198 lines
6.8 KiB
C
198 lines
6.8 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 BOARD_H
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#define BOARD_H
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#include "tmc/helpers/API_Header.h"
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#include "hal/derivative.h"
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#include "hal/HAL.h"
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#include "tmc/VitalSignsMonitor.h"
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#include "tmc/ic/TMC2130/TMC2130.h"
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#include "tmc/ic/TMC2160/TMC2160.h"
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#include "tmc/ic/TMC2208/TMC2208.h"
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#include "tmc/ic/TMC2224/TMC2224.h"
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#include "tmc/ic/TMC2590/TMC2590.h"
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#include "tmc/ic/TMC2660/TMC2660.h"
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#include "tmc/ic/TMC6100/TMC6100.h"
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#include "tmc/ic/TMC6200/TMC6200.h"
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#include "tmc/ic/TMC7300/TMC7300.h"
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#include "tmc/ic/TMC2209/TMC2209.h"
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#include "tmc/ic/TMC2225/TMC2225.h"
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#include "tmc/ic/TMC2226/TMC2226.h"
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#include "tmc/ic/TMC2300/TMC2300.h"
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#include "tmc/ic/MAX22216/MAX22216.h"
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#include "tmc/ic/TMC4361A/TMC4361A.h"
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#include "tmc/ic/TMC5031/TMC5031.h"
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#include "tmc/ic/TMC5041/TMC5041.h"
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#include "tmc/ic/TMC5062/TMC5062.h"
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#include "tmc/ic/TMC5072/TMC5072.h"
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#include "tmc/ic/TMC5130/TMC5130.h"
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#include "tmc/ic/TMC5160/TMC5160.h"
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#include "tmc/ic/TMC8461/TMC8461.h"
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#include "tmc/ic/TMC8462/TMC8462.h"
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// parameter access (for axis parameters)
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#define READ 0
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#define WRITE 1
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typedef enum {
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LIMIT_MIN,
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LIMIT_MAX
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} AxisParameterLimit;
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typedef enum {
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DRIVER_DISABLE,
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DRIVER_ENABLE,
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DRIVER_USE_GLOBAL_ENABLE
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} DriverState;
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typedef enum {
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OTP_STATUS_IDLE = 0,
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OTP_STATUS_PROGRAMMING = 1,
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OTP_STATUS_DONE = 2,
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OTP_STATUS_FAILED = 3
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} OTP_Status;
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// Evalboard channel struct
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typedef struct
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{
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void *type;
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uint8_t id;
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uint32_t errors;
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int32_t VMMax;
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int32_t VMMin;
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unsigned char numberOfMotors;
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ConfigurationTypeDef *config;
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uint32_t (*left) (uint8_t motor, int32_t velocity); // move left with velocity <velocity>
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uint32_t (*right) (uint8_t motor, int32_t velocity); // move right with velocity <velocity>
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uint32_t (*rotate) (uint8_t motor, int32_t velocity); // move right with velocity <velocity>
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uint32_t (*stop) (uint8_t motor); // stop motor
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uint32_t (*moveTo) (uint8_t motor, int32_t position); // move to position <position>
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uint32_t (*moveBy) (uint8_t motor, int32_t *ticks); // move by <ticks>, changes ticks to absolute target
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uint32_t (*moveProfile) (uint8_t motor, int32_t position); // move profile <position>
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uint32_t (*SAP) (uint8_t type, uint8_t motor, int32_t value); // set axis parameter -> TMCL conformance
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uint32_t (*GAP) (uint8_t type, uint8_t motor, int32_t *value); // get axis parameter -> TMCL conformance
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uint32_t (*STAP) (uint8_t type, uint8_t motor, int32_t value); // store axis parameter -> TMCL conformance
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uint32_t (*RSAP) (uint8_t type, uint8_t motor, int32_t value); // restore axis parameter -> TMCL conformance
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uint32_t (*SIO) (uint8_t type, uint8_t motor, int32_t value);
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uint32_t (*GIO) (uint8_t type, uint8_t motor, int32_t *value);
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void (*readRegister) (uint8_t motor, uint16_t address, int32_t *value); // Motor needed since some chips utilize it as a switch between low and high values
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void (*writeRegister) (uint8_t motor, uint16_t address, int32_t value); // Motor needed since some chips utilize it as a switch between low and high values
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uint32_t (*getMeasuredSpeed) (uint8_t motor, int32_t *value);
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uint32_t (*userFunction) (uint8_t type, uint8_t motor, int32_t *value);
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void (*periodicJob) (uint32_t tick);
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void (*deInit) (void);
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void (*checkErrors) (uint32_t tick);
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void (*enableDriver) (DriverState state);
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uint8_t (*cover) (uint8_t data, uint8_t lastTransfer);
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void (*fullCover) (uint8_t *data, size_t length);
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uint32_t (*getMin) (uint8_t type, uint8_t motor, int32_t *value);
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uint32_t (*getMax) (uint8_t type, uint8_t motor, int32_t *value);
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uint8_t (*onPinChange)(IOPinTypeDef *pin, IO_States state);
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void (*OTP_init)(void);
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void (*OTP_address)(uint32_t address);
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void (*OTP_value)(uint32_t value);
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void (*OTP_program)(void);
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void (*OTP_lock)(void);
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OTP_Status (*OTP_status)(void);
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} EvalboardFunctionsTypeDef;
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// "hash" function to resolve API error <=> Map index
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inline uint8_t error_index(uint8_t error)
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{
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uint8_t i = 0;
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for(; error != 1; i++)
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error >>= 1;
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return i;
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}
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// Evalboard errors
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// TODO: Extends API Error bits. For more information, see comment in TMCError typedef.
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typedef enum {
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TMC_ERROR_TYPE = 0x04,
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TMC_ERROR_ADDRESS = 0x04,
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TMC_ERROR_NOT_DONE = 0x20
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} EvalboardErrorBit;
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// Channel identifiers required to switch between channels in readWrite
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typedef enum {
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CHANNEL_1,
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CHANNEL_2
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} EvalboardChannels;
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// struct for our Evalsystem, with two available Evalboard channels
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typedef struct
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{
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EvalboardFunctionsTypeDef ch1;
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EvalboardFunctionsTypeDef ch2;
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DriverState driverEnable; // global driver status
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} EvalboardsTypeDef;
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extern EvalboardsTypeDef Evalboards;
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typedef enum {
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TMC_BOARD_COMM_DEFAULT,
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TMC_BOARD_COMM_SPI,
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TMC_BOARD_COMM_UART,
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TMC_BOARD_COMM_WLAN
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} TMC_Board_Comm_Mode;
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// Group all the motion controller chip objects into a single union to save memory,
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// since we will only ever use one driver at a time
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typedef union {
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TMC4361ATypeDef tmc4361A;
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TMC5031TypeDef tmc5031;
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TMC5041TypeDef tmc5041;
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TMC5062TypeDef tmc5062;
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TMC5072TypeDef tmc5072;
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TMC5130TypeDef tmc5130;
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TMC5160TypeDef tmc5160;
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TMC8461TypeDef tmc8461;
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TMC8462TypeDef tmc8462;
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} MotionControllerBoards;
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extern MotionControllerBoards motionControllerBoards;
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// Group all the driver chip objects into a single union to save memory,
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// since we will only ever use one motion controller at a time
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typedef union {
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TMC2130TypeDef tmc2130;
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TMC2160TypeDef tmc2160;
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TMC2208TypeDef tmc2208;
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TMC2224TypeDef tmc2224;
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TMC2590TypeDef tmc2590;
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TMC2660TypeDef tmc2660;
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TMC7300TypeDef tmc7300;
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TMC2209TypeDef tmc2209;
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TMC2225TypeDef tmc2225;
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TMC2226TypeDef tmc2226;
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TMC2300TypeDef tmc2300;
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MAX22216TypeDef max22216;
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} DriverBoards;
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extern DriverBoards driverBoards;
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void periodicJobDummy(uint32_t tick);
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void board_setDummyFunctions(EvalboardFunctionsTypeDef *channel);
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#include "TMCDriver.h"
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#include "TMCMotionController.h"
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#endif /* BOARD_H */
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