359 lines
12 KiB
C
Executable File
359 lines
12 KiB
C
Executable File
/*******************************************************************************
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* Copyright © 2025 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 "TMC9660.h"
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// ToDo: Make the timing function & callback usable with multiple TMC-API chips in use.
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void tmc_delayMicroseconds(uint32_t microseconds)
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{
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uint32_t timestamp = tmc_getMicrosecondTimestamp();
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while (tmc_getMicrosecondTimestamp() - timestamp < microseconds);
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}
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#ifdef TMC_API_EXTERNAL_CRC_TABLE
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extern const uint8_t tmcCRCTable_Poly7Reflected[256];
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#else
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const uint8_t tmcCRCTable_Poly7Reflected[256] = {
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0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
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0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
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0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
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0x24, 0xB5, 0xC7, 0x56, 0x23, 0xB2, 0xC0, 0x51, 0x2A, 0xBB, 0xC9, 0x58, 0x2D, 0xBC, 0xCE, 0x5F,
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0x70, 0xE1, 0x93, 0x02, 0x77, 0xE6, 0x94, 0x05, 0x7E, 0xEF, 0x9D, 0x0C, 0x79, 0xE8, 0x9A, 0x0B,
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0x6C, 0xFD, 0x8F, 0x1E, 0x6B, 0xFA, 0x88, 0x19, 0x62, 0xF3, 0x81, 0x10, 0x65, 0xF4, 0x86, 0x17,
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0x48, 0xD9, 0xAB, 0x3A, 0x4F, 0xDE, 0xAC, 0x3D, 0x46, 0xD7, 0xA5, 0x34, 0x41, 0xD0, 0xA2, 0x33,
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0x54, 0xC5, 0xB7, 0x26, 0x53, 0xC2, 0xB0, 0x21, 0x5A, 0xCB, 0xB9, 0x28, 0x5D, 0xCC, 0xBE, 0x2F,
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0xE0, 0x71, 0x03, 0x92, 0xE7, 0x76, 0x04, 0x95, 0xEE, 0x7F, 0x0D, 0x9C, 0xE9, 0x78, 0x0A, 0x9B,
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0xFC, 0x6D, 0x1F, 0x8E, 0xFB, 0x6A, 0x18, 0x89, 0xF2, 0x63, 0x11, 0x80, 0xF5, 0x64, 0x16, 0x87,
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0xD8, 0x49, 0x3B, 0xAA, 0xDF, 0x4E, 0x3C, 0xAD, 0xD6, 0x47, 0x35, 0xA4, 0xD1, 0x40, 0x32, 0xA3,
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0xC4, 0x55, 0x27, 0xB6, 0xC3, 0x52, 0x20, 0xB1, 0xCA, 0x5B, 0x29, 0xB8, 0xCD, 0x5C, 0x2E, 0xBF,
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0x90, 0x01, 0x73, 0xE2, 0x97, 0x06, 0x74, 0xE5, 0x9E, 0x0F, 0x7D, 0xEC, 0x99, 0x08, 0x7A, 0xEB,
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0x8C, 0x1D, 0x6F, 0xFE, 0x8B, 0x1A, 0x68, 0xF9, 0x82, 0x13, 0x61, 0xF0, 0x85, 0x14, 0x66, 0xF7,
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0xA8, 0x39, 0x4B, 0xDA, 0xAF, 0x3E, 0x4C, 0xDD, 0xA6, 0x37, 0x45, 0xD4, 0xA1, 0x30, 0x42, 0xD3,
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0xB4, 0x25, 0x57, 0xC6, 0xB3, 0x22, 0x50, 0xC1, 0xBA, 0x2B, 0x59, 0xC8, 0xBD, 0x2C, 0x5E, 0xCF,
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};
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#endif
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// Helper functions
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static int32_t tmc9660_bl_sendCommand_UART(uint16_t icID, uint8_t cmd, uint32_t writeValue, uint32_t *readValue);
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static int32_t tmc9660_param_sendCommand_UART(uint16_t icID, uint8_t cmd, uint16_t type, uint8_t index, uint32_t writeValue, uint32_t *readValue);
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static int32_t tmc9660_param_getVersionASCII_UART(uint16_t icID, uint8_t *versionString);
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static int32_t tmc9660_param_returnToBootloader_UART(uint16_t icID);
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static int32_t tmc9660_reg_sendCommand_UART(uint16_t icID, uint8_t cmd, uint16_t registerOffset, uint8_t registerBlock, uint32_t writeValue, uint32_t *readValue);
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static uint8_t calcParamChecksum(uint8_t *data, uint32_t bytes);
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static uint8_t CRC8(uint8_t *data, uint32_t bytes);
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/*** General functions implementation ********************************************/
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#if TMC_API_TMC9660_FAULT_PIN_SUPPORTED != 0
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void tmc9660_waitForFaultDeassertion(uint16_t icID)
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{
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// ToDo: Support timeouts
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while (tmc9660_isFaultPinAsserted(icID));
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}
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#endif
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/*** Bootstrapping code implementation *******************************************/
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int32_t tmc9660_bl_sendCommand(uint16_t icID, uint8_t cmd, uint32_t writeValue, uint32_t *readValue)
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{
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TMC9660BusType bus = tmc9660_getBusType(icID);
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if(bus == TMC9660_BUS_SPI)
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{
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// ToDo: SPI support
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}
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else if(bus == TMC9660_BUS_UART)
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{
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return tmc9660_bl_sendCommand_UART(icID, cmd, writeValue, readValue);
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}
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return -1;
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}
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static int32_t tmc9660_bl_sendCommand_UART(uint16_t icID, uint8_t cmd, uint32_t writeValue, uint32_t *readValue)
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{
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uint8_t data[8] = { 0 };
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TMC9660BusAddresses addresses = tmc9660_getBusAddresses(icID);
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data[0] = 0x55; // Sync byte
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data[1] = 0x01 | (addresses.device); // Device Address
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data[2] = cmd; // Command
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data[3] = (writeValue >> 24) & 0xFF;
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data[4] = (writeValue >> 16) & 0xFF;
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data[5] = (writeValue >> 8 ) & 0xFF;
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data[6] = (writeValue ) & 0xFF;
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data[7] = CRC8(data, 7);
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if (!tmc9660_readWriteUART(icID, &data[0], 8, 8)) {
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return -1;
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}
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if (readValue)
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{
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*readValue = ((uint32_t)data[3] << 24) | ((uint32_t)data[4] << 16) | ((uint32_t)data[5] << 8) | data[6];
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}
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// Workaround: Wait a short moment before proceeding
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tmc_delayMicroseconds(10);
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return data[2];
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}
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static uint8_t CRC8(uint8_t *data, uint32_t bytes)
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{
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uint8_t result = 0;
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while(bytes--)
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result = tmcCRCTable_Poly7Reflected[result ^ *data++];
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// Flip the result around
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// swap odd and even bits
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result = ((result >> 1) & 0x55) | ((result & 0x55) << 1);
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// swap consecutive pairs
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result = ((result >> 2) & 0x33) | ((result & 0x33) << 2);
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// swap nibbles ...
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result = ((result >> 4) & 0x0F) | ((result & 0x0F) << 4);
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return result;
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}
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/*** Command sending implementation *******************************************/
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int32_t tmc9660_param_sendCommand(uint16_t icID, uint8_t cmd, uint16_t type, uint8_t index, uint32_t writeValue, uint32_t *readValue)
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{
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TMC9660BusType bus = tmc9660_getBusType(icID);
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if(bus == TMC9660_BUS_SPI)
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{
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// ToDo: SPI support
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}
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else if(bus == TMC9660_BUS_UART)
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{
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return tmc9660_param_sendCommand_UART(icID, cmd, type, index, writeValue, readValue);
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}
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return -1;
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}
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int32_t tmc9660_param_getVersionASCII(uint16_t icID, uint8_t *versionString)
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{
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TMC9660BusType bus = tmc9660_getBusType(icID);
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if(bus == TMC9660_BUS_SPI)
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{
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// ToDo: SPI support
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}
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else if(bus == TMC9660_BUS_UART)
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{
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return tmc9660_param_getVersionASCII_UART(icID, versionString);
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}
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return -1;
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}
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int32_t tmc9660_param_returnToBootloader(uint16_t icID)
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{
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TMC9660BusType bus = tmc9660_getBusType(icID);
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if(bus == TMC9660_BUS_SPI)
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{
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// ToDo: SPI support
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}
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else if(bus == TMC9660_BUS_UART)
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{
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return tmc9660_param_returnToBootloader_UART(icID);
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}
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return -1;
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}
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static bool sendRequestUART(uint16_t icID, uint8_t cmd, uint16_t type, uint8_t index, uint32_t writeValue, uint8_t *data, TMC9660BusAddresses addresses, bool expectReply)
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{
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// Create the request datagram
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uint8_t syncByte = 0x01 | (addresses.device);
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data[0] = syncByte; // Module Address & sync bit
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data[1] = cmd;
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data[2] = type & 0xFF;
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data[3] = (type >> 8) << 4 | (index & 0x0F); // ToDo: Do we wanna do the 4/12 split at this function's arguments?
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data[4] = (writeValue >> 24) & 0xFF;
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data[5] = (writeValue >> 16) & 0xFF;
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data[6] = (writeValue >> 8) & 0xFF;
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data[7] = (writeValue) & 0xFF;
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data[8] = calcParamChecksum(&data[0], 8);
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return tmc9660_readWriteUART(icID, &data[0], 9, (expectReply)? 9:0);
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}
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static int32_t tmc9660_param_sendCommand_UART(uint16_t icID, uint8_t cmd, uint16_t type, uint8_t index, uint32_t writeValue, uint32_t *readValue)
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{
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uint8_t data[9] = { 0 };
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TMC9660BusAddresses addresses = tmc9660_getBusAddresses(icID);
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if (!sendRequestUART(icID, cmd, type, index, writeValue, data, addresses, true))
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return -2;
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uint8_t syncByte = 0x01 | (addresses.device);
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// Unpack the reply
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if (data[0] != addresses.host)
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return -3;
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if (data[1] != syncByte)
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return -4;
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if (data[8] != calcParamChecksum(&data[0], 8))
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return -5;
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if (readValue)
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{
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*readValue = ((uint32_t)data[4] << 24) | ((uint32_t)data[5] << 16) | (data[6] << 8) | data[7];
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}
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return data[2];
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}
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static int32_t tmc9660_param_getVersionASCII_UART(uint16_t icID, uint8_t *versionString)
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{
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uint8_t data[9] = { 0 };
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TMC9660BusAddresses addresses = tmc9660_getBusAddresses(icID);
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if (!sendRequestUART(icID, TMC9660_CMD_GET_VERSION, 0, 0, 0, data, addresses, true))
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return -2;
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versionString[0] = data[1];
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versionString[1] = data[2];
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versionString[2] = data[3];
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versionString[3] = data[4];
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versionString[4] = data[5];
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versionString[5] = data[6];
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versionString[6] = data[7];
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versionString[7] = data[8];
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return 0;
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}
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static int32_t tmc9660_param_returnToBootloader_UART(uint16_t icID)
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{
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uint8_t data[9] = { 0 };
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TMC9660BusAddresses addresses = tmc9660_getBusAddresses(icID);
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if (!sendRequestUART(icID, TMC9660_CMD_BOOT, 0x981, 0x2, 0xA3B4C5D6, data, addresses, false))
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return -2;
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return 0;
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}
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int32_t tmc9660_reg_sendCommand(uint16_t icID, uint8_t cmd, uint16_t registerOffset, uint8_t registerBlock, uint32_t writeValue, uint32_t *readValue)
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{
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TMC9660BusType bus = tmc9660_getBusType(icID);
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if(bus == TMC9660_BUS_SPI)
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{
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// ToDo: SPI support
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}
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else if(bus == TMC9660_BUS_UART)
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{
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return tmc9660_reg_sendCommand_UART(icID, cmd, registerOffset, registerBlock, writeValue, readValue);
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}
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return -1;
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}
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int32_t tmc9660_reg_getVersionASCII(uint16_t icID, uint8_t *versionString)
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{
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// In the underlying protocol, register and parameter mode work identically
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// for this special command
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return tmc9660_param_getVersionASCII(icID, versionString);
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}
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int32_t tmc9660_reg_returnToBootloader(uint16_t icID)
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{
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// In the underlying protocol, register and parameter mode work identically
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// for this special command
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return tmc9660_param_returnToBootloader(icID);
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}
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static int32_t tmc9660_reg_sendCommand_UART(uint16_t icID, uint8_t cmd, uint16_t registerOffset, uint8_t registerBlock, uint32_t writeValue, uint32_t *readValue)
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{
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uint8_t data[9] = { 0 };
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TMC9660BusAddresses addresses = tmc9660_getBusAddresses(icID);
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// Create the request datagram
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uint8_t syncByte = 0x01 | (addresses.device);
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data[0] = syncByte; // Module Address & sync bit
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data[1] = cmd;
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data[2] = registerOffset & 0xFF;
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data[3] = (registerOffset >> 8) << 5 | (registerBlock & 0x1F);
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data[4] = (writeValue >> 24) & 0xFF;
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data[5] = (writeValue >> 16) & 0xFF;
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data[6] = (writeValue >> 8) & 0xFF;
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data[7] = (writeValue) & 0xFF;
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data[8] = calcParamChecksum(&data[0], 8);
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if (!tmc9660_readWriteUART(icID, &data[0], 9, 9))
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return -2;
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// Unpack the reply
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if (data[0] != addresses.host)
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return -3;
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if (data[1] != syncByte)
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return -4;
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if (data[8] != calcParamChecksum(&data[0], 8))
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return -5;
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if (readValue)
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{
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*readValue = ((uint32_t)data[4] << 24) | ((uint32_t)data[5] << 16) | (data[6] << 8) | data[7];
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}
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return data[2];
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}
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static uint8_t calcParamChecksum(uint8_t *data, uint32_t bytes)
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{
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uint8_t checksum = 0;
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for (uint32_t i = 0; i < bytes; i++)
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{
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checksum += data[i];
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}
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return checksum;
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}
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/*******************************************************************************************************************************************************************/
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uint32_t tmc9660_param_getParameter(uint16_t icID, uint16_t type)
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{
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uint32_t value = 0;
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tmc9660_param_sendCommand(icID, TMC9660_CMD_GAP, type, 0, value, &value);
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return value;
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}
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bool tmc9660_param_setParameter(uint16_t icID, uint16_t type, uint32_t value)
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{
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int32_t result = tmc9660_param_sendCommand(icID, TMC9660_CMD_SAP, type, 0, value, &value);
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return result == TMC9660_PARAMSTATUS_OK;
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}
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uint32_t tmc9660_param_getGlobalParameter(uint16_t icID, uint16_t index)
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{
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uint32_t value = 0;
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tmc9660_param_sendCommand(icID, TMC9660_CMD_GGP, index, 0, value, &value);
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return value;
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}
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bool tmc9660_param_setGlobalParameter(uint16_t icID, uint16_t index, uint32_t value)
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{
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int32_t result = tmc9660_param_sendCommand(icID, TMC9660_CMD_SGP, index, 0, value, &value);
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return result == TMC9660_PARAMSTATUS_OK;
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}
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