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Clean_TMC2209/lib/tmc/helpers/Macros.h

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+/*******************************************************************************
+* Copyright © 2018 TRINAMIC Motion Control GmbH & Co. KG
+* (now owned by Analog Devices Inc.),
+*
+* Copyright © 2023 Analog Devices Inc. All Rights Reserved. This software is
+* proprietary & confidential to Analog Devices, Inc. and its licensors.
+*******************************************************************************/
+
+
+#ifndef TMC_MACROS_H_
+#define TMC_MACROS_H_
+
+/* Cast a n bit signed int to a 32 bit signed int
+ * This is done by checking the MSB of the signed int (Bit n).
+ * If it is 1, the value is negative and the Bits 32 to n+1 are set to 1
+ * If it is 0, the value remains unchanged
+ */
+#define CAST_Sn_TO_S32(value, n) ((value) | (((value) & ((uint32_t)1<<((n)-1)))? ~(((uint32_t)1<<(n))-1) : 0 ))
+
+// Min/Max macros
+#ifndef MIN
+	#define MIN(a,b) (((a)<(b)) ? (a) : (b))
+#endif
+#ifndef MAX
+	#define MAX(a,b) (((a)>(b)) ? (a) : (b))
+#endif
+
+// Static Array length
+#ifndef ARRAY_SIZE
+#define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0]))
+#endif
+
+// Generic mask/shift macros
+#define FIELD_GET(data, mask, shift) \
+	(((data) & (mask)) >> (shift))
+#define FIELD_SET(data, mask, shift, value) \
+	(((data) & (~(mask))) | (((value) << (shift)) & (mask)))
+
+// Register read/write/update macros using Mask/Shift:
+#define FIELD_READ(read, motor, address, mask, shift) \
+	FIELD_GET(read(motor, address), mask, shift)
+#define FIELD_WRITE(write, motor, address, mask, shift, value) \
+	(write(motor, address, ((value)<<(shift)) & (mask)))
+#define FIELD_UPDATE(read, write, motor, address, mask, shift, value) \
+	(write(motor, address, FIELD_SET(read(motor, address), mask, shift, value)))
+
+// Macro to surpress unused parameter warnings
+#ifndef UNUSED
+	#define UNUSED(x) (void)(x)
+#endif
+
+// Memory access helpers
+// Force the compiler to access a location exactly once
+#define ACCESS_ONCE(x) *((volatile typeof(x) *) (&x))
+
+// Macro to remove write bit for shadow register array access
+#define TMC_ADDRESS(x) ((x) & (TMC_ADDRESS_MASK))
+
+#endif /* TMC_MACROS_H_ */