Initial commit

2026-03-31 13:10:37 +02:00
commit 03325b9502
566 changed files with 351758 additions and 0 deletions
--- a/Clean_TMC2209/lib/tmc/ic/TMC2209/TMC2209.h
+++ b/Clean_TMC2209/lib/tmc/ic/TMC2209/TMC2209.h
@@ -0,0 +1,100 @@
+/*******************************************************************************
+* Copyright © 2019 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_IC_TMC2209_H_
+#define TMC_IC_TMC2209_H_
+
+#include "tmc/helpers/Constants.h"
+#include "tmc/helpers/API_Header.h"
+#include "TMC2209_Register.h"
+#include "TMC2209_Constants.h"
+#include "TMC2209_Fields.h"
+
+// Helper macros
+#define TMC2209_FIELD_READ(tdef, address, mask, shift) \
+	FIELD_GET(tmc2209_readInt(tdef, address), mask, shift)
+#define TMC2209_FIELD_UPDATE(tdef, address, mask, shift, value) \
+	(tmc2209_writeInt(tdef, address, FIELD_SET(tmc2209_readInt(tdef, address), mask, shift, value)))
+
+// Usage note: use 1 TypeDef per IC
+typedef struct {
+	ConfigurationTypeDef *config;
+
+	int32_t registerResetState[TMC2209_REGISTER_COUNT];
+	uint8_t registerAccess[TMC2209_REGISTER_COUNT];
+
+	uint8_t slaveAddress;
+} TMC2209TypeDef;
+
+typedef void (*tmc2209_callback)(TMC2209TypeDef*, ConfigState);
+
+// Default Register values
+#define R00 0x00000040  // GCONF
+#define R10 0x00071703  // IHOLD_IRUN
+#define R11 0x00000014  // TPOWERDOWN
+#define R6C 0x10000053  // CHOPCONF
+#define R70 0xC10D0024  // PWMCONF
+
+// Register access permissions:
+//   0x00: none (reserved)
+//   0x01: read
+//   0x02: write
+//   0x03: read/write
+//   0x13: read/write, separate functions/values for reading or writing
+//   0x23: read/write, flag register (write to clear)
+//   0x42: write, has hardware presets on reset
+static const uint8_t tmc2209_defaultRegisterAccess[TMC2209_REGISTER_COUNT] =
+{
+//  0     1     2     3     4     5     6     7     8     9     A     B     C     D     E     F
+	0x03, 0x23, 0x01, 0x02, 0x02, 0x01, 0x01, 0x03, ____, ____, ____, ____, ____, ____, ____, ____, // 0x00 - 0x0F
+	0x02, 0x02, 0x01, 0x02, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x10 - 0x1F
+	____, ____, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x20 - 0x2F
+	____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x30 - 0x3F
+	0x02, 0x01, 0x02, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x40 - 0x4F
+	____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, // 0x50 - 0x5F
+	____, ____, ____, ____, ____, ____, ____, ____, ____, ____, 0x01, 0x01, 0x03, ____, ____, 0x01, // 0x60 - 0x6F
+	0x03, 0x01, 0x01, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____, ____  // 0x70 - 0x7F
+};
+
+static const int32_t tmc2209_defaultRegisterResetState[TMC2209_REGISTER_COUNT] =
+{
+//	0    1    2    3    4    5    6    7    8    9    A    B    C    D    E    F
+	R00, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0, // 0x00 - 0x0F
+	R10, R11, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0, // 0x10 - 0x1F
+	0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0, // 0x20 - 0x2F
+	0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0, // 0x30 - 0x3F
+	0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0, // 0x40 - 0x4F
+	0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0, // 0x50 - 0x5F
+	0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   R6C, 0,   0,   0, // 0x60 - 0x6F
+	R70, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0  // 0x70 - 0x7F
+};
+
+// Undefine the default register values.
+// This prevents warnings in case multiple TMC-API chip headers are included at once
+#undef R00
+#undef R10
+#undef R11
+#undef R6C
+#undef R70
+
+// Communication
+void tmc2209_writeInt(TMC2209TypeDef *tmc2209, uint8_t address, int32_t value);
+int32_t tmc2209_readInt(TMC2209TypeDef *tmc2209, uint8_t address);
+
+void tmc2209_init(TMC2209TypeDef *tmc2209, uint8_t channel, uint8_t slaveAddress, ConfigurationTypeDef *tmc2209_config, const int32_t *registerResetState);
+uint8_t tmc2209_reset(TMC2209TypeDef *tmc2209);
+uint8_t tmc2209_restore(TMC2209TypeDef *tmc2209);
+void tmc2209_setRegisterResetState(TMC2209TypeDef *tmc2209, const int32_t *resetState);
+void tmc2209_setCallback(TMC2209TypeDef *tmc2209, tmc2209_callback callback);
+void tmc2209_periodicJob(TMC2209TypeDef *tmc2209, uint32_t tick);
+
+uint8_t tmc2209_get_slave(TMC2209TypeDef *tmc2209);
+void tmc2209_set_slave(TMC2209TypeDef *tmc2209, uint8_t slaveAddress);
+
+#endif /* TMC_IC_TMC2209_H_ */