basic speed control is working for both motors

README.md

@@ -1,6 +1,8 @@
 # 7300  (under development)
 ## Arduino library for controlling TMC7300 DC motor driver ICs
 
+[![Arduino Lint](https://github.com/joshua-8/TMC7300/actions/workflows/arduino-lint.yml/badge.svg)](https://github.com/joshua-8/TMC7300/actions/workflows/arduino-lint.yml)
+
 https://github.com/joshua-8/TMC7300
 
 ## [Doxygen reference](https://joshua-8.github.io/TMC7300/)
@@ -15,7 +17,7 @@ My goal is to make a good library for controlling the TMC7300 chips, and to keep
 * ESP32-S3 QT Py
 
 # Acknowledgements
-* This library is based on @bread-wolf's work in the [TMCSerial](https://github.com/bread-wolf/TMCSerial) and[TMCField](https://github.com/bread-wolf/TMCField) libraries, both of which are generously licensed under the AGPL3.0 license.
-* This library is also based on work done by @trinamic and Analog Devices Inc. in the [TMC-API](https://github.com/trinamic/TMC-API/tree/master), which is generously licensed under the MIT license.
+* This library is based on [@bread-wolf](https://github.com/bread-wolf)'s work in the [TMCSerial](https://github.com/bread-wolf/TMCSerial) and [TMCField](https://github.com/bread-wolf/TMCField) libraries, both of which are generously licensed under the AGPL3.0 license.
+* This library is based on work done by [@trinamic](https://github.com/trinamic) and [Analog Devices Inc.](https://www.analog.com) in the [TMC-API](https://github.com/trinamic/TMC-API/tree/master), which is generously licensed under the MIT license.
 
 Find the comments in the code of this library to see which parts are based on which of the above libraries.

examples/basic/basic.ino

@@ -1,10 +1,28 @@
 #include <Arduino.h>
-#include <TMC7300IC.h>
+#include <TMC7300.h>
+
+/*
+ * https://github.com/joshua-8/TMC7300
+ */
+
+const byte ENpin = A1; // EN pin of driver, pulling it low until setup is complete prevents a short twitch on start
+TMC7300IC driver = TMC7300IC(5, 0, 10000); // uartPin, chipAddress, baudrate
 
-TMC7300IC a = TMC7300IC();
 void setup()
 {
+    pinMode(ENpin, OUTPUT);
+    digitalWrite(ENpin, LOW);
+    driver.begin();
+    digitalWrite(ENpin, HIGH);
 }
 void loop()
 {
-}
+    driver.writeField(TMC7300_PWM_A, -230);
+    delay(1000);
+    driver.writeField(TMC7300_PWM_B, 150);
+    delay(1000);
+    driver.writeField(TMC7300_PWM_A, 250);
+    delay(1000);
+    driver.writeField(TMC7300_PWM_B, -230);
+    delay(1000);
+}

src/TMC7300.h

@@ -1,10 +1,32 @@
 #ifndef TMC7300_H
 #define TMC7300_H
 #include "TMC7300_Map.h"
+#include "TMCSerial.h"
 #include <Arduino.h>
 
+#define TMC_WRITE_BIT 0x80
+
 class TMC7300IC {
+public:
+    TMC7300IC(uint8_t _pin, uint8_t _chipAddress, uint32_t _baudrate = 115200)
+        : pin(_pin)
+        , chipAddress(_chipAddress)
+        , baudrate(_baudrate)
+    {
+    }
+    void begin()
+    {
+        pinMode(pin, OUTPUT);
+        digitalWrite(pin, HIGH);
+        delay(10); // TODO: WHAT DELAY ON STARTUP IS NEEDED?
+        writeField(TMC7300_PWM_DIRECT, 1);
+    }
+
 protected:
+    uint8_t pin;
+    uint8_t chipAddress;
+    uint32_t baudrate;
+
     // clang-format off
     int32_t registers[10] = {
 //	0	1	2	3	4	5	6	7	8	9
@@ -20,16 +42,47 @@ class TMC7300IC {
     }
     uint32_t readField(TMCField field)
     {
-        uint32_t registerValueReceived = readRegister(field.address());
-        registers[field.valueAddress()] = registerValueReceived;
+        // uint32_t registerValueReceived = readRegister(field.address());
+        // registers[field.valueAddress()] = registerValueReceived;
         return field.getField(registers[field.valueAddress()]);
     }
     void writeRegister(uint8_t address, uint32_t value)
     {
+
+        // from https://github.com/bread-wolf/TMCSerial/blob/cb87877ab4f3c39ed7a5b1ec99cf73eb0f4d5a6c/TMCSerial.cpp#L78C4-L94C6
+        uint8_t addressWrite = address | TMC_WRITE_BIT;
+        uint8_t writeRequest[8] = { SYNC_BYTE, chipAddress, addressWrite, 0, 0, 0, 0, 0 };
+
+        /* Fill data to be written */
+        writeRequest[3] = (value >> 24) & 0xFF;
+        writeRequest[4] = (value >> 16) & 0xFF;
+        writeRequest[5] = (value >> 8) & 0xFF;
+        writeRequest[6] = (value) & 0xFF;
+
+        /* Calculate CRC */
+        writeRequest[7] = calcCRC(writeRequest, 7);
+
+        unsigned long lastMicros = 0;
+        /* Write data */
+        for (uint8_t j = 0; j < 8; j++) {
+            lastMicros = micros();
+            digitalWrite(TX, LOW); // Start bit
+            while ((micros() - lastMicros) < (1000000 / baudrate)) { }
+            lastMicros = micros();
+            for (uint8_t i = 0; i < 8; i++) {
+                digitalWrite(TX, (writeRequest[j] >> i) & 0x01);
+                while ((micros() - lastMicros) < (1000000 / baudrate)) { }
+                lastMicros = micros();
+            }
+            digitalWrite(TX, HIGH); // Stop bit
+            while ((micros() - lastMicros) < (1000000 / baudrate)) { }
+            lastMicros = micros();
+        }
+        // TODO: DELAY SOME BETWEEN MESSAGES?
     }
-    uint32_t readRegister(uint8_t address)
-    {
-        return 0;
-    }
+    // uint32_t readRegister(uint8_t address)
+    // {
+    //     return 0;
+    // }
 };
 #endif // TMC7300_H

src/TMCSerial.h

@@ -0,0 +1,29 @@
+#ifndef TMCSERIAL_H
+#define TMCSERIAL_H
+#include <Arduino.h>
+
+#define SYNC_BYTE 0x55
+#define WRITE_BIT 0x80
+
+// from https://github.com/bread-wolf/TMCSerial/blob/cb87877ab4f3c39ed7a5b1ec99cf73eb0f4d5a6c/TMCSerial.cpp#L181C1-L206C2
+uint8_t calcCRC(uint8_t data[], uint8_t dataLength)
+{
+    uint8_t crc, currentByte;
+
+    /* Initialize crc at 0 */
+    crc = 0;
+    for (uint8_t j = 0; j < dataLength; j++) {
+        currentByte = data[j];
+        for (uint8_t k = 0; k < 8; k++) {
+            if ((crc >> 7) ^ (currentByte & 0x01)) {
+                /* Use 0b100000111 as polynomial */
+                crc = (crc << 1) ^ 0x07;
+            } else {
+                crc = (crc << 1);
+            }
+            currentByte >>= 1;
+        }
+    }
+    return crc;
+}
+#endif // TMCSERIAL_H