116 lines
3.5 KiB
C
Executable File
116 lines
3.5 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_TMC5272_H_
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#define TMC_IC_TMC5272_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 "TMC5272_HW_Abstraction.h"
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/*******************************************************************************
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* API Configuration Defines
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* These control optional features of the TMC-API implementation.
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* These can be commented in/out here or defined from the build system.
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*******************************************************************************/
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// Uncomment if you want to save space.....
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// and put the table into your own .c file
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//#define TMC_API_EXTERNAL_CRC_TABLE 1
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// Default Register values
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#define R00 0x00000008 // GCONF
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#define R0A 0x00000020 // DRVCONF
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#define R10 0x00070A03 // IHOLD_IRUN
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#define R11 0x0000000A // TPOWERDOWN
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#define R2A 0x0000000A // D1
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#define R2B 0x0000000A // VSTOP
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#define R30 0x0000000A // D2
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#define R3A 0x00010000 // ENC_CONST
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#define R52 0x0B920F25 // OTW_OV_VTH
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#define R60 0xAAAAB554 // MSLUT[0]
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#define R61 0x4A9554AA // MSLUT[1]
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#define R62 0x24492929 // MSLUT[2]
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#define R63 0x10104222 // MSLUT[3]
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#define R64 0xFBFFFFFF // MSLUT[4]
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#define R65 0xB5BB777D // MSLUT[5]
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#define R66 0x49295556 // MSLUT[6]
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#define R67 0x00404222 // MSLUT[7]
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#define R68 0xFFFF8056 // MSLUT[8]
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#define R69 0x00F70000 // MSLUT[9]
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#define R6C 0x00410153 // CHOPCONF
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#define R70 0xC44C001E // PWMCONF
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#define R74 0x00000000 // PWMCONF
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typedef enum {
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IC_BUS_SPI,
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IC_BUS_UART,
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} TMC5272BusType;
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// => TMC-API wrapper
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extern void tmc5272_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength);
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extern bool tmc5272_readWriteUART(uint16_t icID, uint8_t *data, size_t writeLength, size_t readLength);
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extern TMC5272BusType tmc5272_getBusType(uint16_t icID);
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extern uint8_t tmc5272_getNodeAddress(uint16_t icID);
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// => TMC-API wrapper
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int32_t tmc5272_readRegister(uint16_t icID, uint8_t address);
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void tmc5272_writeRegister(uint16_t icID, uint8_t address, int32_t value);
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void tmc5272_rotateMotor(uint16_t icID, uint8_t motor, int32_t velocity);
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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 tmc5272_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 tmc5272_fieldRead(uint16_t icID, RegisterField field)
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{
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uint32_t value = tmc5272_readRegister(icID, field.address);
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return tmc5272_fieldExtract(value, field);
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}
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static inline uint32_t tmc5272_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 tmc5272_fieldWrite(uint16_t icID, RegisterField field, uint32_t value)
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{
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uint32_t regValue = tmc5272_readRegister(icID, field.address);
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regValue = tmc5272_fieldUpdate(regValue, field, value);
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tmc5272_writeRegister(icID, field.address, regValue);
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}
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#endif /* TMC_IC_TMC5272_H_ */
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