 0) { - if (i==positionMin) { + if (i == positionMin) { textAlign(LEFT, BOTTOM); - } - else if (i==stallGuardMax) { + } + else if (i == stallGuardMax) { textAlign(LEFT, TOP); - } + } else { textAlign(LEFT, CENTER); - } + } text(i, plotRight+8, y); line (plotRight, y, plotRight+5, y); - } + } else if (i % positionMinorTickInterval == 0) { line (plotRight, y, plotRight+3, y); } @@ -208,26 +208,26 @@ void drawData() { int channelAX = width/4; int temperatureX = width/2; int channelBX = width/4*3; - if (channelAStatus==null) { + if (channelAStatus == null) { fill(goodStatusColor); text("Channel A: OK", channelAX, statusY); - } + } else { fill(badStatusColor); text("Channel A: "+channelAStatus, channelAX, statusY); - } - if (channelBStatus==null) { + } + if (channelBStatus == null) { fill(goodStatusColor); text("Channel B: OK", channelBX, statusY); - } + } else { fill(badStatusColor); text("Channel B: "+channelBStatus, channelBX, statusY); - } - if (temperatureStatus==null) { + } + if (temperatureStatus == null) { fill(goodStatusColor); text("Temperature: OK", temperatureX, statusY); - } + } else { fill(badStatusColor); text("Temperature: "+temperatureStatus, temperatureX, statusY); @@ -270,7 +270,7 @@ void drawDataHighLight(DataTable table, int minValue, int maxValue, int distance textAlign(CENTER); if (top) { text(name+": "+value, x, y-8); - } + } else { text(name+": "+value, x, y+8); } @@ -305,7 +305,7 @@ void drawCurrentHighLight(DataTable table, int distance, color textColor, String textAlign(CENTER); if (top) { text(name+": "+value, x, y-8); - } + } else { text(name+": "+value, x, y+8); } diff --git a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/DataTable.pde b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/DataTable.pde index 4a3b7c9..f76587d 100644 --- a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/DataTable.pde +++ b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/DataTable.pde @@ -1,48 +1,48 @@ -/* - TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XMotorTest.pde - TMC26X Stepper Tester for Processing + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ class DataTable { - + LinkedList dataList = new LinkedList(); int maxEntries; - + DataTable(int maxEntries) { this.maxEntries = maxEntries; } - + void addData(int value) { dataList.add(value); if (dataList.size()>maxEntries) { dataList.remove(); } } - + int getSize() { return dataList.size(); } - + int getEntry(int position) { return dataList.get(position); } diff --git a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/RunConfiguration.pde b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/RunConfiguration.pde index 0af5d7d..da61589 100644 --- a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/RunConfiguration.pde +++ b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/RunConfiguration.pde @@ -1,26 +1,26 @@ -/* - TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XMotorTest.pde - TMC26X Stepper Tester for Processing + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ Slider speedSlider; @@ -62,7 +62,7 @@ void setupRunConfig() { controlElements.add(enabledToggle); enabledToggle.moveTo(runTab); - // add a vertical slider for speed + // add a vertical slider for speed speedSlider = controlP5.addSlider("speed", 1, 100, 10, 85, 40, 20, 210); controlElements.add(speedSlider); speedSlider.moveTo(runTab); @@ -92,7 +92,7 @@ void setupRunConfig() { controlElements.add(currentSlider); currentSlider.moveTo(runTab); - // add a vertical slider for stallGuard threshold + // add a vertical slider for stallGuard threshold sgtPlus = controlP5.addButton("sgtplus", 0, 400, 40, 20, 20); controlElements.add(sgtPlus); sgtPlus.setCaptionLabel("+"); @@ -112,7 +112,7 @@ void setupRunConfig() { controlElements.add(sgFilterToggle); sgFilterToggle.setCaptionLabel("Stall GuardFilter"); sgFilterToggle.moveTo(runTab); - + //add the coolstep sliders coolStepMaxSlider = controlP5.addSlider("coolStepUpper", 0, 480, 0, 500, 40, 20, 90); controlElements.add(coolStepMaxSlider); @@ -123,15 +123,15 @@ void setupRunConfig() { controlElements.add(coolStepMinSlider); coolStepMinSlider.setCaptionLabel("Cool Step Minimum"); coolStepMinSlider.moveTo(runTab); - - coolStepActiveToggle = controlP5.addToggle("coolStepActive", false, 600, 220, 30, 30); + + coolStepActiveToggle = controlP5.addToggle("coolStepActive", false, 600, 220, 30, 30); controlElements.add(coolStepActiveToggle); coolStepActiveToggle.setCaptionLabel("Enable CoolStep"); coolStepActiveToggle.moveTo(runTab); coolStepIncrementButtons = controlP5.addRadioButton("coolStepIncrement", 600, 40); controlElements.add(coolStepIncrementButtons); - coolStepIncrementButtons.captionLabel().set("Cool Step Increment"); + coolStepIncrementButtons.getCaptionLabel().set("Cool Step Increment"); coolStepIncrementButtons.addItem("i_1", 0); coolStepIncrementButtons.addItem("i_2", 1); coolStepIncrementButtons.addItem("i_4", 2); @@ -145,7 +145,7 @@ void setupRunConfig() { coolStepDecrementButtons = controlP5.addRadioButton("coolStepDecrement", 600, 110); controlElements.add(coolStepDecrementButtons); - coolStepDecrementButtons.captionLabel().set("Cool Step Decrement"); + coolStepDecrementButtons.getCaptionLabel().set("Cool Step Decrement"); coolStepDecrementButtons.addItem("d_32", 0); coolStepDecrementButtons.addItem("d_8", 1); coolStepDecrementButtons.addItem("d_2", 2); @@ -167,12 +167,12 @@ void setupRunConfig() { } coolStepMinButtons.showBar(); coolStepMinButtons.moveTo(runTab); - + trinamicButton = controlP5.addButton("trinamicLogo", 1.0, 750, 40, 200, 100); trinamicButton.setImage(TMCLogo); trinamicButton.moveTo(runTab); controlElements.add(trinamicButton); - + motionControlButton = controlP5.addButton("mcLogo", 1.0, 750, 150, 200, 100); motionControlButton.setImage(MCLogo); motionControlButton.moveTo(runTab); @@ -194,7 +194,7 @@ void run(int value) { println("stopping motor"); sendCommand("s"); running = false; - } + } else { println("starting motor"); sendCommand("r"); @@ -222,26 +222,26 @@ void stallguardthreshold(int value) { println("stall guard threshold: "+value); sendCommand("t"+value); } - if (value==sgtSlider.max()) { + if (value == sgtSlider.getMax()) { sgtPlus.lock(); - } + } else { sgtPlus.unlock(); } - if (value==sgtSlider.min()) { + if (value == sgtSlider.getMin()) { sgtMinus.lock(); - } + } else { sgtMinus.unlock(); } } void sgtplus(int value) { - sgtSlider.setValue(sgtSlider.value()+1); + sgtSlider.setValue(sgtSlider.getValue()+1); } void sgtminus(int value) { - sgtSlider.setValue(sgtSlider.value()-1); + sgtSlider.setValue(sgtSlider.getValue()-1); } void sgfilter(int value) { @@ -249,14 +249,14 @@ void sgfilter(int value) { println("filter: "+value); sendCommand("f"+value); } -} +} void current(float value) { if (!settingStatus) { int realValue=(int)(value*1000.0); println("current: "+((float)realValue/1000.0)+" = "+realValue); sendCommand("c"+realValue); - if (activeTab!=null && "run".equals(activeTab.name())) { + if (activeTab!=null && "run".equals(activeTab.getName())) { motorCurrentBox.setValue(value); } } @@ -314,7 +314,7 @@ void setDirection(int direction) { if (direction<0) { println("back"); sendCommand("d-1"); - } + } else { sendCommand("d1"); } diff --git a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/TMC26XMotorTest.pde b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/TMC26XMotorTest.pde index 22aa3f5..4e59aaf 100644 --- a/examples/TMC26XMotorTester/processing/TMC26XMotorTest/TMC26XMotorTest.pde +++ b/examples/TMC26XMotorTester/processing/TMC26XMotorTest/TMC26XMotorTest.pde @@ -1,26 +1,26 @@ -/* - TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing - - Copyright (c) 2011, Interactive Matter, Marcus Nowotny - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - +/** + * TMC26XMotorTest.pde - TMC26X Stepper Tester for Processing + * + * Copyright (c) 2011, Interactive Matter, Marcus Nowotny + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * */ import controlP5.*; import processing.serial.*; @@ -35,9 +35,9 @@ String helpUrl = "http://www.motioncontrol-community.org/"; String trinamicUrl = "http://trinamic.com"; String mcUrl = "http://www.motioncontrol-community.org/"; -//TODO comde up with a nice color scheme +// TODO: come up with a nice color scheme color activeColor = #01ADF1; -color foreGroundColor = #01ADF1; +color foreGroundColor = #01ADF1; color uiTextColor = #4D4D4F; color uiElementColor = #ffffff; color labelColor = #f0f0f0; @@ -50,13 +50,13 @@ color badStatusColor = stallGuardColor; color coolStepColor = #4D4D4F; color diagramBackgroundColor = #ffffff; -CColor uiColor = new CColor( foreGroundColor, uiElementColor, activeColor, uiTextColor, uiTextColor); +CColor uiColor = new CColor(foreGroundColor, uiElementColor, activeColor, uiTextColor, uiTextColor); Tab configureTab; Tab runTab; Tab activeTab; -boolean settingStatus=false; +boolean settingStatus = false; boolean running = false; int coolStepMin = 0; @@ -73,16 +73,16 @@ PImage MCLogo; void setup() { size(1000, 800); - //load the logos - TMCLogo=loadImage("tmc_logo.png"); - MCLogo=loadImage("mc_logo.png"); - - //create the UI + // Load the logos + TMCLogo = loadImage("tmc_logo.png"); + MCLogo = loadImage("mc_logo.png"); + + // Create the UI controlP5 = new ControlP5(this); controlP5.setColor(uiColor); runTab = controlP5.getTab("default"); - configureTab =controlP5.addTab("configure"); - //customize the tabs a bit + configureTab =controlP5.addTab("configure"); + // Customize the tabs a bit configureTab.setLabel("configure"); controlElements.add(configureTab); activeTab = controlP5.getTab("default"); @@ -90,13 +90,13 @@ void setup() { configureTab.activateEvent(true); runTab.activateEvent(true); - //configuring the general UI l&f - //the configuration UI + // Configuring the general UI l&f + // The configuration UI setupRunConfig(); setupChooperConfig(); setupSerialConfig(); - //directly hide the controls again since we are not connected to the Arduino yet + // Directly hide the controls again since we are not connected to the Arduino yet toggleUi(motor_connected); smooth(); @@ -120,7 +120,7 @@ void toggleUi(boolean show_controls) { } else { controller.show(); } - } + } } void draw() { @@ -131,26 +131,25 @@ void draw() { decodeSerial(); } - void controlEvent(ControlEvent theEvent) { if (theEvent.isGroup() && !settingStatus) { - if ("microstepping".equals(theEvent.group().name())) { - microstepping((int)theEvent.group().value()); - } else - if ("direction".equals(theEvent.group().name())) { - setDirection((int)theEvent.group().value()); - } else if ("decrement".equals(theEvent.group().name())) { - setHysteresisDecrement((int)theEvent.group().value()); - } else if ("coolStepIncrement".equals(theEvent.group().name())) { - setCoolStepIncrement((int)theEvent.group().value()); - } else if ("coolStepDecrement".equals(theEvent.group().name())) { - setCoolStepDecrement((int)theEvent.group().value()); - } else if ("coolStepMin".equals(theEvent.group().name())) { - setCoolStepMin((int)theEvent.group().value()); + if ("microstepping".equals(theEvent.group().getName())) { + microstepping((int)theEvent.group().getValue()); + } else if ("direction".equals(theEvent.group().getName())) { + setDirection((int)theEvent.group().getValue()); + } else if ("decrement".equals(theEvent.group().getName())) { + setHysteresisDecrement((int)theEvent.group().getValue()); + } else if ("coolStepIncrement".equals(theEvent.group().getName())) { + setCoolStepIncrement((int)theEvent.group().getValue()); + } else if ("coolStepDecrement".equals(theEvent.group().getName())) { + setCoolStepDecrement((int)theEvent.group().getValue()); + } else if ("coolStepMin".equals(theEvent.group().getName())) { + setCoolStepMin((int)theEvent.group().getValue()); } - } + } else if (theEvent.isTab()) { activeTab = theEvent.tab(); - println("Tab: "+activeTab.name()); - } + println("Tab: " + activeTab.getName()); + } + } diff --git a/keywords.txt b/keywords.txt index 2d6436f..c74ff4f 100644 --- a/keywords.txt +++ b/keywords.txt @@ -6,57 +6,57 @@ # Datatypes (KEYWORD1) ####################################### -Stepper TMC26XStepper +TMC26XStepper KEYWORD1 ####################################### # Methods and Functions (KEYWORD2) ####################################### -start KEYWORD2 -step KEYWORD2 -setSpeed KEYWORD2 -getSpeed KEYWORD2 -setMicrosteps KEYWORD2 -getMicrosteps KEYWORD2 -move KEYWORD2 -isMoving KEYWORD2 -getStepsLeft KEYWORD2 -stop KEYWORD2 +start KEYWORD2 +step KEYWORD2 +setSpeed KEYWORD2 +getSpeed KEYWORD2 +setMicrosteps KEYWORD2 +getMicrosteps KEYWORD2 +move KEYWORD2 +isMoving KEYWORD2 +getStepsLeft KEYWORD2 +stop KEYWORD2 setConstantOffTimeChopper KEYWORD2 -setSpreadCycleChopper KEYWORD2 -setRandomOffTime KEYWORD2 -setCurrent KEYWORD2 -getCurrent KEYWORD2 -setStallGuardThreshold KEYWORD2 -getStallGuardThreshold KEYWORD2 -getStallGuardFilter KEYWORD2 +setSpreadCycleChopper KEYWORD2 +setRandomOffTime KEYWORD2 +setCurrent KEYWORD2 +getCurrent KEYWORD2 +setStallGuardThreshold KEYWORD2 +getStallGuardThreshold KEYWORD2 +getStallGuardFilter KEYWORD2 setCoolStepConfiguration KEYWORD2 -setCoolStepEnabled KEYWORD2 -isCoolStepEnabled KEYWORD2 +setCoolStepEnabled KEYWORD2 +isCoolStepEnabled KEYWORD2 getCoolStepLowerSgThreshold KEYWORD2 getCoolStepUpperSgThreshold KEYWORD2 getCoolStepNumberOfSGReadings KEYWORD2 getCoolStepCurrentIncrementSize KEYWORD2 getCoolStepLowerCurrentLimit KEYWORD2 -getMotorPosition KEYWORD2 +getMotorPosition KEYWORD2 getCurrentStallGuardReading KEYWORD2 -getCurrentCSReading KEYWORD2 -isCurrentScalingHalfed KEYWORD2 -getCurrentCurrent KEYWORD2 +getCurrentCSReading KEYWORD2 +isCurrentScalingHalfed KEYWORD2 +getCurrentCurrent KEYWORD2 isStallGuardOverThreshold KEYWORD2 -getOverTemperature KEYWORD2 -isShortToGroundA KEYWORD2 -isShortToGroundB KEYWORD2 -isOpenLoadA KEYWORD2 -isOpenLoadB KEYWORD2 -isStandStill KEYWORD2 -isStallGuardReached KEYWORD2 -setEnabled KEYWORD2 -isEnabled KEYWORD2 -readStatus KEYWORD2 -getResistor KEYWORD2 -debugLastStatus KEYWORD2 -version KEYWORD2 +getOverTemperature KEYWORD2 +isShortToGroundA KEYWORD2 +isShortToGroundB KEYWORD2 +isOpenLoadA KEYWORD2 +isOpenLoadB KEYWORD2 +isStandStill KEYWORD2 +isStallGuardReached KEYWORD2 +setEnabled KEYWORD2 +isEnabled KEYWORD2 +readStatus KEYWORD2 +getResistor KEYWORD2 +debugLastStatus KEYWORD2 +version KEYWORD2 ###################################### # Instances (KEYWORD2) @@ -67,9 +67,9 @@ version KEYWORD2 ####################################### TMC262_OVERTEMPERATURE_PREWARING LITERAL1 -TMC262_OVERTEMPERATURE_SHUTDOWN LITERAL1 -TMC262_READOUT_POSITION LITERAL1 -TMC262_READOUT_STALLGUARD LITERAL1 -TMC262_READOUT_CURRENT LITERAL1 -COOL_STEP_HALF_CS_LIMIT LITERAL1 -COOL_STEP_QUARTDER_CS_LIMIT LITERAL1 \ No newline at end of file +TMC262_OVERTEMPERATURE_SHUTDOWN LITERAL1 +TMC262_READOUT_POSITION LITERAL1 +TMC262_READOUT_STALLGUARD LITERAL1 +TMC262_READOUT_CURRENT LITERAL1 +COOL_STEP_HALF_CS_LIMIT LITERAL1 +COOL_STEP_QUARTDER_CS_LIMIT LITERAL1 diff --git a/library.json b/library.json new file mode 100644 index 0000000..412d82a --- /dev/null +++ b/library.json @@ -0,0 +1,13 @@ +{ + "name": "TMC26XStepper", + "version": "0.1.1", + "keywords": "TMC, Trinamic, stepper, driver, SPI, UART, TMC2660", + "description": "Arduino library for configuring Trinamic TMC26xx stepper drivers.", + "repository": + { + "type": "git", + "url": "https://github.com/interactive-matter/TMC26XStepper.git" + }, + "frameworks": "arduino", + "platforms": "*" +} \ No newline at end of file diff --git a/library.properties b/library.properties new file mode 100644 index 0000000..e2e91f0 --- /dev/null +++ b/library.properties @@ -0,0 +1,9 @@ +name=TMC26XStepper +version=0.1.1 +author=interactive-matter +maintainer=interactive-matter +sentence=Arduino library for configuring Trinamic TMC26xx stepper drivers +paragraph=Easily configure your Trinamic TMC26xx stepper motor drivers +category=Device Control +url=https://github.com/interactive-matter/TMC26XStepper +architectures=* diff --git a/mainpage.dox b/mainpage.dox index 2a45713..4408ad6 100644 --- a/mainpage.dox +++ b/mainpage.dox @@ -6,7 +6,7 @@ * * * \section COPYRIGHT_NOTIFICATION COPYRIGHT NOTIFICATION - * \par (c) 2011 Interactive MAtter, Marcus Nowotny + * \par (c) 2011 Interactive MAtter, Marcus Nowotny * * \par * Permission is hereby granted, free of charge, to any person obtaining a copy @@ -15,10 +15,10 @@ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: - * + * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. - + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE