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/* *********************************************************** * This file was automatically generated on 2019-11-25. * * * * Rust Bindings Version 2.0.13 * * * * If you have a bugfix for this file and want to commit it, * * please fix the bug in the generator. You can find a link * * to the generators git repository on tinkerforge.com * *************************************************************/ //! Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase. //! //! See also the documentation [here](https://www.tinkerforge.com/en/doc/Software/Bricks/SilentStepper_Brick_Rust.html). use crate::{ byte_converter::*, converting_callback_receiver::ConvertingCallbackReceiver, converting_receiver::ConvertingReceiver, device::*, ip_connection::GetRequestSender, }; pub enum SilentStepperBrickFunction { SetMaxVelocity, GetMaxVelocity, GetCurrentVelocity, SetSpeedRamping, GetSpeedRamping, FullBrake, SetCurrentPosition, GetCurrentPosition, SetTargetPosition, GetTargetPosition, SetSteps, GetSteps, GetRemainingSteps, SetStepConfiguration, GetStepConfiguration, DriveForward, DriveBackward, Stop, GetStackInputVoltage, GetExternalInputVoltage, SetMotorCurrent, GetMotorCurrent, Enable, Disable, IsEnabled, SetBasicConfiguration, GetBasicConfiguration, SetSpreadcycleConfiguration, GetSpreadcycleConfiguration, SetStealthConfiguration, GetStealthConfiguration, SetCoolstepConfiguration, GetCoolstepConfiguration, SetMiscConfiguration, GetMiscConfiguration, GetDriverStatus, SetMinimumVoltage, GetMinimumVoltage, SetTimeBase, GetTimeBase, GetAllData, SetAllDataPeriod, GetAllDataPeriod, SetSpitfpBaudrateConfig, GetSpitfpBaudrateConfig, GetSendTimeoutCount, SetSpitfpBaudrate, GetSpitfpBaudrate, GetSpitfpErrorCount, EnableStatusLed, DisableStatusLed, IsStatusLedEnabled, GetProtocol1BrickletName, GetChipTemperature, Reset, GetIdentity, CallbackUnderVoltage, CallbackPositionReached, CallbackAllData, CallbackNewState, } impl From<SilentStepperBrickFunction> for u8 { fn from(fun: SilentStepperBrickFunction) -> Self { match fun { SilentStepperBrickFunction::SetMaxVelocity => 1, SilentStepperBrickFunction::GetMaxVelocity => 2, SilentStepperBrickFunction::GetCurrentVelocity => 3, SilentStepperBrickFunction::SetSpeedRamping => 4, SilentStepperBrickFunction::GetSpeedRamping => 5, SilentStepperBrickFunction::FullBrake => 6, SilentStepperBrickFunction::SetCurrentPosition => 7, SilentStepperBrickFunction::GetCurrentPosition => 8, SilentStepperBrickFunction::SetTargetPosition => 9, SilentStepperBrickFunction::GetTargetPosition => 10, SilentStepperBrickFunction::SetSteps => 11, SilentStepperBrickFunction::GetSteps => 12, SilentStepperBrickFunction::GetRemainingSteps => 13, SilentStepperBrickFunction::SetStepConfiguration => 14, SilentStepperBrickFunction::GetStepConfiguration => 15, SilentStepperBrickFunction::DriveForward => 16, SilentStepperBrickFunction::DriveBackward => 17, SilentStepperBrickFunction::Stop => 18, SilentStepperBrickFunction::GetStackInputVoltage => 19, SilentStepperBrickFunction::GetExternalInputVoltage => 20, SilentStepperBrickFunction::SetMotorCurrent => 22, SilentStepperBrickFunction::GetMotorCurrent => 23, SilentStepperBrickFunction::Enable => 24, SilentStepperBrickFunction::Disable => 25, SilentStepperBrickFunction::IsEnabled => 26, SilentStepperBrickFunction::SetBasicConfiguration => 27, SilentStepperBrickFunction::GetBasicConfiguration => 28, SilentStepperBrickFunction::SetSpreadcycleConfiguration => 29, SilentStepperBrickFunction::GetSpreadcycleConfiguration => 30, SilentStepperBrickFunction::SetStealthConfiguration => 31, SilentStepperBrickFunction::GetStealthConfiguration => 32, SilentStepperBrickFunction::SetCoolstepConfiguration => 33, SilentStepperBrickFunction::GetCoolstepConfiguration => 34, SilentStepperBrickFunction::SetMiscConfiguration => 35, SilentStepperBrickFunction::GetMiscConfiguration => 36, SilentStepperBrickFunction::GetDriverStatus => 37, SilentStepperBrickFunction::SetMinimumVoltage => 38, SilentStepperBrickFunction::GetMinimumVoltage => 39, SilentStepperBrickFunction::SetTimeBase => 42, SilentStepperBrickFunction::GetTimeBase => 43, SilentStepperBrickFunction::GetAllData => 44, SilentStepperBrickFunction::SetAllDataPeriod => 45, SilentStepperBrickFunction::GetAllDataPeriod => 46, SilentStepperBrickFunction::SetSpitfpBaudrateConfig => 231, SilentStepperBrickFunction::GetSpitfpBaudrateConfig => 232, SilentStepperBrickFunction::GetSendTimeoutCount => 233, SilentStepperBrickFunction::SetSpitfpBaudrate => 234, SilentStepperBrickFunction::GetSpitfpBaudrate => 235, SilentStepperBrickFunction::GetSpitfpErrorCount => 237, SilentStepperBrickFunction::EnableStatusLed => 238, SilentStepperBrickFunction::DisableStatusLed => 239, SilentStepperBrickFunction::IsStatusLedEnabled => 240, SilentStepperBrickFunction::GetProtocol1BrickletName => 241, SilentStepperBrickFunction::GetChipTemperature => 242, SilentStepperBrickFunction::Reset => 243, SilentStepperBrickFunction::GetIdentity => 255, SilentStepperBrickFunction::CallbackUnderVoltage => 40, SilentStepperBrickFunction::CallbackPositionReached => 41, SilentStepperBrickFunction::CallbackAllData => 47, SilentStepperBrickFunction::CallbackNewState => 48, } } } pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_1: u8 = 8; pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_2: u8 = 7; pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_4: u8 = 6; pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_8: u8 = 5; pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_16: u8 = 4; pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_32: u8 = 3; pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_64: u8 = 2; pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_128: u8 = 1; pub const SILENT_STEPPER_BRICK_STEP_RESOLUTION_256: u8 = 0; pub const SILENT_STEPPER_BRICK_CHOPPER_MODE_SPREAD_CYCLE: u8 = 0; pub const SILENT_STEPPER_BRICK_CHOPPER_MODE_FAST_DECAY: u8 = 1; pub const SILENT_STEPPER_BRICK_FREEWHEEL_MODE_NORMAL: u8 = 0; pub const SILENT_STEPPER_BRICK_FREEWHEEL_MODE_FREEWHEELING: u8 = 1; pub const SILENT_STEPPER_BRICK_FREEWHEEL_MODE_COIL_SHORT_LS: u8 = 2; pub const SILENT_STEPPER_BRICK_FREEWHEEL_MODE_COIL_SHORT_HS: u8 = 3; pub const SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_1: u8 = 0; pub const SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_2: u8 = 1; pub const SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_4: u8 = 2; pub const SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_8: u8 = 3; pub const SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_1: u8 = 0; pub const SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_2: u8 = 1; pub const SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_8: u8 = 2; pub const SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_32: u8 = 3; pub const SILENT_STEPPER_BRICK_MINIMUM_CURRENT_HALF: u8 = 0; pub const SILENT_STEPPER_BRICK_MINIMUM_CURRENT_QUARTER: u8 = 1; pub const SILENT_STEPPER_BRICK_STALLGUARD_MODE_STANDARD: u8 = 0; pub const SILENT_STEPPER_BRICK_STALLGUARD_MODE_FILTERED: u8 = 1; pub const SILENT_STEPPER_BRICK_OPEN_LOAD_NONE: u8 = 0; pub const SILENT_STEPPER_BRICK_OPEN_LOAD_PHASE_A: u8 = 1; pub const SILENT_STEPPER_BRICK_OPEN_LOAD_PHASE_B: u8 = 2; pub const SILENT_STEPPER_BRICK_OPEN_LOAD_PHASE_AB: u8 = 3; pub const SILENT_STEPPER_BRICK_SHORT_TO_GROUND_NONE: u8 = 0; pub const SILENT_STEPPER_BRICK_SHORT_TO_GROUND_PHASE_A: u8 = 1; pub const SILENT_STEPPER_BRICK_SHORT_TO_GROUND_PHASE_B: u8 = 2; pub const SILENT_STEPPER_BRICK_SHORT_TO_GROUND_PHASE_AB: u8 = 3; pub const SILENT_STEPPER_BRICK_OVER_TEMPERATURE_NONE: u8 = 0; pub const SILENT_STEPPER_BRICK_OVER_TEMPERATURE_WARNING: u8 = 1; pub const SILENT_STEPPER_BRICK_OVER_TEMPERATURE_LIMIT: u8 = 2; pub const SILENT_STEPPER_BRICK_STATE_STOP: u8 = 1; pub const SILENT_STEPPER_BRICK_STATE_ACCELERATION: u8 = 2; pub const SILENT_STEPPER_BRICK_STATE_RUN: u8 = 3; pub const SILENT_STEPPER_BRICK_STATE_DEACCELERATION: u8 = 4; pub const SILENT_STEPPER_BRICK_STATE_DIRECTION_CHANGE_TO_FORWARD: u8 = 5; pub const SILENT_STEPPER_BRICK_STATE_DIRECTION_CHANGE_TO_BACKWARD: u8 = 6; pub const SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_NONE: u8 = 0; pub const SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_USB: u8 = 1; pub const SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_SPI_STACK: u8 = 2; pub const SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_CHIBI: u8 = 3; pub const SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_RS485: u8 = 4; pub const SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_WIFI: u8 = 5; pub const SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_ETHERNET: u8 = 6; pub const SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_WIFI_V2: u8 = 7; #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct SpeedRamping { pub acceleration: u16, pub deacceleration: u16, } impl FromByteSlice for SpeedRamping { fn bytes_expected() -> usize { 4 } fn from_le_byte_slice(bytes: &[u8]) -> SpeedRamping { SpeedRamping { acceleration: <u16>::from_le_byte_slice(&bytes[0..2]), deacceleration: <u16>::from_le_byte_slice(&bytes[2..4]) } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct StepConfiguration { pub step_resolution: u8, pub interpolation: bool, } impl FromByteSlice for StepConfiguration { fn bytes_expected() -> usize { 2 } fn from_le_byte_slice(bytes: &[u8]) -> StepConfiguration { StepConfiguration { step_resolution: <u8>::from_le_byte_slice(&bytes[0..1]), interpolation: <bool>::from_le_byte_slice(&bytes[1..2]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct BasicConfiguration { pub standstill_current: u16, pub motor_run_current: u16, pub standstill_delay_time: u16, pub power_down_time: u16, pub stealth_threshold: u16, pub coolstep_threshold: u16, pub classic_threshold: u16, pub high_velocity_chopper_mode: bool, } impl FromByteSlice for BasicConfiguration { fn bytes_expected() -> usize { 15 } fn from_le_byte_slice(bytes: &[u8]) -> BasicConfiguration { BasicConfiguration { standstill_current: <u16>::from_le_byte_slice(&bytes[0..2]), motor_run_current: <u16>::from_le_byte_slice(&bytes[2..4]), standstill_delay_time: <u16>::from_le_byte_slice(&bytes[4..6]), power_down_time: <u16>::from_le_byte_slice(&bytes[6..8]), stealth_threshold: <u16>::from_le_byte_slice(&bytes[8..10]), coolstep_threshold: <u16>::from_le_byte_slice(&bytes[10..12]), classic_threshold: <u16>::from_le_byte_slice(&bytes[12..14]), high_velocity_chopper_mode: <bool>::from_le_byte_slice(&bytes[14..15]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct SpreadcycleConfiguration { pub slow_decay_duration: u8, pub enable_random_slow_decay: bool, pub fast_decay_duration: u8, pub hysteresis_start_value: u8, pub hysteresis_end_value: i8, pub sine_wave_offset: i8, pub chopper_mode: u8, pub comparator_blank_time: u8, pub fast_decay_without_comparator: bool, } impl FromByteSlice for SpreadcycleConfiguration { fn bytes_expected() -> usize { 9 } fn from_le_byte_slice(bytes: &[u8]) -> SpreadcycleConfiguration { SpreadcycleConfiguration { slow_decay_duration: <u8>::from_le_byte_slice(&bytes[0..1]), enable_random_slow_decay: <bool>::from_le_byte_slice(&bytes[1..2]), fast_decay_duration: <u8>::from_le_byte_slice(&bytes[2..3]), hysteresis_start_value: <u8>::from_le_byte_slice(&bytes[3..4]), hysteresis_end_value: <i8>::from_le_byte_slice(&bytes[4..5]), sine_wave_offset: <i8>::from_le_byte_slice(&bytes[5..6]), chopper_mode: <u8>::from_le_byte_slice(&bytes[6..7]), comparator_blank_time: <u8>::from_le_byte_slice(&bytes[7..8]), fast_decay_without_comparator: <bool>::from_le_byte_slice(&bytes[8..9]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct StealthConfiguration { pub enable_stealth: bool, pub amplitude: u8, pub gradient: u8, pub enable_autoscale: bool, pub force_symmetric: bool, pub freewheel_mode: u8, } impl FromByteSlice for StealthConfiguration { fn bytes_expected() -> usize { 6 } fn from_le_byte_slice(bytes: &[u8]) -> StealthConfiguration { StealthConfiguration { enable_stealth: <bool>::from_le_byte_slice(&bytes[0..1]), amplitude: <u8>::from_le_byte_slice(&bytes[1..2]), gradient: <u8>::from_le_byte_slice(&bytes[2..3]), enable_autoscale: <bool>::from_le_byte_slice(&bytes[3..4]), force_symmetric: <bool>::from_le_byte_slice(&bytes[4..5]), freewheel_mode: <u8>::from_le_byte_slice(&bytes[5..6]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct CoolstepConfiguration { pub minimum_stallguard_value: u8, pub maximum_stallguard_value: u8, pub current_up_step_width: u8, pub current_down_step_width: u8, pub minimum_current: u8, pub stallguard_threshold_value: i8, pub stallguard_mode: u8, } impl FromByteSlice for CoolstepConfiguration { fn bytes_expected() -> usize { 7 } fn from_le_byte_slice(bytes: &[u8]) -> CoolstepConfiguration { CoolstepConfiguration { minimum_stallguard_value: <u8>::from_le_byte_slice(&bytes[0..1]), maximum_stallguard_value: <u8>::from_le_byte_slice(&bytes[1..2]), current_up_step_width: <u8>::from_le_byte_slice(&bytes[2..3]), current_down_step_width: <u8>::from_le_byte_slice(&bytes[3..4]), minimum_current: <u8>::from_le_byte_slice(&bytes[4..5]), stallguard_threshold_value: <i8>::from_le_byte_slice(&bytes[5..6]), stallguard_mode: <u8>::from_le_byte_slice(&bytes[6..7]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct MiscConfiguration { pub disable_short_to_ground_protection: bool, pub synchronize_phase_frequency: u8, } impl FromByteSlice for MiscConfiguration { fn bytes_expected() -> usize { 2 } fn from_le_byte_slice(bytes: &[u8]) -> MiscConfiguration { MiscConfiguration { disable_short_to_ground_protection: <bool>::from_le_byte_slice(&bytes[0..1]), synchronize_phase_frequency: <u8>::from_le_byte_slice(&bytes[1..2]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct DriverStatus { pub open_load: u8, pub short_to_ground: u8, pub over_temperature: u8, pub motor_stalled: bool, pub actual_motor_current: u8, pub full_step_active: bool, pub stallguard_result: u8, pub stealth_voltage_amplitude: u8, } impl FromByteSlice for DriverStatus { fn bytes_expected() -> usize { 8 } fn from_le_byte_slice(bytes: &[u8]) -> DriverStatus { DriverStatus { open_load: <u8>::from_le_byte_slice(&bytes[0..1]), short_to_ground: <u8>::from_le_byte_slice(&bytes[1..2]), over_temperature: <u8>::from_le_byte_slice(&bytes[2..3]), motor_stalled: <bool>::from_le_byte_slice(&bytes[3..4]), actual_motor_current: <u8>::from_le_byte_slice(&bytes[4..5]), full_step_active: <bool>::from_le_byte_slice(&bytes[5..6]), stallguard_result: <u8>::from_le_byte_slice(&bytes[6..7]), stealth_voltage_amplitude: <u8>::from_le_byte_slice(&bytes[7..8]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct AllData { pub current_velocity: u16, pub current_position: i32, pub remaining_steps: i32, pub stack_voltage: u16, pub external_voltage: u16, pub current_consumption: u16, } impl FromByteSlice for AllData { fn bytes_expected() -> usize { 16 } fn from_le_byte_slice(bytes: &[u8]) -> AllData { AllData { current_velocity: <u16>::from_le_byte_slice(&bytes[0..2]), current_position: <i32>::from_le_byte_slice(&bytes[2..6]), remaining_steps: <i32>::from_le_byte_slice(&bytes[6..10]), stack_voltage: <u16>::from_le_byte_slice(&bytes[10..12]), external_voltage: <u16>::from_le_byte_slice(&bytes[12..14]), current_consumption: <u16>::from_le_byte_slice(&bytes[14..16]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct AllDataEvent { pub current_velocity: u16, pub current_position: i32, pub remaining_steps: i32, pub stack_voltage: u16, pub external_voltage: u16, pub current_consumption: u16, } impl FromByteSlice for AllDataEvent { fn bytes_expected() -> usize { 16 } fn from_le_byte_slice(bytes: &[u8]) -> AllDataEvent { AllDataEvent { current_velocity: <u16>::from_le_byte_slice(&bytes[0..2]), current_position: <i32>::from_le_byte_slice(&bytes[2..6]), remaining_steps: <i32>::from_le_byte_slice(&bytes[6..10]), stack_voltage: <u16>::from_le_byte_slice(&bytes[10..12]), external_voltage: <u16>::from_le_byte_slice(&bytes[12..14]), current_consumption: <u16>::from_le_byte_slice(&bytes[14..16]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct NewStateEvent { pub state_new: u8, pub state_previous: u8, } impl FromByteSlice for NewStateEvent { fn bytes_expected() -> usize { 2 } fn from_le_byte_slice(bytes: &[u8]) -> NewStateEvent { NewStateEvent { state_new: <u8>::from_le_byte_slice(&bytes[0..1]), state_previous: <u8>::from_le_byte_slice(&bytes[1..2]) } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct SpitfpBaudrateConfig { pub enable_dynamic_baudrate: bool, pub minimum_dynamic_baudrate: u32, } impl FromByteSlice for SpitfpBaudrateConfig { fn bytes_expected() -> usize { 5 } fn from_le_byte_slice(bytes: &[u8]) -> SpitfpBaudrateConfig { SpitfpBaudrateConfig { enable_dynamic_baudrate: <bool>::from_le_byte_slice(&bytes[0..1]), minimum_dynamic_baudrate: <u32>::from_le_byte_slice(&bytes[1..5]), } } } #[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)] pub struct SpitfpErrorCount { pub error_count_ack_checksum: u32, pub error_count_message_checksum: u32, pub error_count_frame: u32, pub error_count_overflow: u32, } impl FromByteSlice for SpitfpErrorCount { fn bytes_expected() -> usize { 16 } fn from_le_byte_slice(bytes: &[u8]) -> SpitfpErrorCount { SpitfpErrorCount { error_count_ack_checksum: <u32>::from_le_byte_slice(&bytes[0..4]), error_count_message_checksum: <u32>::from_le_byte_slice(&bytes[4..8]), error_count_frame: <u32>::from_le_byte_slice(&bytes[8..12]), error_count_overflow: <u32>::from_le_byte_slice(&bytes[12..16]), } } } #[derive(Clone)] pub struct Protocol1BrickletName { pub protocol_version: u8, pub firmware_version: [u8; 3], pub name: String, } impl FromByteSlice for Protocol1BrickletName { fn bytes_expected() -> usize { 44 } fn from_le_byte_slice(bytes: &[u8]) -> Protocol1BrickletName { Protocol1BrickletName { protocol_version: <u8>::from_le_byte_slice(&bytes[0..1]), firmware_version: <[u8; 3]>::from_le_byte_slice(&bytes[1..4]), name: <String>::from_le_byte_slice(&bytes[4..44]), } } } #[derive(Clone, Debug, Default, PartialEq, Eq, Hash)] pub struct Identity { pub uid: String, pub connected_uid: String, pub position: char, pub hardware_version: [u8; 3], pub firmware_version: [u8; 3], pub device_identifier: u16, } impl FromByteSlice for Identity { fn bytes_expected() -> usize { 25 } fn from_le_byte_slice(bytes: &[u8]) -> Identity { Identity { uid: <String>::from_le_byte_slice(&bytes[0..8]), connected_uid: <String>::from_le_byte_slice(&bytes[8..16]), position: <char>::from_le_byte_slice(&bytes[16..17]), hardware_version: <[u8; 3]>::from_le_byte_slice(&bytes[17..20]), firmware_version: <[u8; 3]>::from_le_byte_slice(&bytes[20..23]), device_identifier: <u16>::from_le_byte_slice(&bytes[23..25]), } } } /// Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase #[derive(Clone)] pub struct SilentStepperBrick { device: Device, } impl SilentStepperBrick { pub const DEVICE_IDENTIFIER: u16 = 19; pub const DEVICE_DISPLAY_NAME: &'static str = "Silent Stepper Brick"; /// Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ip_connection` is connected. pub fn new<T: GetRequestSender>(uid: &str, req_sender: T) -> SilentStepperBrick { let mut result = SilentStepperBrick { device: Device::new([2, 0, 1], uid, req_sender, 0) }; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetMaxVelocity) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetMaxVelocity) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetCurrentVelocity) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetSpeedRamping) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetSpeedRamping) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::FullBrake) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetCurrentPosition) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetCurrentPosition) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetTargetPosition) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetTargetPosition) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetSteps) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetSteps) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetRemainingSteps) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetStepConfiguration) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetStepConfiguration) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::DriveForward) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::DriveBackward) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::Stop) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetStackInputVoltage) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetExternalInputVoltage) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetMotorCurrent) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetMotorCurrent) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::Enable) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::Disable) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::IsEnabled) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetBasicConfiguration) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetBasicConfiguration) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetSpreadcycleConfiguration) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetSpreadcycleConfiguration) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetStealthConfiguration) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetStealthConfiguration) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetCoolstepConfiguration) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetCoolstepConfiguration) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetMiscConfiguration) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetMiscConfiguration) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetDriverStatus) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetMinimumVoltage) as usize] = ResponseExpectedFlag::True; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetMinimumVoltage) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetTimeBase) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetTimeBase) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetAllData) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetAllDataPeriod) as usize] = ResponseExpectedFlag::True; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetAllDataPeriod) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetSpitfpBaudrateConfig) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetSpitfpBaudrateConfig) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetSendTimeoutCount) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::SetSpitfpBaudrate) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetSpitfpBaudrate) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetSpitfpErrorCount) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::EnableStatusLed) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::DisableStatusLed) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::IsStatusLedEnabled) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetProtocol1BrickletName) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetChipTemperature) as usize] = ResponseExpectedFlag::AlwaysTrue; result.device.response_expected[u8::from(SilentStepperBrickFunction::Reset) as usize] = ResponseExpectedFlag::False; result.device.response_expected[u8::from(SilentStepperBrickFunction::GetIdentity) as usize] = ResponseExpectedFlag::AlwaysTrue; result } /// Returns the response expected flag for the function specified by the function ID parameter. /// It is true if the function is expected to send a response, false otherwise. /// /// For getter functions this is enabled by default and cannot be disabled, because those /// functions will always send a response. For callback configuration functions it is enabled /// by default too, but can be disabled by [`set_response_expected`](crate::silent_stepper_brick::SilentStepperBrick::set_response_expected). /// For setter functions it is disabled by default and can be enabled. /// /// Enabling the response expected flag for a setter function allows to detect timeouts /// and other error conditions calls of this setter as well. The device will then send a response /// for this purpose. If this flag is disabled for a setter function then no response is send /// and errors are silently ignored, because they cannot be detected. /// /// See [`set_response_expected`](crate::silent_stepper_brick::SilentStepperBrick::set_response_expected) for the list of function ID constants available for this function. pub fn get_response_expected(&mut self, fun: SilentStepperBrickFunction) -> Result<bool, GetResponseExpectedError> { self.device.get_response_expected(u8::from(fun)) } /// Changes the response expected flag of the function specified by the function ID parameter. /// This flag can only be changed for setter (default value: false) and callback configuration /// functions (default value: true). For getter functions it is always enabled. /// /// Enabling the response expected flag for a setter function allows to detect timeouts and /// other error conditions calls of this setter as well. The device will then send a response /// for this purpose. If this flag is disabled for a setter function then no response is send /// and errors are silently ignored, because they cannot be detected. pub fn set_response_expected( &mut self, fun: SilentStepperBrickFunction, response_expected: bool, ) -> Result<(), SetResponseExpectedError> { self.device.set_response_expected(u8::from(fun), response_expected) } /// Changes the response expected flag for all setter and callback configuration functions of this device at once. pub fn set_response_expected_all(&mut self, response_expected: bool) { self.device.set_response_expected_all(response_expected) } /// Returns the version of the API definition (major, minor, revision) implemented by this API bindings. /// This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet. pub fn get_api_version(&self) -> [u8; 3] { self.device.api_version } /// This receiver is triggered when the input voltage drops below the value set by /// [`set_minimum_voltage`]. The parameter is the current voltage given /// in mV. /// /// [`set_minimum_voltage`]: #method.set_minimum_voltage pub fn get_under_voltage_callback_receiver(&self) -> ConvertingCallbackReceiver<u16> { self.device.get_callback_receiver(u8::from(SilentStepperBrickFunction::CallbackUnderVoltage)) } /// This receiver is triggered when a position set by [`set_steps`] or /// [`set_target_position`] is reached. /// /// # Note /// Since we can't get any feedback from the stepper motor, this only works if the /// acceleration (see [`set_speed_ramping`]) is set smaller or equal to the /// maximum acceleration of the motor. Otherwise the motor will lag behind the /// control value and the receiver will be triggered too early. /// /// [`set_speed_ramping`]: #method.set_speed_ramping /// [`set_target_position`]: #method.set_target_position /// [`set_steps`]: #method.set_steps pub fn get_position_reached_callback_receiver(&self) -> ConvertingCallbackReceiver<i32> { self.device.get_callback_receiver(u8::from(SilentStepperBrickFunction::CallbackPositionReached)) } /// This receiver is triggered periodically with the period that is set by /// [`set_all_data_period`]. The parameters are: the current velocity, /// the current position, the remaining steps, the stack voltage, the external /// voltage and the current consumption of the stepper motor. /// /// [`set_all_data_period`]: #method.set_all_data_period pub fn get_all_data_callback_receiver(&self) -> ConvertingCallbackReceiver<AllDataEvent> { self.device.get_callback_receiver(u8::from(SilentStepperBrickFunction::CallbackAllData)) } /// This receiver is triggered whenever the Silent Stepper Brick enters a new state. /// It returns the new state as well as the previous state. pub fn get_new_state_callback_receiver(&self) -> ConvertingCallbackReceiver<NewStateEvent> { self.device.get_callback_receiver(u8::from(SilentStepperBrickFunction::CallbackNewState)) } /// Sets the maximum velocity of the stepper motor in steps per second. /// This function does *not* start the motor, it merely sets the maximum /// velocity the stepper motor is accelerated to. To get the motor running use /// either [`set_target_position`], [`set_steps`], [`drive_forward`] or /// [`drive_backward`]. /// /// [`set_target_position`]: #method.set_target_position /// [`set_steps`]: #method.set_steps /// [`drive_forward`]: #method.drive_forward /// [`drive_backward`]: #method.drive_backward pub fn set_max_velocity(&self, velocity: u16) -> ConvertingReceiver<()> { let mut payload = vec![0; 2]; payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(velocity)); self.device.set(u8::from(SilentStepperBrickFunction::SetMaxVelocity), payload) } /// Returns the velocity as set by [`set_max_velocity`]. /// /// [`set_max_velocity`]: #method.set_max_velocity pub fn get_max_velocity(&self) -> ConvertingReceiver<u16> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetMaxVelocity), payload) } /// Returns the *current* velocity of the stepper motor in steps per second. pub fn get_current_velocity(&self) -> ConvertingReceiver<u16> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetCurrentVelocity), payload) } /// Sets the acceleration and deacceleration of the stepper motor. The values /// are given in *steps/s²*. An acceleration of 1000 means, that /// every second the velocity is increased by 1000 *steps/s*. /// /// For example: If the current velocity is 0 and you want to accelerate to a /// velocity of 8000 *steps/s* in 10 seconds, you should set an acceleration /// of 800 *steps/s²*. /// /// An acceleration/deacceleration of 0 means instantaneous /// acceleration/deacceleration (not recommended) /// /// The default value is 1000 for both pub fn set_speed_ramping(&self, acceleration: u16, deacceleration: u16) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(acceleration)); payload[2..4].copy_from_slice(&<u16>::to_le_byte_vec(deacceleration)); self.device.set(u8::from(SilentStepperBrickFunction::SetSpeedRamping), payload) } /// Returns the acceleration and deacceleration as set by /// [`set_speed_ramping`]. /// /// [`set_speed_ramping`]: #method.set_speed_ramping pub fn get_speed_ramping(&self) -> ConvertingReceiver<SpeedRamping> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetSpeedRamping), payload) } /// Executes an active full brake. /// /// # Warning /// This function is for emergency purposes, /// where an immediate brake is necessary. Depending on the current velocity and /// the strength of the motor, a full brake can be quite violent. /// /// Call [`stop`] if you just want to stop the motor. /// /// [`stop`]: #method.stop pub fn full_brake(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::FullBrake), payload) } /// Sets the current steps of the internal step counter. This can be used to /// set the current position to 0 when some kind of starting position /// is reached (e.g. when a CNC machine reaches a corner). pub fn set_current_position(&self, position: i32) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..4].copy_from_slice(&<i32>::to_le_byte_vec(position)); self.device.set(u8::from(SilentStepperBrickFunction::SetCurrentPosition), payload) } /// Returns the current position of the stepper motor in steps. On startup /// the position is 0. The steps are counted with all possible driving /// functions ([`set_target_position`], [`set_steps`], [`drive_forward`] or /// [`drive_backward`]). It also is possible to reset the steps to 0 or /// set them to any other desired value with [`set_current_position`]. /// /// [`set_current_position`]: #method.set_current_position /// [`set_target_position`]: #method.set_target_position /// [`set_steps`]: #method.set_steps /// [`drive_forward`]: #method.drive_forward /// [`drive_backward`]: #method.drive_backward pub fn get_current_position(&self) -> ConvertingReceiver<i32> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetCurrentPosition), payload) } /// Sets the target position of the stepper motor in steps. For example, /// if the current position of the motor is 500 and [`set_target_position`] is /// called with 1000, the stepper motor will drive 500 steps forward. It will /// use the velocity, acceleration and deacceleration as set by /// [`set_max_velocity`] and [`set_speed_ramping`]. /// /// A call of [`set_target_position`] with the parameter *x* is equivalent to /// a call of [`set_steps`] with the parameter /// (*x* - [`get_current_position`]). /// /// [`set_max_velocity`]: #method.set_max_velocity /// [`set_speed_ramping`]: #method.set_speed_ramping /// [`get_current_position`]: #method.get_current_position /// [`set_target_position`]: #method.set_target_position /// [`set_steps`]: #method.set_steps pub fn set_target_position(&self, position: i32) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..4].copy_from_slice(&<i32>::to_le_byte_vec(position)); self.device.set(u8::from(SilentStepperBrickFunction::SetTargetPosition), payload) } /// Returns the last target position as set by [`set_target_position`]. /// /// [`set_target_position`]: #method.set_target_position pub fn get_target_position(&self) -> ConvertingReceiver<i32> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetTargetPosition), payload) } /// Sets the number of steps the stepper motor should run. Positive values /// will drive the motor forward and negative values backward. /// The velocity, acceleration and deacceleration as set by /// [`set_max_velocity`] and [`set_speed_ramping`] will be used. /// /// [`set_max_velocity`]: #method.set_max_velocity /// [`set_speed_ramping`]: #method.set_speed_ramping pub fn set_steps(&self, steps: i32) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..4].copy_from_slice(&<i32>::to_le_byte_vec(steps)); self.device.set(u8::from(SilentStepperBrickFunction::SetSteps), payload) } /// Returns the last steps as set by [`set_steps`]. /// /// [`set_steps`]: #method.set_steps pub fn get_steps(&self) -> ConvertingReceiver<i32> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetSteps), payload) } /// Returns the remaining steps of the last call of [`set_steps`]. /// For example, if [`set_steps`] is called with 2000 and /// [`get_remaining_steps`] is called after the motor has run for 500 steps, /// it will return 1500. /// /// [`set_steps`]: #method.set_steps /// [`get_remaining_steps`]: #method.get_remaining_steps pub fn get_remaining_steps(&self) -> ConvertingReceiver<i32> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetRemainingSteps), payload) } /// Sets the step resolution from full-step up to 1/256-step. /// /// If interpolation is turned on, the Silent Stepper Brick will always interpolate /// your step inputs as 1/256-step. If you use full-step mode with interpolation, each /// step will generate 256 1/256 steps. /// /// For maximum torque use full-step without interpolation. For maximum resolution use /// 1/256-step. Turn interpolation on to make the Stepper driving less noisy. /// /// If you often change the speed with high acceleration you should turn the /// interpolation off. /// /// The default is 1/256-step with interpolation on. /// /// Associated constants: /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_1 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_2 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_4 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_8 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_16 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_32 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_64 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_128 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_256 pub fn set_step_configuration(&self, step_resolution: u8, interpolation: bool) -> ConvertingReceiver<()> { let mut payload = vec![0; 2]; payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(step_resolution)); payload[1..2].copy_from_slice(&<bool>::to_le_byte_vec(interpolation)); self.device.set(u8::from(SilentStepperBrickFunction::SetStepConfiguration), payload) } /// Returns the step mode as set by [`set_step_configuration`]. /// /// [`set_step_configuration`]: #method.set_step_configuration /// /// Associated constants: /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_1 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_2 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_4 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_8 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_16 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_32 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_64 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_128 /// * SILENT_STEPPER_BRICK_STEP_RESOLUTION_256 pub fn get_step_configuration(&self) -> ConvertingReceiver<StepConfiguration> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetStepConfiguration), payload) } /// Drives the stepper motor forward until [`drive_backward`] or /// [`stop`] is called. The velocity, acceleration and deacceleration as /// set by [`set_max_velocity`] and [`set_speed_ramping`] will be used. /// /// [`set_max_velocity`]: #method.set_max_velocity /// [`set_speed_ramping`]: #method.set_speed_ramping /// [`drive_backward`]: #method.drive_backward /// [`stop`]: #method.stop pub fn drive_forward(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::DriveForward), payload) } /// Drives the stepper motor backward until [`drive_forward`] or /// [`stop`] is triggered. The velocity, acceleration and deacceleration as /// set by [`set_max_velocity`] and [`set_speed_ramping`] will be used. /// /// [`set_max_velocity`]: #method.set_max_velocity /// [`set_speed_ramping`]: #method.set_speed_ramping /// [`drive_forward`]: #method.drive_forward /// [`stop`]: #method.stop pub fn drive_backward(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::DriveBackward), payload) } /// Stops the stepper motor with the deacceleration as set by /// [`set_speed_ramping`]. /// /// [`set_speed_ramping`]: #method.set_speed_ramping pub fn stop(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::Stop), payload) } /// Returns the stack input voltage in mV. The stack input voltage is the /// voltage that is supplied via the stack, i.e. it is given by a /// Step-Down or Step-Up Power Supply. pub fn get_stack_input_voltage(&self) -> ConvertingReceiver<u16> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetStackInputVoltage), payload) } /// Returns the external input voltage in mV. The external input voltage is /// given via the black power input connector on the Silent Stepper Brick. /// /// If there is an external input voltage and a stack input voltage, the motor /// will be driven by the external input voltage. If there is only a stack /// voltage present, the motor will be driven by this voltage. /// /// # Warning /// This means, if you have a high stack voltage and a low external voltage, /// the motor will be driven with the low external voltage. If you then remove /// the external connection, it will immediately be driven by the high /// stack voltage pub fn get_external_input_voltage(&self) -> ConvertingReceiver<u16> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetExternalInputVoltage), payload) } /// Sets the current in mA with which the motor will be driven. /// The minimum value is 360mA, the maximum value 1640mA and the /// default value is 800mA. /// /// # Warning /// Do not set this value above the specifications of your stepper motor. /// Otherwise it may damage your motor. pub fn set_motor_current(&self, current: u16) -> ConvertingReceiver<()> { let mut payload = vec![0; 2]; payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(current)); self.device.set(u8::from(SilentStepperBrickFunction::SetMotorCurrent), payload) } /// Returns the current as set by [`set_motor_current`]. /// /// [`set_motor_current`]: #method.set_motor_current pub fn get_motor_current(&self) -> ConvertingReceiver<u16> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetMotorCurrent), payload) } /// Enables the driver chip. The driver parameters can be configured (maximum velocity, /// acceleration, etc) before it is enabled. pub fn enable(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::Enable), payload) } /// Disables the driver chip. The configurations are kept (maximum velocity, /// acceleration, etc) but the motor is not driven until it is enabled again. pub fn disable(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::Disable), payload) } /// Returns *true* if the driver chip is enabled, *false* otherwise. pub fn is_enabled(&self) -> ConvertingReceiver<bool> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::IsEnabled), payload) } /// Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic). /// /// * Standstill Current: This value can be used to lower the current during stand still. This might /// be reasonable to reduce the heating of the motor and the Brick. When the motor is in standstill /// the configured motor phase current will be driven until the configured /// Power Down Time is elapsed. After that the phase current will be reduced to the standstill /// current. The elapsed time for this reduction can be configured with the Standstill Delay Time. /// The unit is in mA and the maximum allowed value is the configured maximum motor current /// (see [`set_motor_current`]). /// /// * Motor Run Current: The value sets the motor current when the motor is running. /// Use a value of at least one half of the global maximum motor current for a good /// microstep performance. The unit is in mA and the maximum allowed value is the current /// motor current. The API maps the entered value to 1/32 ... 32/32 of the maximum /// motor current. This value should be used to change the motor current during motor movement, /// whereas the global maximum motor current should not be changed while the motor is moving /// (see [`set_motor_current`]). /// /// * Standstill Delay Time: Controls the duration for motor power down after a motion /// as soon as standstill is detected and the Power Down Time is expired. A high Standstill Delay /// Time results in a smooth transition that avoids motor jerk during power down. /// The value range is 0 to 307ms /// /// * Power Down Time: Sets the delay time after a stand still. /// The value range is 0 to 5222ms. /// /// * Stealth Threshold: Sets the upper threshold for Stealth mode in steps/s. The value range is /// 0-65536 steps/s. If the velocity of the motor goes above this value, Stealth mode is turned /// off. Otherwise it is turned on. In Stealth mode the torque declines with high speed. /// /// * Coolstep Threshold: Sets the lower threshold for Coolstep mode in steps/s. The value range is /// 0-65536 steps/s. The Coolstep Threshold needs to be above the Stealth Threshold. /// /// * Classic Threshold: Sets the lower threshold for classic mode. The value range is /// 0-65536 steps/s. In classic mode the stepper becomes more noisy, but the torque is maximized. /// /// * High Velocity Shopper Mode: If High Velocity Shopper Mode is enabled, the stepper control /// is optimized to run the stepper motors at high velocities. /// /// If you want to use all three thresholds make sure that /// Stealth Threshold < Coolstep Threshold < Classic Threshold. /// /// The default values are: /// /// * Standstill Current: 200 /// * Motor Run Current: 800 /// * Standstill Delay Time: 0 /// * Power Down Time: 1000 /// * Stealth Threshold: 500 /// * Coolstep Threshold: 500 /// * Classic Threshold: 1000 /// * High Velocity Shopper Mode: false /// /// /// [`set_motor_current`]: #method.set_motor_current pub fn set_basic_configuration( &self, standstill_current: u16, motor_run_current: u16, standstill_delay_time: u16, power_down_time: u16, stealth_threshold: u16, coolstep_threshold: u16, classic_threshold: u16, high_velocity_chopper_mode: bool, ) -> ConvertingReceiver<()> { let mut payload = vec![0; 15]; payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(standstill_current)); payload[2..4].copy_from_slice(&<u16>::to_le_byte_vec(motor_run_current)); payload[4..6].copy_from_slice(&<u16>::to_le_byte_vec(standstill_delay_time)); payload[6..8].copy_from_slice(&<u16>::to_le_byte_vec(power_down_time)); payload[8..10].copy_from_slice(&<u16>::to_le_byte_vec(stealth_threshold)); payload[10..12].copy_from_slice(&<u16>::to_le_byte_vec(coolstep_threshold)); payload[12..14].copy_from_slice(&<u16>::to_le_byte_vec(classic_threshold)); payload[14..15].copy_from_slice(&<bool>::to_le_byte_vec(high_velocity_chopper_mode)); self.device.set(u8::from(SilentStepperBrickFunction::SetBasicConfiguration), payload) } /// Returns the configuration as set by [`set_basic_configuration`]. /// /// [`set_basic_configuration`]: #method.set_basic_configuration pub fn get_basic_configuration(&self) -> ConvertingReceiver<BasicConfiguration> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetBasicConfiguration), payload) } /// Note: If you don't know what any of this means you can very likely keep all of /// the values as default! /// /// Sets the Spreadcycle configuration parameters. Spreadcycle is a chopper algorithm which actively /// controls the motor current flow. More information can be found in the TMC2130 datasheet on page /// 47 (7 spreadCycle and Classic Chopper). /// /// * Slow Decay Duration: Controls duration of off time setting of slow decay phase. The value /// range is 0-15. 0 = driver disabled, all bridges off. Use 1 only with Comparator Blank time >= 2. /// /// * Enable Random Slow Decay: Set to false to fix chopper off time as set by Slow Decay Duration. /// If you set it to true, Decay Duration is randomly modulated. /// /// * Fast Decay Duration: Sets the fast decay duration. The value range is 0-15. This parameters is /// only used if the Chopper Mode is set to Fast Decay. /// /// * Hysteresis Start Value: Sets the hysteresis start value. The value range is 0-7. This parameter is /// only used if the Chopper Mode is set to Spread Cycle. /// /// * Hysteresis End Value: Sets the hysteresis end value. The value range is -3 to 12. This parameter is /// only used if the Chopper Mode is set to Spread Cycle. /// /// * Sine Wave Offset: Sets the sine wave offset. The value range is -3 to 12. This parameters is /// only used if the Chopper Mode is set to Fast Decay. 1/512 of the value becomes added to the absolute /// value of the sine wave. /// /// * Chopper Mode: 0 = Spread Cycle, 1 = Fast Decay. /// /// * Comparator Blank Time: Sets the blank time of the comparator. Available values are /// /// * 0 = 16 clocks, /// * 1 = 24 clocks, /// * 2 = 36 clocks and /// * 3 = 54 clocks. /// /// A value of 1 or 2 is recommended for most applications. /// /// * Fast Decay Without Comparator: If set to true the current comparator usage for termination of the /// fast decay cycle is disabled. /// /// The default values are: /// /// * Slow Decay Duration: 4 /// * Enable Random Slow Decay: 0 /// * Fast Decay Duration: 0 /// * Hysteresis Start Value: 0 /// * Hysteresis End Value: 0 /// * Sine Wave Offset: 0 /// * Chopper Mode: 0 /// * Comparator Blank Time: 1 /// * Fast Decay Without Comparator: false /// /// Associated constants: /// * SILENT_STEPPER_BRICK_CHOPPER_MODE_SPREAD_CYCLE /// * SILENT_STEPPER_BRICK_CHOPPER_MODE_FAST_DECAY pub fn set_spreadcycle_configuration( &self, slow_decay_duration: u8, enable_random_slow_decay: bool, fast_decay_duration: u8, hysteresis_start_value: u8, hysteresis_end_value: i8, sine_wave_offset: i8, chopper_mode: u8, comparator_blank_time: u8, fast_decay_without_comparator: bool, ) -> ConvertingReceiver<()> { let mut payload = vec![0; 9]; payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(slow_decay_duration)); payload[1..2].copy_from_slice(&<bool>::to_le_byte_vec(enable_random_slow_decay)); payload[2..3].copy_from_slice(&<u8>::to_le_byte_vec(fast_decay_duration)); payload[3..4].copy_from_slice(&<u8>::to_le_byte_vec(hysteresis_start_value)); payload[4..5].copy_from_slice(&<i8>::to_le_byte_vec(hysteresis_end_value)); payload[5..6].copy_from_slice(&<i8>::to_le_byte_vec(sine_wave_offset)); payload[6..7].copy_from_slice(&<u8>::to_le_byte_vec(chopper_mode)); payload[7..8].copy_from_slice(&<u8>::to_le_byte_vec(comparator_blank_time)); payload[8..9].copy_from_slice(&<bool>::to_le_byte_vec(fast_decay_without_comparator)); self.device.set(u8::from(SilentStepperBrickFunction::SetSpreadcycleConfiguration), payload) } /// Returns the configuration as set by [`set_basic_configuration`]. /// /// [`set_basic_configuration`]: #method.set_basic_configuration /// /// Associated constants: /// * SILENT_STEPPER_BRICK_CHOPPER_MODE_SPREAD_CYCLE /// * SILENT_STEPPER_BRICK_CHOPPER_MODE_FAST_DECAY pub fn get_spreadcycle_configuration(&self) -> ConvertingReceiver<SpreadcycleConfiguration> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetSpreadcycleConfiguration), payload) } /// Note: If you don't know what any of this means you can very likely keep all of /// the values as default! /// /// Sets the configuration relevant for Stealth mode. /// /// * Enable Stealth: If set to true the stealth mode is enabled, if set to false the /// stealth mode is disabled, even if the speed is below the threshold set in [`set_basic_configuration`]. /// /// * Amplitude: If autoscale is disabled, the PWM amplitude is scaled by this value. If autoscale is enabled, /// this value defines the maximum PWM amplitude change per half wave. The value range is 0-255. /// /// * Gradient: If autoscale is disabled, the PWM gradient is scaled by this value. If autoscale is enabled, /// this value defines the maximum PWM gradient. With autoscale a value above 64 is recommended, /// otherwise the regulation might not be able to measure the current. The value range is 0-255. /// /// * Enable Autoscale: If set to true, automatic current control is used. Otherwise the user defined /// amplitude and gradient are used. /// /// * Force Symmetric: If true, A symmetric PWM cycle is enforced. Otherwise the PWM value may change within each /// PWM cycle. /// /// * Freewheel Mode: The freewheel mode defines the behavior in stand still if the Standstill Current /// (see [`set_basic_configuration`]) is set to 0. /// /// The default values are: /// /// * Enable Stealth: true /// * Amplitude: 128 /// * Gradient: 4 /// * Enable Autoscale: true /// * Force Symmetric: false /// * Freewheel Mode: 0 (Normal) /// /// /// [`set_basic_configuration`]: #method.set_basic_configuration /// /// Associated constants: /// * SILENT_STEPPER_BRICK_FREEWHEEL_MODE_NORMAL /// * SILENT_STEPPER_BRICK_FREEWHEEL_MODE_FREEWHEELING /// * SILENT_STEPPER_BRICK_FREEWHEEL_MODE_COIL_SHORT_LS /// * SILENT_STEPPER_BRICK_FREEWHEEL_MODE_COIL_SHORT_HS pub fn set_stealth_configuration( &self, enable_stealth: bool, amplitude: u8, gradient: u8, enable_autoscale: bool, force_symmetric: bool, freewheel_mode: u8, ) -> ConvertingReceiver<()> { let mut payload = vec![0; 6]; payload[0..1].copy_from_slice(&<bool>::to_le_byte_vec(enable_stealth)); payload[1..2].copy_from_slice(&<u8>::to_le_byte_vec(amplitude)); payload[2..3].copy_from_slice(&<u8>::to_le_byte_vec(gradient)); payload[3..4].copy_from_slice(&<bool>::to_le_byte_vec(enable_autoscale)); payload[4..5].copy_from_slice(&<bool>::to_le_byte_vec(force_symmetric)); payload[5..6].copy_from_slice(&<u8>::to_le_byte_vec(freewheel_mode)); self.device.set(u8::from(SilentStepperBrickFunction::SetStealthConfiguration), payload) } /// Returns the configuration as set by [`set_stealth_configuration`]. /// /// [`set_stealth_configuration`]: #method.set_stealth_configuration /// /// Associated constants: /// * SILENT_STEPPER_BRICK_FREEWHEEL_MODE_NORMAL /// * SILENT_STEPPER_BRICK_FREEWHEEL_MODE_FREEWHEELING /// * SILENT_STEPPER_BRICK_FREEWHEEL_MODE_COIL_SHORT_LS /// * SILENT_STEPPER_BRICK_FREEWHEEL_MODE_COIL_SHORT_HS pub fn get_stealth_configuration(&self) -> ConvertingReceiver<StealthConfiguration> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetStealthConfiguration), payload) } /// Note: If you don't know what any of this means you can very likely keep all of /// the values as default! /// /// Sets the configuration relevant for Coolstep. /// /// * Minimum Stallguard Value: If the Stallguard result falls below this value*32, the motor current /// is increased to reduce motor load angle. The value range is 0-15. A value of 0 turns Coolstep off. /// /// * Maximum Stallguard Value: If the Stallguard result goes above /// (Min Stallguard Value + Max Stallguard Value + 1) * 32, the motor current is decreased to save /// energy. /// /// * Current Up Step Width: Sets the up step increment per Stallguard value. The value range is 0-3, /// corresponding to the increments 1, 2, 4 and 8. /// /// * Current Down Step Width: Sets the down step decrement per Stallguard value. The value range is 0-3, /// corresponding to the decrements 1, 2, 8 and 16. /// /// * Minimum Current: Sets the minimum current for Coolstep current control. You can choose between /// half and quarter of the run current. /// /// * Stallguard Threshold Value: Sets the level for stall output (see [`get_driver_status`]). The value /// range is -64 to +63. A lower value gives a higher sensitivity. You have to find a suitable value for your /// motor by trial and error, 0 works for most motors. /// /// * Stallguard Mode: Set to 0 for standard resolution or 1 for filtered mode. In filtered mode the Stallguard /// signal will be updated every four full-steps. /// /// The default values are: /// /// * Minimum Stallguard Value: 2 /// * Maximum Stallguard Value: 10 /// * Current Up Step Width: 0 /// * Current Down Step Width: 0 /// * Minimum Current: 0 /// * Stallguard Threshold Value: 0 /// * Stallguard Mode: 0 /// /// /// [`get_driver_status`]: #method.get_driver_status /// /// Associated constants: /// * SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_1 /// * SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_2 /// * SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_4 /// * SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_8 /// * SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_1 /// * SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_2 /// * SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_8 /// * SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_32 /// * SILENT_STEPPER_BRICK_MINIMUM_CURRENT_HALF /// * SILENT_STEPPER_BRICK_MINIMUM_CURRENT_QUARTER /// * SILENT_STEPPER_BRICK_STALLGUARD_MODE_STANDARD /// * SILENT_STEPPER_BRICK_STALLGUARD_MODE_FILTERED pub fn set_coolstep_configuration( &self, minimum_stallguard_value: u8, maximum_stallguard_value: u8, current_up_step_width: u8, current_down_step_width: u8, minimum_current: u8, stallguard_threshold_value: i8, stallguard_mode: u8, ) -> ConvertingReceiver<()> { let mut payload = vec![0; 7]; payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(minimum_stallguard_value)); payload[1..2].copy_from_slice(&<u8>::to_le_byte_vec(maximum_stallguard_value)); payload[2..3].copy_from_slice(&<u8>::to_le_byte_vec(current_up_step_width)); payload[3..4].copy_from_slice(&<u8>::to_le_byte_vec(current_down_step_width)); payload[4..5].copy_from_slice(&<u8>::to_le_byte_vec(minimum_current)); payload[5..6].copy_from_slice(&<i8>::to_le_byte_vec(stallguard_threshold_value)); payload[6..7].copy_from_slice(&<u8>::to_le_byte_vec(stallguard_mode)); self.device.set(u8::from(SilentStepperBrickFunction::SetCoolstepConfiguration), payload) } /// Returns the configuration as set by [`set_coolstep_configuration`]. /// /// [`set_coolstep_configuration`]: #method.set_coolstep_configuration /// /// Associated constants: /// * SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_1 /// * SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_2 /// * SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_4 /// * SILENT_STEPPER_BRICK_CURRENT_UP_STEP_INCREMENT_8 /// * SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_1 /// * SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_2 /// * SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_8 /// * SILENT_STEPPER_BRICK_CURRENT_DOWN_STEP_DECREMENT_32 /// * SILENT_STEPPER_BRICK_MINIMUM_CURRENT_HALF /// * SILENT_STEPPER_BRICK_MINIMUM_CURRENT_QUARTER /// * SILENT_STEPPER_BRICK_STALLGUARD_MODE_STANDARD /// * SILENT_STEPPER_BRICK_STALLGUARD_MODE_FILTERED pub fn get_coolstep_configuration(&self) -> ConvertingReceiver<CoolstepConfiguration> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetCoolstepConfiguration), payload) } /// Note: If you don't know what any of this means you can very likely keep all of /// the values as default! /// /// Sets miscellaneous configuration parameters. /// /// * Disable Short To Ground Protection: Set to false to enable short to ground protection, otherwise /// it is disabled. /// /// * Synchronize Phase Frequency: With this parameter you can synchronize the chopper for both phases /// of a two phase motor to avoid the occurrence of a beat. The value range is 0-15. If set to 0, /// the synchronization is turned off. Otherwise the synchronization is done through the formula /// f_sync = f_clk/(value*64). In Classic Mode the synchronization is automatically switched off. /// f_clk is 12.8MHz. /// /// The default values are: /// /// * Disable Short To Ground Protection: 0 /// * Synchronize Phase Frequency: 0 pub fn set_misc_configuration( &self, disable_short_to_ground_protection: bool, synchronize_phase_frequency: u8, ) -> ConvertingReceiver<()> { let mut payload = vec![0; 2]; payload[0..1].copy_from_slice(&<bool>::to_le_byte_vec(disable_short_to_ground_protection)); payload[1..2].copy_from_slice(&<u8>::to_le_byte_vec(synchronize_phase_frequency)); self.device.set(u8::from(SilentStepperBrickFunction::SetMiscConfiguration), payload) } /// Returns the configuration as set by [`set_misc_configuration`]. /// /// [`set_misc_configuration`]: #method.set_misc_configuration pub fn get_misc_configuration(&self) -> ConvertingReceiver<MiscConfiguration> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetMiscConfiguration), payload) } /// Returns the current driver status. /// /// * Open Load: Indicates if an open load is present on phase A, B or both. This could mean that there is a problem /// with the wiring of the motor. False detection can occur in fast motion as well as during stand still. /// /// * Short To Ground: Indicates if a short to ground is present on phase A, B or both. If this is detected the driver /// automatically becomes disabled and stays disabled until it is enabled again manually. /// /// * Over Temperature: The over temperature indicator switches to Warning if the driver IC warms up. The warning flag /// is expected during long duration stepper uses. If the temperature limit is reached the indicator switches /// to Limit. In this case the driver becomes disabled until it cools down again. /// /// * Motor Stalled: Is true if a motor stall was detected. /// /// * Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode. /// The returned value is between 0 and 31. It represents a multiplier of 1/32 to 32/32 of the /// ``Motor Run Current`` as set by [`set_basic_configuration`]. Example: If a ``Motor Run Current`` /// of 1000mA was set and the returned value is 15, the ``Actual Motor Current`` is 16/32*1000mA = 500mA. /// /// * Stallguard Result: Indicates the load of the motor. A lower value signals a higher load. Per trial and error /// you can find out which value corresponds to a suitable torque for the velocity used in your application. /// After that you can use this threshold value to find out if a motor stall becomes probable and react on it (e.g. /// decrease velocity). /// During stand still this value can not be used for stall detection, it shows the chopper on-time for motor coil A. /// /// * Stealth Voltage Amplitude: Shows the actual PWM scaling. In Stealth mode it can be used to detect motor load and /// stall if autoscale is enabled (see [`set_stealth_configuration`]). /// /// /// [`set_basic_configuration`]: #method.set_basic_configuration /// [`set_stealth_configuration`]: #method.set_stealth_configuration /// /// Associated constants: /// * SILENT_STEPPER_BRICK_OPEN_LOAD_NONE /// * SILENT_STEPPER_BRICK_OPEN_LOAD_PHASE_A /// * SILENT_STEPPER_BRICK_OPEN_LOAD_PHASE_B /// * SILENT_STEPPER_BRICK_OPEN_LOAD_PHASE_AB /// * SILENT_STEPPER_BRICK_SHORT_TO_GROUND_NONE /// * SILENT_STEPPER_BRICK_SHORT_TO_GROUND_PHASE_A /// * SILENT_STEPPER_BRICK_SHORT_TO_GROUND_PHASE_B /// * SILENT_STEPPER_BRICK_SHORT_TO_GROUND_PHASE_AB /// * SILENT_STEPPER_BRICK_OVER_TEMPERATURE_NONE /// * SILENT_STEPPER_BRICK_OVER_TEMPERATURE_WARNING /// * SILENT_STEPPER_BRICK_OVER_TEMPERATURE_LIMIT pub fn get_driver_status(&self) -> ConvertingReceiver<DriverStatus> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetDriverStatus), payload) } /// Sets the minimum voltage in mV, below which the [`get_under_voltage_callback_receiver`] receiver /// is triggered. The minimum possible value that works with the Silent Stepper /// Brick is 8V. /// You can use this function to detect the discharge of a battery that is used /// to drive the stepper motor. If you have a fixed power supply, you likely do /// not need this functionality. /// /// The default value is 8V. /// /// [`get_under_voltage_callback_receiver`]: #method.get_under_voltage_callback_receiver pub fn set_minimum_voltage(&self, voltage: u16) -> ConvertingReceiver<()> { let mut payload = vec![0; 2]; payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(voltage)); self.device.set(u8::from(SilentStepperBrickFunction::SetMinimumVoltage), payload) } /// Returns the minimum voltage as set by [`set_minimum_voltage`]. /// /// [`set_minimum_voltage`]: #method.set_minimum_voltage pub fn get_minimum_voltage(&self) -> ConvertingReceiver<u16> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetMinimumVoltage), payload) } /// Sets the time base of the velocity and the acceleration of the Silent Stepper /// Brick (in seconds). /// /// For example, if you want to make one step every 1.5 seconds, you can set /// the time base to 15 and the velocity to 10. Now the velocity is /// 10steps/15s = 1steps/1.5s. /// /// The default value is 1. pub fn set_time_base(&self, time_base: u32) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(time_base)); self.device.set(u8::from(SilentStepperBrickFunction::SetTimeBase), payload) } /// Returns the time base as set by [`set_time_base`]. /// /// [`set_time_base`]: #method.set_time_base pub fn get_time_base(&self) -> ConvertingReceiver<u32> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetTimeBase), payload) } /// Returns the following parameters: The current velocity, /// the current position, the remaining steps, the stack voltage, the external /// voltage and the current consumption of the stepper motor. /// /// The current consumption is calculated by multiplying the ``Actual Motor Current`` /// value (see [`set_basic_configuration`]) with the ``Motor Run Current`` /// (see [`get_driver_status`]). This is an internal calculation of the /// driver, not an independent external measurement. /// /// The current consumption calculation was broken up to firmware 2.0.1, it is fixed /// since firmware 2.0.2. /// /// There is also a receiver for this function, see [`get_all_data_callback_receiver`] receiver. /// /// [`set_basic_configuration`]: #method.set_basic_configuration /// [`get_driver_status`]: #method.get_driver_status /// [`get_all_data_callback_receiver`]: #method.get_all_data_callback_receiver pub fn get_all_data(&self) -> ConvertingReceiver<AllData> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetAllData), payload) } /// Sets the period with which the [`get_all_data_callback_receiver`] receiver is triggered /// periodically. A value of 0 turns the receiver off. /// /// [`get_all_data_callback_receiver`]: #method.get_all_data_callback_receiver pub fn set_all_data_period(&self, period: u32) -> ConvertingReceiver<()> { let mut payload = vec![0; 4]; payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(period)); self.device.set(u8::from(SilentStepperBrickFunction::SetAllDataPeriod), payload) } /// Returns the period as set by [`set_all_data_period`]. /// /// [`set_all_data_period`]: #method.set_all_data_period pub fn get_all_data_period(&self) -> ConvertingReceiver<u32> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetAllDataPeriod), payload) } /// The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is /// enabled, the Brick will try to adapt the baudrate for the communication /// between Bricks and Bricklets according to the amount of data that is transferred. /// /// The baudrate will be increased exponentially if lots of data is send/received and /// decreased linearly if little data is send/received. /// /// This lowers the baudrate in applications where little data is transferred (e.g. /// a weather station) and increases the robustness. If there is lots of data to transfer /// (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed. /// /// In cases where some data has to transferred as fast as possible every few seconds /// (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn /// the dynamic baudrate off to get the highest possible performance. /// /// The maximum value of the baudrate can be set per port with the function /// [`set_spitfp_baudrate`]. If the dynamic baudrate is disabled, the baudrate /// as set by [`set_spitfp_baudrate`] will be used statically. /// /// The minimum dynamic baudrate has a value range of 400000 to 2000000 baud. /// /// By default dynamic baudrate is enabled and the minimum dynamic baudrate is 400000. /// /// [`set_spitfp_baudrate`]: #method.set_spitfp_baudrate /// .. versionadded:: 2.0.4$nbsp;(Firmware) pub fn set_spitfp_baudrate_config(&self, enable_dynamic_baudrate: bool, minimum_dynamic_baudrate: u32) -> ConvertingReceiver<()> { let mut payload = vec![0; 5]; payload[0..1].copy_from_slice(&<bool>::to_le_byte_vec(enable_dynamic_baudrate)); payload[1..5].copy_from_slice(&<u32>::to_le_byte_vec(minimum_dynamic_baudrate)); self.device.set(u8::from(SilentStepperBrickFunction::SetSpitfpBaudrateConfig), payload) } /// Returns the baudrate config, see [`set_spitfp_baudrate_config`]. /// /// [`set_spitfp_baudrate_config`]: #method.set_spitfp_baudrate_config /// .. versionadded:: 2.0.4$nbsp;(Firmware) pub fn get_spitfp_baudrate_config(&self) -> ConvertingReceiver<SpitfpBaudrateConfig> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetSpitfpBaudrateConfig), payload) } /// Returns the timeout count for the different communication methods. /// /// The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks. /// /// This function is mostly used for debugging during development, in normal operation /// the counters should nearly always stay at 0. /// /// Associated constants: /// * SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_NONE /// * SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_USB /// * SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_SPI_STACK /// * SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_CHIBI /// * SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_RS485 /// * SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_WIFI /// * SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_ETHERNET /// * SILENT_STEPPER_BRICK_COMMUNICATION_METHOD_WIFI_V2 pub fn get_send_timeout_count(&self, communication_method: u8) -> ConvertingReceiver<u32> { let mut payload = vec![0; 1]; payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(communication_method)); self.device.get(u8::from(SilentStepperBrickFunction::GetSendTimeoutCount), payload) } /// Sets the baudrate for a specific Bricklet port ('a' - 'd'). The /// baudrate can be in the range 400000 to 2000000. /// /// If you want to increase the throughput of Bricklets you can increase /// the baudrate. If you get a high error count because of high /// interference (see [`get_spitfp_error_count`]) you can decrease the /// baudrate. /// /// If the dynamic baudrate feature is enabled, the baudrate set by this /// function corresponds to the maximum baudrate (see [`set_spitfp_baudrate_config`]). /// /// Regulatory testing is done with the default baudrate. If CE compatibility /// or similar is necessary in you applications we recommend to not change /// the baudrate. /// /// The default baudrate for all ports is 1400000. /// /// [`set_spitfp_baudrate_config`]: #method.set_spitfp_baudrate_config /// [`get_spitfp_error_count`]: #method.get_spitfp_error_count pub fn set_spitfp_baudrate(&self, bricklet_port: char, baudrate: u32) -> ConvertingReceiver<()> { let mut payload = vec![0; 5]; payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(bricklet_port)); payload[1..5].copy_from_slice(&<u32>::to_le_byte_vec(baudrate)); self.device.set(u8::from(SilentStepperBrickFunction::SetSpitfpBaudrate), payload) } /// Returns the baudrate for a given Bricklet port, see [`set_spitfp_baudrate`]. /// /// [`set_spitfp_baudrate`]: #method.set_spitfp_baudrate pub fn get_spitfp_baudrate(&self, bricklet_port: char) -> ConvertingReceiver<u32> { let mut payload = vec![0; 1]; payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(bricklet_port)); self.device.get(u8::from(SilentStepperBrickFunction::GetSpitfpBaudrate), payload) } /// Returns the error count for the communication between Brick and Bricklet. /// /// The errors are divided into /// /// * ACK checksum errors, /// * message checksum errors, /// * framing errors and /// * overflow errors. /// /// The errors counts are for errors that occur on the Brick side. All /// Bricklets have a similar function that returns the errors on the Bricklet side. pub fn get_spitfp_error_count(&self, bricklet_port: char) -> ConvertingReceiver<SpitfpErrorCount> { let mut payload = vec![0; 1]; payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(bricklet_port)); self.device.get(u8::from(SilentStepperBrickFunction::GetSpitfpErrorCount), payload) } /// Enables the status LED. /// /// The status LED is the blue LED next to the USB connector. If enabled is is /// on and it flickers if data is transfered. If disabled it is always off. /// /// The default state is enabled. pub fn enable_status_led(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::EnableStatusLed), payload) } /// Disables the status LED. /// /// The status LED is the blue LED next to the USB connector. If enabled is is /// on and it flickers if data is transfered. If disabled it is always off. /// /// The default state is enabled. pub fn disable_status_led(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::DisableStatusLed), payload) } /// Returns *true* if the status LED is enabled, *false* otherwise. pub fn is_status_led_enabled(&self) -> ConvertingReceiver<bool> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::IsStatusLedEnabled), payload) } /// Returns the firmware and protocol version and the name of the Bricklet for a /// given port. /// /// This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet /// plugins. pub fn get_protocol1_bricklet_name(&self, port: char) -> ConvertingReceiver<Protocol1BrickletName> { let mut payload = vec![0; 1]; payload[0..1].copy_from_slice(&<char>::to_le_byte_vec(port)); self.device.get(u8::from(SilentStepperBrickFunction::GetProtocol1BrickletName), payload) } /// Returns the temperature in °C/10 as measured inside the microcontroller. The /// value returned is not the ambient temperature! /// /// The temperature is only proportional to the real temperature and it has an /// accuracy of ±15%. Practically it is only useful as an indicator for /// temperature changes. pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetChipTemperature), payload) } /// Calling this function will reset the Brick. Calling this function /// on a Brick inside of a stack will reset the whole stack. /// /// After a reset you have to create new device objects, /// calling functions on the existing ones will result in /// undefined behavior! pub fn reset(&self) -> ConvertingReceiver<()> { let payload = vec![0; 0]; self.device.set(u8::from(SilentStepperBrickFunction::Reset), payload) } /// Returns the UID, the UID where the Brick is connected to, /// the position, the hardware and firmware version as well as the /// device identifier. /// /// The position can be '0'-'8' (stack position). /// /// The device identifier numbers can be found [here](device_identifier). /// |device_identifier_constant| pub fn get_identity(&self) -> ConvertingReceiver<Identity> { let payload = vec![0; 0]; self.device.get(u8::from(SilentStepperBrickFunction::GetIdentity), payload) } }