3 lines
31 KiB
XML
Executable File
3 lines
31 KiB
XML
Executable File
<?xml version="1.0" encoding="UTF-8"?>
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text-align: left; width: 290px; height: 160px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin:0px;margin-top:4px;text-align:center;"><b>TMCXXXX.h</b><br /></p><hr size="1" /><div style="height:2px;"><br /></div></div></div></div></foreignObject><text x="145" y="302" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">TMCXXXX.h...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-8"><g transform="translate(0.5,0.5)"><rect x="150" y="320" width="285" height="120" fill="none" stroke="none" pointer-events="all"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 283px; height: 1px; padding-top: 380px; margin-left: 152px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">extern void tmcXXXX_readWriteSPI();<br />extern void tmcXXXX_readWriteUART();<br />extern TMCXXXXBusType tmcXXXX_getBusType();<br />extern uint8_t tmcXXXX_getNodeAddress();<br /> ⋮<br />tmcXXXX_readRegister();<br />tmcXXXX_writeRegister();<br /> ⋮</div></div></div></foreignObject><text x="152" y="384" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">extern void tmcXXXX_readWriteSPI();...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-39"><g transform="translate(0.5,0.5)"><path d="M 290 480 L 290 456.37" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(237, 237, 237));"/><path d="M 290 451.12 L 293.5 458.12 L 290 456.37 L 286.5 458.12 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(237, 237, 237)); stroke: light-dark(rgb(0, 0, 0), rgb(237, 237, 237));"/></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-9"><g transform="translate(0.5,0.5)"><rect x="135" y="480" width="310" height="180" fill="url(#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0)" stroke="#000000" pointer-events="all" style="fill: url("#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0"); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 312px; height: 180px; padding-top: 480px; margin-left: 135px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; width: 310px; height: 180px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin:0px;margin-top:4px;text-align:center;"><b>TMCXXXX.c</b><br /></p><hr size="1" /><div style="height:2px;"><br /></div></div></div></div></foreignObject><text x="135" y="492" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">TMCXXXX.c...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-10"><g transform="translate(0.5,0.5)"><rect x="140" y="510" width="305" height="140" fill="none" stroke="none" pointer-events="all"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 303px; height: 1px; padding-top: 580px; margin-left: 142px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">const uint8_t tmcCRCTable_Poly7Reflected[256] = {...};<br />int32_t tmcXXXX_readRegister(){<br />/* Call tmcXXXX_getBusType();<br /> * Based on bus type, call readRegisterSPI/UART() that<br /> * further calls tmcXXXX_readWriteSPI/UART();<br /> * For UART it also calls tmcXXXX_getNodeAddress();<br /> ⋮<br />}<br /> ⋮</div></div></div></foreignObject><text x="142" y="584" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">const uint8_t tmcCRCTable_Poly7Reflected[256] = {.....</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-11"><g transform="translate(0.5,0.5)"><rect x="40" y="10" width="70" height="30" fill="none" stroke="none" pointer-events="all"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 68px; height: 1px; padding-top: 25px; margin-left: 41px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "><b>TMC-API</b></div></div></div></foreignObject><text x="75" y="29" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px" text-anchor="middle">TMC-API</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-23"><g transform="translate(0.5,0.5)"><path d="M 50 720 L 50 690 L 130 690 L 130 720 M 50 720 L 490 720 L 490 930 L 50 930 Z" fill="#fff2cc" stroke="#d6b656" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"/></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-24"><g transform="translate(0.5,0.5)"><rect x="60" y="795" width="180" height="80" fill="url(#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0)" stroke="#000000" pointer-events="all" style="fill: url("#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0"); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 182px; height: 80px; padding-top: 795px; margin-left: 60px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; width: 180px; height: 80px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin:0px;margin-top:4px;text-align:center;"><b>TMCXXXX_Simple_Rotation.h</b><br /></p><hr size="1" /><div style="height:2px;"></div></div></div></div></foreignObject><text x="60" y="807" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">TMCXXXX_Simple_Rotation.h...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-25"><g transform="translate(0.5,0.5)"><rect x="70" y="825" width="120" height="50" fill="none" stroke="none" pointer-events="all"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 118px; height: 1px; padding-top: 850px; margin-left: 72px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">void initAllMotors();<br /> ⋮<br /> </div></div></div></foreignObject><text x="72" y="854" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">void initAllMotors()...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-26"><g transform="translate(0.5,0.5)"><rect x="270" y="750" width="210" height="170" fill="url(#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0)" stroke="#000000" pointer-events="all" style="fill: url("#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0"); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 212px; height: 170px; padding-top: 750px; margin-left: 270px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; width: 210px; height: 170px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin:0px;margin-top:4px;text-align:center;"><b style="border-color: var(--border-color);">TMCXXXX_Simple_Rotation.c</b><br /></p><hr size="1" /><div style="height:2px;"></div></div></div></div></foreignObject><text x="270" y="762" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">TMCXXXX_Simple_Rotation.c...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-27"><g transform="translate(0.5,0.5)"><rect x="270" y="780" width="200" height="130" fill="none" stroke="none" pointer-events="all"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 198px; height: 1px; padding-top: 845px; margin-left: 272px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">void initAllMotors(){<br /><br />// Configuring registers to enable motor drivers etc..<br />tmcXXXX_writeRegister();<br /> ⋮<br />}<br /> ⋮</div></div></div></foreignObject><text x="272" y="849" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">void initAllMotors(){...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-28"><g transform="translate(0.5,0.5)"><rect x="60" y="690" width="60" height="30" fill="none" stroke="none" pointer-events="all"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 705px; margin-left: 61px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "><b>Examples</b></div></div></div></foreignObject><text x="90" y="709" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px" text-anchor="middle">Examples</text></switch></g></g></g><g data-cell-id="UZHgHAEFhFFt3Wud3jXu-2"><g transform="translate(0.5,0.5)"><path d="M 640 495 L 560 495 L 560 380 L 441.37 380" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/><path d="M 436.12 380 L 443.12 376.5 L 441.37 380 L 443.12 383.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); 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align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 235px; margin-left: 671px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "><b>User Project</b></div></div></div></foreignObject><text x="710" y="239" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px" text-anchor="middle">User Project</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-31"><g transform="translate(0.5,0.5)"><rect x="680" y="280" width="280" height="140" fill="url(#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0)" stroke="#000000" pointer-events="all" style="fill: url("#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0"); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 282px; height: 140px; padding-top: 280px; margin-left: 680px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; width: 280px; height: 140px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin:0px;margin-top:4px;text-align:center;"><b>User_Project.h</b></p><hr size="1" /><div style="height:2px;"></div></div></div></div></foreignObject><text x="680" y="292" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">User_Project.h
</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-32"><g transform="translate(0.5,0.5)"><rect x="680" y="460" width="280" height="250" fill="url(#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0)" stroke="#000000" pointer-events="all" style="fill: url("#drawio-svg-s9SKSyJObn9mk7Ee8JIE-gradient-light-dark_ffffff_var_--ge-dark-color_121212_-1-light-dark_9dc1f0_2f4e76_-1-e-0"); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 282px; height: 250px; padding-top: 460px; margin-left: 680px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; width: 280px; height: 250px; overflow: hidden; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; width: 100%; height: 100%; white-space: normal; word-wrap: normal; "><p style="margin:0px;margin-top:4px;text-align:center;"><b>User_Project.c</b></p><hr size="1" /><div style="height:2px;"><br /></div><div style="height:2px;"><br /></div><div style="height:2px;"><br /></div><div style="height:2px;"><br /></div><div style="height:2px;"><br /></div><div style="height:2px;"><br /></div></div></div></div></foreignObject><text x="680" y="472" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">User_Project.c...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-36"><g transform="translate(0.5,0.5)"><rect x="690" y="480" width="260" height="220" fill="none" stroke="none" pointer-events="all"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 258px; height: 1px; padding-top: 590px; margin-left: 692px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "><br />void tmcXXXX_readWriteSPI(){<br /> ⋮<br />}<br />void tmcXXXX_readWriteUART(){<br /> ⋮<br />}<br />TMCXXXXBusType tmcXXXX_getBusType(){<br /> ⋮<br />}<br style="border-color: var(--border-color);" />uint8_t tmcXXXX_getNodeAddress(){<br /> ⋮<br />}<br /><br />// User Code<br /> ⋮</div></div></div></foreignObject><text x="692" y="594" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">void tmcXXXX_readWriteSPI(){...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-37"><g transform="translate(0.5,0.5)"><rect x="680" y="310" width="275" height="100" fill="none" stroke="none" pointer-events="all"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 273px; height: 1px; padding-top: 360px; margin-left: 682px;"><div style="box-sizing: border-box; font-size: 0; text-align: left; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">#include "TMCXXXX_HW_Abstraction.h"<br />#include "TMCXXXX.h"<br />#include "TMCXXXX_Simple_Rotation.h"<br /> ⋮<br />TMCXXXXBusType bus = IC_BUS_SPI/UART;<br />uint8_t nodeAddress = <nodeAddress>;<br /> ⋮</div></div></div></foreignObject><text x="682" y="364" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px">#include "TMCXXXX_HW_Abstraction.h"...</text></switch></g></g></g><g data-cell-id="sHvJWdCf7wTAvKq82ngw-40"><g transform="translate(0.5,0.5)"><path d="M 270 845 L 245.29 845" fill="none" stroke="#001dbc" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 29, 188), rgb(178, 203, 255));"/><path d="M 240.04 845 L 247.04 841.5 L 245.29 845 L 247.04 848.5 Z" fill="#001dbc" stroke="#001dbc" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 29, 188), rgb(178, 203, 255)); 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