169 lines
5.6 KiB
C
Executable File
169 lines
5.6 KiB
C
Executable File
/*******************************************************************************
|
|
* 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_TMC2660_H_
|
|
#define TMC_IC_TMC2660_H_
|
|
|
|
#include "TMC2660_HW_Abstraction.h"
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
#include <stddef.h>
|
|
|
|
/*******************************************************************************
|
|
* 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.
|
|
*******************************************************************************/
|
|
|
|
#ifndef TMC2660_CACHE
|
|
#define TMC2660_CACHE 1
|
|
//#define TMC2660_CACHE 0
|
|
#endif
|
|
|
|
// To use the caching mechanism already implemented by the TMC-API, set TMC2660_ENABLE_TMC_CACHE to '1'.
|
|
// Set TMC2660_ENABLE_TMC_CACHE to '0' if one wants to have their own cache implementation.
|
|
#ifndef TMC2660_ENABLE_TMC_CACHE
|
|
#define TMC2660_ENABLE_TMC_CACHE 1
|
|
//#define TMC2660_ENABLE_TMC_CACHE 0
|
|
#endif
|
|
|
|
/******************************************************************************/
|
|
|
|
typedef struct
|
|
{
|
|
uint32_t mask;
|
|
uint8_t shift;
|
|
uint8_t address;
|
|
bool isSigned;
|
|
} TMC2660RegisterField;
|
|
|
|
//TMC-API wrapper
|
|
extern uint8_t tmc2660_getcontinuousModeEnable(uint8_t icID);
|
|
extern void tmc2660_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength);
|
|
//TMC-API wrapper
|
|
|
|
void tmc2660_writeRegister(uint8_t icID, uint8_t address, uint32_t value);
|
|
uint32_t tmc2660_readRegister(uint8_t icID, uint8_t address);
|
|
uint8_t tmc2660_getStatusBits(uint8_t icID);
|
|
void readWrite(uint8_t icID, uint32_t value);
|
|
void readImmediately(uint8_t icID, uint8_t rdsel);
|
|
|
|
static inline uint32_t tmc2660_fieldExtract(uint32_t data, TMC2660RegisterField 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 tmc2660_fieldRead(uint16_t icID, TMC2660RegisterField field)
|
|
{
|
|
uint32_t value = tmc2660_readRegister(icID, field.address);
|
|
|
|
return tmc2660_fieldExtract(value, field);
|
|
}
|
|
|
|
static inline uint32_t tmc2660_fieldUpdate(uint32_t data, TMC2660RegisterField field, uint32_t value)
|
|
{
|
|
return (data & (~field.mask)) | ((value << field.shift) & field.mask);
|
|
}
|
|
|
|
static inline void tmc2660_fieldWrite(uint16_t icID, TMC2660RegisterField field, uint32_t value)
|
|
{
|
|
uint32_t regValue = tmc2660_readRegister(icID, field.address);
|
|
|
|
regValue = tmc2660_fieldUpdate(regValue, field, value);
|
|
|
|
tmc2660_writeRegister(icID, field.address, regValue);
|
|
}
|
|
|
|
/**************************************************************** Cache Implementation *************************************************************************/
|
|
|
|
#if TMC2660_CACHE == 1
|
|
#if TMC2660_ENABLE_TMC_CACHE == 1
|
|
|
|
// By default, support one IC in the cache
|
|
#ifndef TMC2660_IC_CACHE_COUNT
|
|
#define TMC2660_IC_CACHE_COUNT 1
|
|
#endif
|
|
|
|
typedef enum {
|
|
TMC2660_CACHE_READ,
|
|
TMC2660_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!
|
|
TMC2660_CACHE_FILL_DEFAULT
|
|
} TMC2660CacheOp;
|
|
|
|
#define TMC_ACCESS_READ 0x01
|
|
#define TMC2660_IS_READABLE(x) ((x) & TMC_ACCESS_READ)
|
|
#define TMC_ACCESS_NONE 0x00
|
|
#define TMC_ACCESS_WRITE 0x02
|
|
|
|
static const uint8_t tmc2660_registerAccess[TMC2660_REGISTER_COUNT] =
|
|
{
|
|
TMC_ACCESS_READ, // 0: RESPONSE 0
|
|
TMC_ACCESS_READ, // 1: RESPONSE 1
|
|
TMC_ACCESS_READ, // 2: RESPONSE 2
|
|
TMC_ACCESS_READ, // 3: RESPONSE_LATEST
|
|
TMC_ACCESS_NONE, // 4: UNUSED
|
|
TMC_ACCESS_NONE, // 5: UNUSED
|
|
TMC_ACCESS_NONE, // 6: UNUSED
|
|
TMC_ACCESS_NONE, // 7: UNUSED
|
|
TMC_ACCESS_WRITE, // 8: DRVCTRL
|
|
TMC_ACCESS_NONE, // 9: UNUSED
|
|
TMC_ACCESS_NONE, // A: UNUSED
|
|
TMC_ACCESS_NONE, // B: UNUSED
|
|
TMC_ACCESS_WRITE, // C: CHOPCONF
|
|
TMC_ACCESS_WRITE, // D: SMARTEN
|
|
TMC_ACCESS_WRITE, // E: SGCSCONF
|
|
TMC_ACCESS_WRITE // F: DRVCONF
|
|
};
|
|
|
|
static const int32_t tmc2660_sampleRegisterPreset[TMC2660_REGISTER_COUNT] =
|
|
{
|
|
0x00000000, // 0: UNUSED
|
|
0x00000000, // 1: UNUSED
|
|
0x00000000, // 2: UNUSED
|
|
0x00000000, // 3: UNUSED
|
|
0x00000000, // 4: UNUSED
|
|
0x00000000, // 5: UNUSED
|
|
0x00000000, // 6: UNUSED
|
|
0x00000000, // 7: UNUSED
|
|
0x00000000, // 8: DRVCTRL
|
|
0x00000000, // 9: UNUSED
|
|
0x00000000, // A: UNUSED
|
|
0x00000000, // B: UNUSED
|
|
0x00091935, // C: CHOPCONF
|
|
0x000A0000, // D: SMARTEN
|
|
0x000D0505, // E: SGCSCONF
|
|
0x000EF040 // F: DRVCONF
|
|
};
|
|
|
|
|
|
extern bool tmc2660_cache(uint16_t icID, TMC2660CacheOp operation, uint8_t address, uint32_t *value);
|
|
extern int32_t tmc2660_shadowRegister[TMC2660_IC_CACHE_COUNT][TMC2660_REGISTER_COUNT];
|
|
|
|
#endif
|
|
#endif
|
|
|
|
/***************************************************************************************************************************************************/
|
|
|
|
#endif /* TMC_IC_TMC2660_H_ */
|