/******************************************************************************* * Copyright © 2018 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_TMC2160_H_ #define TMC_IC_TMC2160_H_ #include #include #include #include "TMC2160_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 TMC2160_CACHE to '1'. // With this mechanism the value of write-only registers could be read from their shadow copies. #ifndef TMC2160_CACHE #define TMC2160_CACHE 1 //#define TMC2160_CACHE 0 #endif // To use the caching mechanism already implemented by the TMC-API, set TMC2160_ENABLE_TMC_CACHE to '1'. // Set TMC2160_ENABLE_TMC_CACHE to '0' if one wants to have their own cache implementation. #ifndef TMC2160_ENABLE_TMC_CACHE #define TMC2160_ENABLE_TMC_CACHE 1 //#define TMC2160_ENABLE_TMC_CACHE 0 #endif /******************************************************************************/ /************************************************************* read / write Implementation *********************************************************************/ // => TMC-API wrapper extern void tmc2160_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength); // => TMC-API wrapper int32_t tmc2160_readRegister(uint16_t icID, uint8_t address); void tmc2160_writeRegister(uint16_t icID, uint8_t address, int32_t value); typedef struct { uint32_t mask; uint8_t shift; uint8_t address; bool isSigned; } TMC2160RegisterField; static inline uint32_t tmc2160_fieldExtract(uint32_t data, TMC2160RegisterField 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 tmc2160_fieldRead(uint16_t icID, TMC2160RegisterField field) { uint32_t value = tmc2160_readRegister(icID, field.address); return tmc2160_fieldExtract(value, field); } static inline uint32_t tmc2160_fieldUpdate(uint32_t data, TMC2160RegisterField field, uint32_t value) { return (data & (~field.mask)) | ((value << field.shift) & field.mask); } static inline void tmc2160_fieldWrite(uint16_t icID, TMC2160RegisterField field, uint32_t value) { uint32_t regValue = tmc2160_readRegister(icID, field.address); regValue = tmc2160_fieldUpdate(regValue, field, value); tmc2160_writeRegister(icID, field.address, regValue); } /***************** The following code is TMC-EvalSystem specific and needs to be commented out when working with other MCUs e.g Arduino*****************************/ /**************************************************************** Cache Implementation *************************************************************************/ #if TMC2160_CACHE == 1 #ifdef TMC2160_ENABLE_TMC_CACHE // By default, support one IC in the cache #ifndef TMC2160_IC_CACHE_COUNT #define TMC2160_IC_CACHE_COUNT 1 #endif typedef enum { TMC2160_CACHE_READ, TMC2160_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! TMC2160_CACHE_FILL_DEFAULT, } TMC2160CacheOp; typedef struct{ uint8_t address; uint32_t value; } TMC2160RegisterConstants; #define TMC2160_ACCESS_DIRTY 0x08 // Register has been written since reset -> shadow register is valid for restore #define TMC2160_ACCESS_READ 0x01 #define TMC2160_ACCESS_W_PRESET 0x42 #define TMC2160_IS_READABLE(x) ((x) & TMC2160_ACCESS_READ) #define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0])) // Default Register values #define R10 0x00070A03 // IHOLD_IRUN #define R6C 0x10410153 // CHOPCONF #define R70 0xC40C001E // PWMCONF // Helper define: // Most register permission arrays are initialized with 128 values. // In those fields its quite hard to have an easy overview of available // registers. For that, ____ is defined to 0, since 4 underscores are // very easy to distinguish from the 2-digit hexadecimal values. // This way, the used registers (permission != ACCESS_NONE) are easily spotted // amongst unused (permission == ACCESS_NONE) registers. #define ____ 0x00 // Helper define: // Default reset values are not used if the corresponding register has a // hardware preset. Since this is not directly visible in the default // register reset values array, N_A is used as an indicator for a preset // value, where any value will be ignored anyways (N_A: not available). #define N_A 0 // Register access permissions: // 0x00: none (reserved) // 0x01: read // 0x02: write // 0x03: read/write // 0x11: read to clear // 0x42: write, has hardware presets on reset static const uint8_t tmc2160_registerAccess[TMC2160_REGISTER_COUNT] = { // 0 1 2 3 4 5 6 7 8 9 A B C D E F 0x03, 0x23, 0x01, 0x02, 0x23, 0x02, 0x02, 0x01, 0x42, 0x42, 0x42, 0x02, 0x01, ____, ____, ____, // 0x00 - 0x0F 0x02, 0x02, 0x01, 0x02, 0x02, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x10 - 0x1F 0x03, 0x03, 0x01, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x00, 0x02, 0x02, 0x02, 0x03, ____, ____, // 0x20 - 0x2F ____, ____, ____, 0x02, 0x03, 0x23, 0x01, ____, 0x03, 0x03, 0x02, 0x23, 0x01, 0x02, ____, ____, // 0x30 - 0x3F ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x40 - 0x4F ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x50 - 0x5F 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x01, 0x01, 0x03, 0x02, 0x02, 0x01, // 0x60 - 0x6F 0x02, 0x01, 0x01, 0x01, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____ // 0x70 - 0x7F }; static const int32_t tmc2160_sampleRegisterPreset[TMC2160_REGISTER_COUNT] = { // 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A, B, C, D, E, F 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x00 - 0x0F R10, 0, 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 N_A, N_A, N_A, N_A, N_A, N_A, N_A, N_A, N_A, N_A, 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 R10 #undef R6C #undef R70 // Register constants (only required for 0x42 registers, since we do not have // any way to find out the content but want to hold the actual value in the // shadow register so an application (i.e. the TMCL IDE) can still display // the values. This only works when the register content is constant. static const TMC2160RegisterConstants tmc2160_RegisterConstants[] = { // Use ascending addresses! { 0x08, 0x00000000 }, // FACTORY_CONF { 0x09, 0x00000000 }, // SHORT_CONF { 0x0A, 0x00000000 }, // DRV_CONF { 0x60, 0xAAAAB554 }, // MSLUT[0] { 0x61, 0x4A9554AA }, // MSLUT[1] { 0x62, 0x24492929 }, // MSLUT[2] { 0x63, 0x10104222 }, // MSLUT[3] { 0x64, 0xFBFFFFFF }, // MSLUT[4] { 0x65, 0xB5BB777D }, // MSLUT[5] { 0x66, 0x49295556 }, // MSLUT[6] { 0x67, 0x00404222 }, // MSLUT[7] { 0x68, 0xFFFF8056 }, // MSLUTSEL { 0x69, 0x00F70000 } // MSLUTSTART }; extern uint8_t tmc2160_dirtyBits[TMC2160_IC_CACHE_COUNT][TMC2160_REGISTER_COUNT/8]; extern int32_t tmc2160_shadowRegister[TMC2160_IC_CACHE_COUNT][TMC2160_REGISTER_COUNT]; extern bool tmc2160_cache(uint16_t icID, TMC2160CacheOp operation, uint8_t address, uint32_t *value); extern void tmc2160_initCache(void); void tmc2160_setDirtyBit(uint16_t icID, uint8_t index, bool value); bool tmc2160_getDirtyBit(uint16_t icID, uint8_t index); #endif #endif /***************************************************************************************************************************************************/ #endif /* TMC_IC_TMC2160_H_ */