/******************************************************************************* * 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_TMC5160_H_ #define TMC_IC_TMC5160_H_ #include "TMC5160_HW_Abstraction.h" #include #include #include /******************************************************************************* * 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 #ifndef TMC5160_CACHE #define TMC5160_CACHE 1 //#define TMC5160_CACHE 0 #endif // To use the caching mechanism already implemented by the TMC-API, set TMC5160_ENABLE_TMC_CACHE to '1'. // Set TMC5160_ENABLE_TMC_CACHE to '0' if one wants to have their own cache implementation. #ifndef TMC5160_ENABLE_TMC_CACHE #define TMC5160_ENABLE_TMC_CACHE 1 //#define TMC5160_ENABLE_TMC_CACHE 0 #endif /******************************************************************************/ typedef enum { IC_BUS_SPI, IC_BUS_UART, } TMC5160BusType; typedef struct { uint32_t mask; uint8_t shift; uint8_t address; bool isSigned; } RegisterField; // => TMC-API wrapper extern void tmc5160_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength); extern bool tmc5160_readWriteUART(uint16_t icID, uint8_t *data, size_t writeLength, size_t readLength); extern TMC5160BusType tmc5160_getBusType(uint16_t icID); extern uint8_t tmc5160_getNodeAddress(uint16_t icID); // => TMC-API wrapper int32_t tmc5160_readRegister(uint16_t icID, uint8_t address); void tmc5160_writeRegister(uint16_t icID, uint8_t address, int32_t value); void tmc5160_rotateMotor(uint16_t icID, uint8_t motor, int32_t velocity); static inline uint32_t tmc5160_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 tmc5160_fieldRead(uint16_t icID, RegisterField field) { uint32_t value = tmc5160_readRegister(icID, field.address); return tmc5160_fieldExtract(value, field); } static inline uint32_t tmc5160_fieldUpdate(uint32_t data, RegisterField field, uint32_t value) { return (data & (~field.mask)) | ((value << field.shift) & field.mask); } static inline void tmc5160_fieldWrite(uint16_t icID, RegisterField field, uint32_t value) { uint32_t regValue = tmc5160_readRegister(icID, field.address); regValue = tmc5160_fieldUpdate(regValue, field, value); tmc5160_writeRegister(icID, field.address, regValue); } /**************************************************************** Cache Implementation *************************************************************************/ #if TMC5160_CACHE == 1 #if TMC5160_ENABLE_TMC_CACHE == 1 // By default, support one IC in the cache #ifndef TMC5160_IC_CACHE_COUNT #define TMC5160_IC_CACHE_COUNT 1 #endif typedef enum { TMC5160_CACHE_READ, TMC5160_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! TMC5160_CACHE_FILL_DEFAULT } TMC5160CacheOp; typedef struct { uint8_t address; uint32_t value; } TMC5160RegisterConstants; #define TMC5160_ACCESS_DIRTY 0x08 // Register has been written since reset -> shadow register is valid for restore #define TMC5160_ACCESS_READ 0x01 #define TMC5160_ACCESS_W_PRESET 0x42 #define TMC5160_IS_READABLE(x) ((x) & TMC5160_ACCESS_READ) #define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0])) // Default Register values #define R00 0x00000008 // GCONF #define R09 0x00010606 // SHORTCONF #define R0A 0x00080400 // DRVCONF #define R10 0x00070A03 // IHOLD_IRUN #define R11 0x0000000A // TPOWERDOWN #define R2B 0x00000001 // VSTOP #define R3A 0x00010000 // ENC_CONST #define R6C 0x00410153 // CHOPCONF #define R70 0xC40C001E // PWMCONF #define ____ 0x00 #ifndef N_A #define N_A 0x00 #endif static const int32_t tmc5160_sampleRegisterPreset[TMC5160_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, R09, R0A, 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, R2B, 0, 0, 0, 0, // 0x20 - 0x2F 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, R3A, 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 N_A, 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 R09 #undef R0A #undef R10 #undef R11 #undef R2B #undef R3A #undef R6C #undef R70 // Register access permissions: // 0x00: none (reserved) // 0x01: read // 0x02: write // 0x03: read/write // 0x13: read/write, separate functions/values for reading or writing // 0x23: read/write, flag register (write to clear) // 0x42: write, has hardware presets on reset static const uint8_t tmc5160_registerAccess[TMC5160_REGISTER_COUNT] = { // 0 1 2 3 4 5 6 7 8 9 A B C D E F 0x03, 0x23, 0x01, 0x02, 0x13, 0x02, 0x02, 0x01, 0x03, 0x02, 0x02, 0x02, 0x01, ____, ____, ____, // 0x00 - 0x0F 0x02, 0x02, 0x01, 0x02, 0x02, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x10 - 0x1F 0x03, 0x03, 0x01, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, ____, 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 0x42, 0x01, 0x01, 0x01, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____ // 0x70 - 0x7F }; // 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 TMC5160RegisterConstants tmc5160_RegisterConstants[] = { // Use ascending addresses! { 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 { 0x70, 0xC40C001E } // PWMCONF }; extern uint8_t tmc5160_dirtyBits[TMC5160_IC_CACHE_COUNT][TMC5160_REGISTER_COUNT/8]; extern int32_t tmc5160_shadowRegister[TMC5160_IC_CACHE_COUNT][TMC5160_REGISTER_COUNT]; void tmc5160_setDirtyBit(uint16_t icID, uint8_t index, bool value); bool tmc5160_getDirtyBit(uint16_t icID, uint8_t index); extern bool tmc5160_cache(uint16_t icID, TMC5160CacheOp operation, uint8_t address, uint32_t *value); void tmc5160_initCache(void); #endif #endif /***************************************************************************************************************************************************/ #endif /* TMC_IC_TMC5160_H_ */