56 lines
1.7 KiB
C
Executable File
56 lines
1.7 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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#include "TMC6100.h"
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static int32_t readRegisterSPI(uint16_t icID, uint8_t address);
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static void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value);
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int32_t tmc6100_readRegister(uint16_t icID, uint8_t address)
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{
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return readRegisterSPI(icID, address);
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}
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void tmc6100_writeRegister(uint16_t icID, uint8_t address, int32_t value)
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{
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writeRegisterSPI(icID, address, value);
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}
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int32_t readRegisterSPI(uint16_t icID, uint8_t address)
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{
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uint8_t data[5] = { 0 };
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// clear write bit
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data[0] = address & TMC6100_ADDRESS_MASK;
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// Send the read request
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tmc6100_readWriteSPI(icID, &data[0], sizeof(data));
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// Rewrite address and clear write bit
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data[0] = address & TMC6100_ADDRESS_MASK;
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// Send another request to receive the read reply
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tmc6100_readWriteSPI(icID, &data[0], sizeof(data));
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return ((int32_t)data[1] << 24) | ((int32_t) data[2] << 16) | ((int32_t) data[3] << 8) | ((int32_t) data[4]);
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}
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void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value)
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{
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uint8_t data[5] = { 0 };
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data[0] = address | TMC6100_WRITE_BIT;
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data[1] = 0xFF & (value>>24);
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data[2] = 0xFF & (value>>16);
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data[3] = 0xFF & (value>>8);
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data[4] = 0xFF & (value>>0);
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// Send the write request
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tmc6100_readWriteSPI(icID, &data[0], sizeof(data));
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}
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