/******************************************************************************* * Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG * (now owned by Analog Devices Inc.), * * Copyright © 2024 Analog Devices Inc. All Rights Reserved. * This software is proprietary to Analog Devices, Inc. and its licensors. *******************************************************************************/ #ifndef TMC_IC_TMC2208_H_ #define TMC_IC_TMC2208_H_ #include #include #include #include "TMC2208_HW_Abstraction.h" /******************************************************************************* * API Configuration Defines * These control optional features of the TMC-API implementation. * These can be commented in/out here or defined from the build system. *******************************************************************************/ // Uncomment if you want to save space..... // and put the table into your own .c file //#define TMC_API_EXTERNAL_CRC_TABLE 1 // To enable the cache mechanism in order to keep the copy of all registers, set TMC2208_CACHE to '1'. // With this mechanism the value of write-only registers could be read from their shadow copies. #ifndef TMC2208_CACHE #define TMC2208_CACHE 1 //#define TMC2208_CACHE 0 #endif // To use the caching mechanism already implemented by the TMC-API, set TMC2208_ENABLE_TMC_CACHE to '1'. // Set TMC2208_ENABLE_TMC_CACHE to '0' if one wants to have their own cache implementation. #ifndef TMC2208_ENABLE_TMC_CACHE #define TMC2208_ENABLE_TMC_CACHE 1 //#define TMC2208_ENABLE_TMC_CACHE 0 #endif /******************************************************************************/ typedef struct { uint32_t mask; uint8_t shift; uint8_t address; bool isSigned; } RegisterField; // => TMC-API wrapper extern bool tmc2208_readWriteUART(uint16_t icID, uint8_t *data, size_t writeLength, size_t readLength); extern uint8_t tmc2208_getNodeAddress(uint16_t icID); // => TMC-API wrapper int32_t tmc2208_readRegister(uint16_t icID, uint8_t address); void tmc2208_writeRegister(uint16_t icID, uint8_t address, int32_t value); static inline uint32_t tmc2208_fieldExtract(uint32_t data, RegisterField field) { uint32_t value = (data & field.mask) >> field.shift; if (field.isSigned) { // Apply signedness conversion uint32_t baseMask = field.mask >> field.shift; uint32_t signMask = baseMask & (~baseMask >> 1); value = (value ^ signMask) - signMask; } return value; } static inline uint32_t tmc2208_fieldRead(uint16_t icID, RegisterField field) { uint32_t value = tmc2208_readRegister(icID, field.address); return tmc2208_fieldExtract(value, field); } static inline uint32_t tmc2208_fieldUpdate(uint32_t data, RegisterField field, uint32_t value) { return (data & (~field.mask)) | ((value << field.shift) & field.mask); } static inline void tmc2208_fieldWrite(uint16_t icID, RegisterField field, uint32_t value) { uint32_t regValue = tmc2208_readRegister(icID, field.address); regValue = tmc2208_fieldUpdate(regValue, field, value); tmc2208_writeRegister(icID, field.address, regValue); } /**************************************************************** Cache Implementation *************************************************************************/ #if TMC2208_CACHE == 1 #if TMC2208_ENABLE_TMC_CACHE == 1 // By default, support one IC in the cache #ifndef TMC2208_IC_CACHE_COUNT #define TMC2208_IC_CACHE_COUNT 1 #endif typedef enum { // Cache operations for chip read and write operations TMC2208_CACHE_READ, TMC2208_CACHE_WRITE, // Special operation: Put content into the cache without marking the entry as dirty. // Only used to initialize the cache with hardware defaults. This will allow reading // from write-only registers that have a value inside them on reset. When using this // operation, a restore will *not* rewrite that filled register! TMC2208_CACHE_FILL_DEFAULT, } TMC2208CacheOp; #define TMC2208_ACCESS_READ 0x01 #define TMC2208_IS_READABLE(x) ((x) & TMC2208_ACCESS_READ) #define ____ 0x00 // Default Register values #define R00 0x00000041 // GCONF #define R10 0x00071703 // IHOLD_IRUN #define R11 0x00000014 // TPOWERDOWN #define R6C 0x10000053 // CHOPCONF #define R70 0xC10D0024 // PWMCONF // Register access permissions: // 0x00: none (reserved) // 0x01: read // 0x02: write // 0x03: read/write // 0x13: read/write, separate functions/values for reading or writing // 0x21: read, flag register (read to clear) // 0x42: write, has hardware presets on reset static const uint8_t tmc2208_registerAccess[TMC2208_REGISTER_COUNT] = { // 0 1 2 3 4 5 6 7 8 9 A B C D E F 0x03, 0x23, 0x01, 0x02, 0x02, 0x01, 0x01, 0x03, ____, ____, ____, ____, ____, ____, ____, ____, // 0x00 - 0x0F 0x02, 0x02, 0x01, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x10 - 0x1F ____, ____, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x20 - 0x2F ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x30 - 0x3F 0x02, 0x01, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x40 - 0x4F ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x50 - 0x5F ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, 0x01, 0x01, 0x03, ____, ____, 0x01, // 0x60 - 0x6F 0x03, 0x01, 0x01, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____ // 0x70 - 0x7F }; static const int32_t tmc2208_sampleRegisterPreset[TMC2208_REGISTER_COUNT] = { // 0 1 2 3 4 5 6 7 8 9 A B C D E F R00, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x00 - 0x0F R10, R11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x10 - 0x1F 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x20 - 0x2F 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x30 - 0x3F 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x40 - 0x4F 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x50 - 0x5F 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, R6C, 0, 0, 0, // 0x60 - 0x6F R70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // 0x70 - 0x7F }; // Undefine the default register values. // This prevents warnings in case multiple TMC-API chip headers are included at once #undef R00 #undef R10 #undef R11 #undef R6C #undef R70 extern uint8_t tmc2208_dirtyBits[TMC2208_IC_CACHE_COUNT][TMC2208_REGISTER_COUNT/8]; extern int32_t tmc2208_shadowRegister[TMC2208_IC_CACHE_COUNT][TMC2208_REGISTER_COUNT]; void tmc2208_setDirtyBit(uint16_t icID, uint8_t index, bool value); bool tmc2208_getDirtyBit(uint16_t icID, uint8_t index); extern bool tmc2208_cache(uint16_t icID, TMC2208CacheOp operation, uint8_t address, uint32_t *value); #endif #endif /***************************************************************************************************************************************************/ #endif /* TMC_IC_TMC2208_H_ */