117 lines
4.6 KiB
C
Executable File
117 lines
4.6 KiB
C
Executable File
/*******************************************************************************
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* Copyright © 2016 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_TMC4671_H_
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#define TMC_IC_TMC4671_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 "TMC4671_HW_Abstraction.h"
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int32_t tmc4671_readRegister(uint16_t icID, uint8_t address);
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void tmc4671_writeRegister(uint16_t icID, uint8_t address, int32_t value);
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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 tmc4671_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 tmc4671_fieldRead(uint16_t icID, RegisterField field)
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{
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uint32_t value = tmc4671_readRegister(icID, field.address);
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return tmc4671_fieldExtract(value, field);
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}
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static inline uint32_t tmc4671_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 tmc4671_fieldWrite(uint16_t icID, RegisterField field, uint32_t value)
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{
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uint32_t regValue = tmc4671_readRegister(icID, field.address);
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regValue = tmc4671_fieldUpdate(regValue, field, value);
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tmc4671_writeRegister(icID, field.address, regValue);
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}
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// Do cyclic tasks
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void tmc4671_periodicJob(uint16_t icID, uint32_t actualSystick, uint8_t initMode, uint8_t *initState, uint16_t initWaitTime, uint16_t *actualInitWaitTime, uint16_t startVoltage,
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int16_t *hall_phi_e_old, int16_t *hall_phi_e_new, int16_t *hall_actual_coarse_offset,
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uint16_t *last_Phi_E_Selection, uint32_t *last_UQ_UD_EXT, int16_t *last_PHI_E_EXT);
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// Encoder initialization functions
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void tmc4671_startEncoderInitialization(uint8_t mode, uint8_t *initMode, uint8_t *initState);
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// Modes of operation
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void tmc4671_switchToMotionMode(uint16_t icID, uint8_t mode);
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// Torque mode
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void tmc4671_setTargetTorque_raw(uint16_t icID, int32_t targetTorque);
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int32_t tmc4671_getTargetTorque_raw(uint16_t icID);
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int32_t tmc4671_getActualTorque_raw(uint16_t icID);
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// Torque mode real world unit scaling
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void tmc4671_setTargetTorque_mA(uint16_t icID, uint16_t torqueMeasurementFactor, int32_t targetTorque);
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int32_t tmc4671_getTargetTorque_mA(uint16_t icID, uint16_t torqueMeasurementFactor);
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int32_t tmc4671_getActualTorque_mA(uint16_t icID, uint16_t torqueMeasurementFactor);
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int32_t tmc4671_getTargetTorqueFluxSum_mA(uint16_t icID, uint16_t torqueMeasurementFactor);
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int32_t tmc4671_getActualTorqueFluxSum_mA(uint16_t icID, uint16_t torqueMeasurementFactor);
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// Flux
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void tmc4671_setTargetFlux_raw(uint16_t icID, int32_t targetFlux);
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int32_t tmc4671_getTargetFlux_raw(uint16_t icID);
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int32_t tmc4671_getActualFlux_raw(uint16_t icID);
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// Flux regulation real world unit scaling
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void tmc4671_setTargetFlux_mA(uint16_t icID, uint16_t torqueMeasurementFactor, int32_t targetFlux);
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int32_t tmc4671_getTargetFlux_mA(uint16_t icID, uint16_t torqueMeasurementFactor);
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int32_t tmc4671_getActualFlux_mA(uint16_t icID, uint16_t torqueMeasurementFactor);
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// Torque/flux limit in real world units
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void tmc4671_setTorqueFluxLimit_mA(uint16_t icID, uint16_t torqueMeasurementFactor, int32_t max);
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int32_t tmc4671_getTorqueFluxLimit_mA(uint16_t icID, uint16_t torqueMeasurementFactor);
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// Velocity mode
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void tmc4671_setTargetVelocity(uint16_t icID, int32_t targetVelocity);
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int32_t tmc4671_getTargetVelocity(uint16_t icID);
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int32_t tmc4671_getActualVelocity(uint16_t icID);
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// Position mode
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void tmc4671_setAbsolutTargetPosition(uint16_t icID, int32_t targetPosition);
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void tmc4671_setRelativeTargetPosition(uint16_t icID, int32_t relativePosition);
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int32_t tmc4671_getTargetPosition(uint16_t icID);
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void tmc4671_setActualPosition(uint16_t icID, int32_t actualPosition);
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int32_t tmc4671_getActualPosition(uint16_t icID);
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// Access for register with dependency register
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int32_t tmc4671_readFieldWithDependency(uint16_t icID, RegisterField field, uint8_t dependsReg, uint32_t dependsValue);
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#endif /* TMC_IC_TMC4671_H_ */
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