/******************************************************************************* * Copyright © 2017 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. *******************************************************************************/ #include "TMC2240.h" #ifdef TMC_API_EXTERNAL_CRC_TABLE extern const uint8_t tmcCRCTable_Poly7Reflected[256]; #else const uint8_t tmcCRCTable_Poly7Reflected[256] = { 0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B, 0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43, 0x24, 0xB5, 0xC7, 0x56, 0x23, 0xB2, 0xC0, 0x51, 0x2A, 0xBB, 0xC9, 0x58, 0x2D, 0xBC, 0xCE, 0x5F, 0x70, 0xE1, 0x93, 0x02, 0x77, 0xE6, 0x94, 0x05, 0x7E, 0xEF, 0x9D, 0x0C, 0x79, 0xE8, 0x9A, 0x0B, 0x6C, 0xFD, 0x8F, 0x1E, 0x6B, 0xFA, 0x88, 0x19, 0x62, 0xF3, 0x81, 0x10, 0x65, 0xF4, 0x86, 0x17, 0x48, 0xD9, 0xAB, 0x3A, 0x4F, 0xDE, 0xAC, 0x3D, 0x46, 0xD7, 0xA5, 0x34, 0x41, 0xD0, 0xA2, 0x33, 0x54, 0xC5, 0xB7, 0x26, 0x53, 0xC2, 0xB0, 0x21, 0x5A, 0xCB, 0xB9, 0x28, 0x5D, 0xCC, 0xBE, 0x2F, 0xE0, 0x71, 0x03, 0x92, 0xE7, 0x76, 0x04, 0x95, 0xEE, 0x7F, 0x0D, 0x9C, 0xE9, 0x78, 0x0A, 0x9B, 0xFC, 0x6D, 0x1F, 0x8E, 0xFB, 0x6A, 0x18, 0x89, 0xF2, 0x63, 0x11, 0x80, 0xF5, 0x64, 0x16, 0x87, 0xD8, 0x49, 0x3B, 0xAA, 0xDF, 0x4E, 0x3C, 0xAD, 0xD6, 0x47, 0x35, 0xA4, 0xD1, 0x40, 0x32, 0xA3, 0xC4, 0x55, 0x27, 0xB6, 0xC3, 0x52, 0x20, 0xB1, 0xCA, 0x5B, 0x29, 0xB8, 0xCD, 0x5C, 0x2E, 0xBF, 0x90, 0x01, 0x73, 0xE2, 0x97, 0x06, 0x74, 0xE5, 0x9E, 0x0F, 0x7D, 0xEC, 0x99, 0x08, 0x7A, 0xEB, 0x8C, 0x1D, 0x6F, 0xFE, 0x8B, 0x1A, 0x68, 0xF9, 0x82, 0x13, 0x61, 0xF0, 0x85, 0x14, 0x66, 0xF7, 0xA8, 0x39, 0x4B, 0xDA, 0xAF, 0x3E, 0x4C, 0xDD, 0xA6, 0x37, 0x45, 0xD4, 0xA1, 0x30, 0x42, 0xD3, 0xB4, 0x25, 0x57, 0xC6, 0xB3, 0x22, 0x50, 0xC1, 0xBA, 0x2B, 0x59, 0xC8, 0xBD, 0x2C, 0x5E, 0xCF, }; #endif /**************************************************************** Cache Implementation *************************************************************************/ #if TMC2240_CACHE == 0 static inline bool tmc2240_cache(uint16_t icID, TMC2240CacheOp operation, uint8_t address, uint32_t *value) { UNUSED(icID); UNUSED(address); UNUSED(operation); return false; } #else #if TMC2240_ENABLE_TMC_CACHE == 1 uint8_t tmc2240_dirtyBits[TMC2240_IC_CACHE_COUNT][TMC2240_REGISTER_COUNT/8]= {0}; int32_t tmc2240_shadowRegister[TMC2240_IC_CACHE_COUNT][TMC2240_REGISTER_COUNT]; void tmc2240_setDirtyBit(uint16_t icID, uint8_t index, bool value) { if(index >= TMC2240_REGISTER_COUNT) return; uint8_t *tmp = &tmc2240_dirtyBits[icID][index / 8]; uint8_t shift = (index % 8); uint8_t mask = 1 << shift; *tmp = (((*tmp) & (~(mask))) | (((value) << (shift)) & (mask))); } bool tmc2240_getDirtyBit(uint16_t icID, uint8_t index) { if(index >= TMC2240_REGISTER_COUNT) return false; uint8_t *tmp = &tmc2240_dirtyBits[icID][index / 8]; uint8_t shift = (index % 8); return ((*tmp) >> shift) & 1; } /* * This function is used to cache the value written to the Write-Only registers in the form of shadow array. * The shadow copy is then used to read these kinds of registers. */ bool tmc2240_cache(uint16_t icID, TMC2240CacheOp operation, uint8_t address, uint32_t *value) { if (operation == TMC2240_CACHE_READ) { // Check if the value should come from cache // Only supported chips have a cache if (icID >= TMC2240_IC_CACHE_COUNT) return false; // Only non-readable registers care about caching // Note: This could also be used to cache i.e. RW config registers to reduce bus accesses if (TMC2240_IS_READABLE(tmc2240_registerAccess[address])) return false; // Grab the value from the cache *value = tmc2240_shadowRegister[icID][address]; return true; } else if (operation == TMC2240_CACHE_WRITE || operation == TMC2240_CACHE_FILL_DEFAULT) { // Fill the cache // only supported chips have a cache if (icID >= TMC2240_IC_CACHE_COUNT) return false; // Write to the shadow register. tmc2240_shadowRegister[icID][address] = *value; // For write operations, mark the register dirty if (operation == TMC2240_CACHE_WRITE) { tmc2240_setDirtyBit(icID, address, true); } return true; } return false; } void tmc2240_initCache() { // Check if we have constants defined if(ARRAY_SIZE(tmc2240_RegisterConstants) == 0) return; size_t i, j, id; for(i = 0, j = 0; i < TMC2240_REGISTER_COUNT; i++) { // We only need to worry about hardware preset, write-only registers // that have not yet been written (no dirty bit) here. if(tmc2240_registerAccess[i] != TMC2240_ACCESS_W_PRESET) continue; // Search the constant list for the current address. With the constant // list being sorted in ascended order, we can walk through the list // until the entry with an address equal or greater than i while(j < ARRAY_SIZE(tmc2240_RegisterConstants) && (tmc2240_RegisterConstants[j].address < i)) j++; // Abort when we reach the end of the constant list if (j == ARRAY_SIZE(tmc2240_RegisterConstants)) break; // If we have an entry for our current address, write the constant if(tmc2240_RegisterConstants[j].address == i) { for (id = 0; id < TMC2240_IC_CACHE_COUNT; id++) { uint32_t temp = tmc2240_RegisterConstants[j].value; tmc2240_cache(id, TMC2240_CACHE_FILL_DEFAULT, i, &temp); } } } } #else // User must implement their own cache extern bool tmc2240_cache(uint16_t icID, TMC2240CacheOp operation, uint8_t address, uint32_t *value); #endif #endif /************************************************************* read / write Implementation *********************************************************************/ static int32_t readRegisterSPI(uint16_t icID, uint8_t address); static void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value); static int32_t readRegisterUART(uint16_t icID, uint8_t registerAddress); static void writeRegisterUART(uint16_t icID, uint8_t registerAddress, int32_t value); static uint8_t CRC8(uint8_t *data, uint32_t bytes); int32_t tmc2240_readRegister(uint16_t icID, uint8_t address) { uint32_t value; // Read from cache for registers with write-only access if (tmc2240_cache(icID, TMC2240_CACHE_READ, address, &value)) return value; TMC2240BusType bus = tmc2240_getBusType(icID); if(bus == IC_BUS_SPI) { return readRegisterSPI(icID, address); } else if (bus == IC_BUS_UART) { return readRegisterUART(icID, address); } // ToDo: Error handling return -1; } void tmc2240_writeRegister(uint16_t icID, uint8_t address, int32_t value) { TMC2240BusType bus = tmc2240_getBusType(icID); if(bus == IC_BUS_SPI) { writeRegisterSPI(icID, address, value); } else if(bus == IC_BUS_UART) { writeRegisterUART(icID, address, value); } //Cache the registers with write-only access tmc2240_cache(icID, TMC2240_CACHE_WRITE, address, (uint32_t *)&value); } int32_t readRegisterSPI(uint16_t icID, uint8_t address) { uint8_t data[5] = { 0 }; // clear write bit data[0] = address & TMC2240_ADDRESS_MASK; // Send the read request tmc2240_readWriteSPI(icID, &data[0], sizeof(data)); // Rewrite address and clear write bit data[0] = address & TMC2240_ADDRESS_MASK; // Send another request to receive the read reply tmc2240_readWriteSPI(icID, &data[0], sizeof(data)); return ((int32_t)data[1] << 24) | ((int32_t) data[2] << 16) | ((int32_t) data[3] << 8) | ((int32_t) data[4]); } void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value) { uint8_t data[5] = { 0 }; data[0] = address | TMC2240_WRITE_BIT; data[1] = 0xFF & (value>>24); data[2] = 0xFF & (value>>16); data[3] = 0xFF & (value>>8); data[4] = 0xFF & (value>>0); // Send the write request tmc2240_readWriteSPI(icID, &data[0], sizeof(data)); } int32_t readRegisterUART(uint16_t icID, uint8_t registerAddress) { uint8_t data[8] = { 0 }; registerAddress = registerAddress & TMC2240_ADDRESS_MASK; data[0] = 0x05; data[1] = tmc2240_getNodeAddress(icID); data[2] = registerAddress; data[3] = CRC8(data, 3); if (!tmc2240_readWriteUART(icID, &data[0], 4, 8)) return 0; // Byte 0: Sync nibble correct? if (data[0] != 0x05) return 0; // Byte 1: Master address correct? if (data[1] != 0xFF) return 0; // Byte 2: Address correct? if (data[2] != registerAddress) return 0; // Byte 7: CRC correct? if (data[7] != CRC8(data, 7)) return 0; return ((uint32_t)data[3] << 24) | ((uint32_t)data[4] << 16) | (data[5] << 8) | data[6]; } void writeRegisterUART(uint16_t icID, uint8_t registerAddress, int32_t value) { uint8_t data[8]; data[0] = 0x05; data[1] = tmc2240_getNodeAddress(icID); data[2] = registerAddress | TMC2240_WRITE_BIT; data[3] = (value >> 24) & 0xFF; data[4] = (value >> 16) & 0xFF; data[5] = (value >> 8 ) & 0xFF; data[6] = (value ) & 0xFF; data[7] = CRC8(data, 7); tmc2240_readWriteUART(icID, &data[0], 8, 0); } static uint8_t CRC8(uint8_t *data, uint32_t bytes) { uint8_t result = 0; while(bytes--) result = tmcCRCTable_Poly7Reflected[result ^ *data++]; // Flip the result around // swap odd and even bits result = ((result >> 1) & 0x55) | ((result & 0x55) << 1); // swap consecutive pairs result = ((result >> 2) & 0x33) | ((result & 0x33) << 2); // swap nibbles ... result = ((result >> 4) & 0x0F) | ((result & 0x0F) << 4); return result; } /***************************************************************************************************************************************************************/