75 lines
2.1 KiB
C
Executable File
75 lines
2.1 KiB
C
Executable File
/*******************************************************************************
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* Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG
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* (now owned by Analog Devices Inc.),
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*
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* Copyright © 2024 Analog Devices Inc. All Rights Reserved.
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* This software is proprietary to Analog Devices, Inc. and its licensors.
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*******************************************************************************/
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#ifndef TMC_IC_TMC5262_H_
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#define TMC_IC_TMC5262_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include "TMC5262_HW_Abstraction.h"
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// Default Register values
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#define R0B 0x65FF // PLLs
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// => TMC-API wrapper
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extern void tmc5262_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength);
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// => TMC-API wrapper
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int32_t tmc5262_readRegister(uint16_t icID, uint8_t address);
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void tmc5262_writeRegister(uint16_t icID, uint8_t address, int32_t value);
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void tmc5262_rotateMotor(uint16_t icID, uint8_t motor, int32_t velocity);
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///
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typedef struct
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{
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uint32_t mask;
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uint8_t shift;
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uint8_t address;
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bool isSigned;
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} RegisterField;
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static inline uint32_t tmc5262_fieldExtract(uint32_t data, RegisterField field)
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{
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uint32_t value = (data & field.mask) >> field.shift;
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if (field.isSigned)
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{
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// Apply signedness conversion
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uint32_t baseMask = field.mask >> field.shift;
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uint32_t signMask = baseMask & (~baseMask >> 1);
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value = (value ^ signMask) - signMask;
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}
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return value;
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}
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static inline uint32_t tmc5262_fieldRead(uint16_t icID, RegisterField field)
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{
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uint32_t value = tmc5262_readRegister(icID, field.address);
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return tmc5262_fieldExtract(value, field);
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}
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static inline uint32_t tmc5262_fieldUpdate(uint32_t data, RegisterField field, uint32_t value)
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{
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return (data & (~field.mask)) | ((value << field.shift) & field.mask);
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}
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static inline void tmc5262_fieldWrite(uint16_t icID, RegisterField field, uint32_t value)
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{
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uint32_t regValue = tmc5262_readRegister(icID, field.address);
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regValue = tmc5262_fieldUpdate(regValue, field, value);
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tmc5262_writeRegister(icID, field.address, regValue);
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}
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#endif /* TMC_IC_TMC5262_H_ */
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