101 lines
4.7 KiB
C
101 lines
4.7 KiB
C
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/*******************************************************************************
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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 © 2023 Analog Devices Inc. All Rights Reserved. This software is
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* proprietary & confidential to Analog Devices, Inc. and its licensors.
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*******************************************************************************/
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#ifndef TMC_IC_TMC2209_H_
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#define TMC_IC_TMC2209_H_
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#include "tmc/helpers/Constants.h"
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#include "tmc/helpers/API_Header.h"
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#include "TMC2209_Register.h"
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#include "TMC2209_Constants.h"
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#include "TMC2209_Fields.h"
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// Helper macros
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#define TMC2209_FIELD_READ(tdef, address, mask, shift) \
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FIELD_GET(tmc2209_readInt(tdef, address), mask, shift)
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#define TMC2209_FIELD_UPDATE(tdef, address, mask, shift, value) \
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(tmc2209_writeInt(tdef, address, FIELD_SET(tmc2209_readInt(tdef, address), mask, shift, value)))
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// Usage note: use 1 TypeDef per IC
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typedef struct {
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ConfigurationTypeDef *config;
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int32_t registerResetState[TMC2209_REGISTER_COUNT];
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uint8_t registerAccess[TMC2209_REGISTER_COUNT];
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uint8_t slaveAddress;
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} TMC2209TypeDef;
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typedef void (*tmc2209_callback)(TMC2209TypeDef*, ConfigState);
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// Default Register values
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#define R00 0x00000040 // GCONF
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#define R10 0x00071703 // IHOLD_IRUN
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#define R11 0x00000014 // TPOWERDOWN
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#define R6C 0x10000053 // CHOPCONF
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#define R70 0xC10D0024 // PWMCONF
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// Register access permissions:
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// 0x00: none (reserved)
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// 0x01: read
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// 0x02: write
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// 0x03: read/write
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// 0x13: read/write, separate functions/values for reading or writing
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// 0x23: read/write, flag register (write to clear)
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// 0x42: write, has hardware presets on reset
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static const uint8_t tmc2209_defaultRegisterAccess[TMC2209_REGISTER_COUNT] =
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{
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// 0 1 2 3 4 5 6 7 8 9 A B C D E F
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0x03, 0x23, 0x01, 0x02, 0x02, 0x01, 0x01, 0x03, ____, ____, ____, ____, ____, ____, ____, ____, // 0x00 - 0x0F
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0x02, 0x02, 0x01, 0x02, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x10 - 0x1F
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____, ____, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x20 - 0x2F
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____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x30 - 0x3F
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0x02, 0x01, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x40 - 0x4F
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____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x50 - 0x5F
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____, ____, ____, ____, ____, ____, ____, ____, ____, ____, 0x01, 0x01, 0x03, ____, ____, 0x01, // 0x60 - 0x6F
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0x03, 0x01, 0x01, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____ // 0x70 - 0x7F
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};
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static const int32_t tmc2209_defaultRegisterResetState[TMC2209_REGISTER_COUNT] =
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{
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// 0 1 2 3 4 5 6 7 8 9 A B C D E F
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R00, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x00 - 0x0F
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R10, R11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x10 - 0x1F
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x20 - 0x2F
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x30 - 0x3F
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x40 - 0x4F
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 0x50 - 0x5F
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, R6C, 0, 0, 0, // 0x60 - 0x6F
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R70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // 0x70 - 0x7F
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};
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// Undefine the default register values.
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// This prevents warnings in case multiple TMC-API chip headers are included at once
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#undef R00
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#undef R10
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#undef R11
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#undef R6C
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#undef R70
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// Communication
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void tmc2209_writeInt(TMC2209TypeDef *tmc2209, uint8_t address, int32_t value);
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int32_t tmc2209_readInt(TMC2209TypeDef *tmc2209, uint8_t address);
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void tmc2209_init(TMC2209TypeDef *tmc2209, uint8_t channel, uint8_t slaveAddress, ConfigurationTypeDef *tmc2209_config, const int32_t *registerResetState);
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uint8_t tmc2209_reset(TMC2209TypeDef *tmc2209);
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uint8_t tmc2209_restore(TMC2209TypeDef *tmc2209);
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void tmc2209_setRegisterResetState(TMC2209TypeDef *tmc2209, const int32_t *resetState);
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void tmc2209_setCallback(TMC2209TypeDef *tmc2209, tmc2209_callback callback);
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void tmc2209_periodicJob(TMC2209TypeDef *tmc2209, uint32_t tick);
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uint8_t tmc2209_get_slave(TMC2209TypeDef *tmc2209);
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void tmc2209_set_slave(TMC2209TypeDef *tmc2209, uint8_t slaveAddress);
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#endif /* TMC_IC_TMC2209_H_ */
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