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Alexandre Gut
2026-03-31 13:10:37 +02:00
commit 03325b9502
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TMC2209/Tmc2209.h Normal file
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// Tmc2209.h
#ifndef TMC2209_H
#define TMC2209_H
#include "pico/stdlib.h"
#include "Tmc_uart.h"
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <math.h>
#include <string.h>
typedef struct {
TMC_UART* serial_instance;
int mtr_id;
uint8_t rFrame[4];
uint8_t wFrame[8];
uint64_t result[4];
} TMC2209;
//======================================================================================
// New def of reg, not use
//======================================================================================
typedef union {
uint8_t data[8];
struct {
uint8_t adrress;
uint8_t mtr_id;
uint8_t reg;
uint8_t payload;
uint8_t crc;
} msg;
} TMC_uart_write_datagram_t;
typedef union {
uint8_t data[4];
struct {
uint8_t adrress;
uint8_t mtr_id;
uint8_t reg;
uint8_t crc8;
} msg;
} TMC_uart_read_datagram_t;
enum tmc2209_regaddr_t {
GCONF = 0x00,
GSTAT = 0x01,
IFCNT = 0x02,
SLAVECONF = 0x03,
OTP_PROG = 0x04,
OTP_READ = 0x05,
IOIN = 0x06,
FACTORY_CONF = 0x07,
IHOLD_IRUN = 0x10,
TPOWERDOWN = 0x11,
TSTEP = 0x12,
TPWMTHRS = 0x13,
VACTUAL = 0x22,
TCOOLTHRS = 0x14,
SGTHRS = 0x40,
SG_RESULT = 0x41,
COOLCONF = 0x42,
MSCNT = 0x6A,
MSCURACT = 0x6B,
CHOPCONF = 0x6C,
DRV_STATUS = 0x6F,
PWMCONF = 0x70,
PWM_SCALE = 0x71,
PWM_AUTO = 0x72,
LAST_ADDR = PWM_AUTO
};
typedef union {
uint8_t value;
struct {
uint8_t
reset_flag :1,
driver_error :1,
sg2 :1,
standstill :1,
unused :4;
};
} TMC2209_status_t;
// --- register definitions ---
// GCONF : RW
typedef union {
uint32_t value;
struct {
uint32_t
I_scale_analog :1,
internal_Rsense :1,
en_spreadcycle :1,
shaft :1,
index_otpw :1,
index_step :1,
pdn_disable :1,
mstep_reg_select :1,
multistep_filt :1,
test_mode :1,
reserved :22;
};
} TMC2209_gconf_reg_t;
// GSTAT : R+C
typedef union {
uint32_t value;
struct {
uint32_t
reset :1,
drv_err :1,
uv_cp :1,
reserved :29;
};
} TMC2209_gstat_reg_t;
// IFCNT : R
typedef union {
uint32_t value;
struct {
uint32_t
count :8,
reserved :24;
};
} TMC2209_ifcnt_reg_t;
// SLAVECONF : W
typedef union {
uint32_t value;
struct {
uint32_t
reserved0 :8,
conf :4,
reserved1 :20;
};
} TMC2209_slaveconf_reg_t;
// OTP_PROG : W
typedef union {
uint32_t value;
struct {
uint32_t
otpbit :2,
otpbyte :2,
otpmagic :28;
};
} TMC2209_otp_prog_reg_t;
// OTP_READ : R
typedef union {
uint32_t value;
struct {
uint32_t
otp0_0_4 :5,
otp0_5 :1,
otp0_6 :1,
otp0_7 :1,
otp1_0_3 :4,
otp1_4 :1,
otp1_5_7 :3,
otp2_0 :1,
otp2_1 :1,
otp2_2 :1,
otp2_3_4 :2,
otp2_5_6 :2,
otp2_7 :1,
reserved :8;
};
} TMC2209_otp_read_reg_t;
// IOIN : R
typedef union {
uint32_t value;
struct {
uint32_t
enn :1,
unused0 :1,
ms1 :1,
ms2 :1,
diag :1,
unused1 :1,
pdn_uart :1,
step :1,
spread_en :1,
dir :1,
reserved :14,
version :8;
};
} TMC2209_ioin_reg_t;
// FACTORY_CONF : RW
typedef union {
uint32_t value;
struct {
uint32_t
fclktrim :4,
reserved1 :3,
ottrim :2,
reserved :23;
};
} TMC2209_factory_conf_reg_t;
// IHOLD_IRUN : R
typedef union {
uint32_t value;
struct {
uint32_t
ihold :5,
reserved1 :3,
irun :5,
reserved2 :3,
iholddelay :4,
reserved3 :12;
};
} TMC2209_ihold_irun_reg_t;
// TPOWERDOWN : W
typedef union {
uint32_t value;
struct {
uint32_t
tpowerdown :8,
reserved :24;
};
} TMC2209_tpowerdown_reg_t;
// TSTEP : R
typedef union {
uint32_t value;
struct {
uint32_t
tstep :20,
reserved :12;
};
} TMC2209_tstep_reg_t;
// TPWMTHRS : W
typedef union {
uint32_t value;
struct {
uint32_t
tpwmthrs :20,
reserved :12;
};
} TMC2209_tpwmthrs_reg_t;
// TCOOLTHRS : W
typedef union {
uint32_t value;
struct {
uint32_t
tcoolthrs :20,
reserved :12;
};
} TMC2209_tcoolthrs_reg_t;
// VACTUAL : W
typedef union {
uint32_t value;
struct {
uint32_t
actual :24,
reserved :8;
};
} TMC2209_vactual_reg_t;
// SGTHRS : W
typedef union {
uint32_t value;
struct {
uint32_t
threshold :8,
reserved :24;
};
} TMC2209_sgthrs_reg_t;
// SG_RESULT : R
typedef union {
uint32_t value;
struct {
uint32_t
result :10,
reserved :22;
};
} TMC2209_sg_result_reg_t;
// MSCNT : R
typedef union {
uint32_t value;
struct {
uint32_t
mscnt :10,
reserved :22;
};
} TMC2209_mscnt_reg_t;
// MSCURACT : R
typedef union {
uint32_t value;
struct {
uint32_t
cur_a :9,
reserved1 :7,
cur_b :9,
reserved2 :7;
};
} TMC2209_mscuract_reg_t;
// CHOPCONF : RW
typedef union {
uint32_t value;
struct {
uint32_t
toff :4,
hstrt :3,
hend :4,
reserved0 :4,
tbl :2,
vsense :1,
reserved1 :6,
mres :4,
intpol :1,
dedge :1,
diss2g :1,
diss2vs :1;
};
} TMC2209_chopconf_reg_t;
// DRV_STATUS : R
typedef union {
uint32_t value;
struct {
uint32_t
otpw :1,
ot :1,
s2ga :1,
s2gb :1,
s2vsa :1,
s2vsb :1,
ola :1,
olb :1,
t120 :1,
t143 :1,
t150 :1,
t157 :1,
reserved1 :4,
cs_actual :5,
reserved2 :3,
reserved3 :6,
stealth :1,
stst :1;
};
} TMC2209_drv_status_reg_t;
// COOLCONF : W
typedef union {
uint32_t value;
struct {
uint32_t
semin :4,
reserved1 :1,
seup :2,
reserved2 :1,
semax :4,
reserved3 :1,
sedn :2,
seimin :1,
reserved5 :16;
};
} TMC2209_coolconf_reg_t;
// PWMCONF : W
typedef union {
uint32_t value;
struct {
uint32_t
pwm_ofs :8,
pwm_grad :8,
pwm_freq :2,
pwm_autoscale :1,
pwm_autograd :1,
freewheel :2,
reserved :2,
pwm_reg :4,
pwm_lim :4;
};
} TMC2209_pwmconf_reg_t;
// PWM_SCALE : R
typedef union {
uint32_t value;
struct {
uint32_t
pwm_scale_sum :8,
reserved1 :8,
pwm_scale_auto :9,
reserved2 :7;
};
} TMC2209_pwm_scale_reg_t;
// PWM_AUTO : R
typedef union {
uint32_t value;
struct {
uint32_t
pwm_ofs_auto :8,
unused0 :8,
pwm_grad_auto :8,
unused1 :8;
};
} TMC2209_pwm_auto_ctrl_reg_t;
// --- end of register definitions ---
typedef union {
// tmc2209_regaddr_t reg;
uint8_t value;
struct {
uint8_t
idx :7,
write :1;
};
} TMC2209_addr_t;
// --- datagrams ---
typedef struct {
TMC2209_addr_t addr;
TMC2209_gconf_reg_t reg;
} TMC2209_gconf_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_gstat_reg_t reg;
} TMC2209_gstat_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_tpowerdown_reg_t reg;
} TMC2209_tpowerdown_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_ifcnt_reg_t reg;
} TMC2209_ifcnt_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_slaveconf_reg_t reg;
} TMC2209_slaveconf_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_otp_prog_reg_t reg;
} TMC2209_otp_prog_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_otp_read_reg_t reg;
} TMC2209_otp_read_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_ioin_reg_t reg;
} TMC2209_ioin_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_factory_conf_reg_t reg;
} TMC2209_factory_conf_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_ihold_irun_reg_t reg;
} TMC2209_ihold_irun_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_tstep_reg_t reg;
} TMC2209_tstep_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_tpwmthrs_reg_t reg;
} TMC2209_tpwmthrs_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_tcoolthrs_reg_t reg;
} TMC2209_tcoolthrs_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_vactual_reg_t reg;
} TMC2209_vactual_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_sgthrs_reg_t reg;
} TMC2209_sgthrs_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_sg_result_reg_t reg;
} TMC2209_sg_result_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_mscnt_reg_t reg;
} TMC2209_mscnt_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_mscuract_reg_t reg;
} TMC2209_mscuract_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_chopconf_reg_t reg;
} TMC2209_chopconf_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_drv_status_reg_t reg;
} TMC2209_drv_status_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_coolconf_reg_t reg;
} TMC2209_coolconf_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_pwmconf_reg_t reg;
} TMC2209_pwmconf_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_pwm_scale_reg_t reg;
} TMC2209_pwm_scale_dgr_t;
typedef struct {
TMC2209_addr_t addr;
TMC2209_pwm_auto_ctrl_reg_t reg;
} TMC2209_pwm_auto_ctrl_dgr_t;
// -- end of datagrams
typedef union {
uint32_t value;
uint8_t data[4];
TMC2209_gconf_reg_t gconf;
TMC2209_gstat_reg_t gstat;
TMC2209_ifcnt_reg_t ifcnt;
TMC2209_slaveconf_reg_t slaveconf;
TMC2209_otp_prog_reg_t otp_prog;
TMC2209_otp_read_reg_t otp_read;
TMC2209_ioin_reg_t ioin;
TMC2209_factory_conf_reg_t factory_conf;
TMC2209_ihold_irun_reg_t ihold_irun;
TMC2209_tpowerdown_reg_t tpowerdown;
TMC2209_tstep_reg_t tstep;
TMC2209_tpwmthrs_reg_t tpwmthrs;
TMC2209_tcoolthrs_reg_t tcoolthrs;
TMC2209_vactual_reg_t vactual;
TMC2209_sgthrs_reg_t sgthrs;
TMC2209_sg_result_reg_t sg_result;
TMC2209_coolconf_reg_t coolconf;
TMC2209_mscnt_reg_t mscnt;
TMC2209_mscuract_reg_t mscuract;
TMC2209_chopconf_reg_t chopconf;
TMC2209_drv_status_reg_t drv_status;
TMC2209_pwmconf_reg_t pwmconf;
TMC2209_pwm_scale_reg_t pwm_scale;
TMC2209_pwm_auto_ctrl_reg_t pwm_auto_ctrl;
} TMC2209_payload;
typedef struct {
TMC2209_addr_t addr;
TMC2209_payload payload;
} TMC2209_datagram_t;
typedef union {
uint8_t data[8];
struct {
uint8_t sync;
uint8_t slave;
TMC2209_addr_t addr;
TMC2209_payload payload;
uint8_t crc;
} msg;
} TMC2209_write_datagram_t;
typedef union {
uint8_t data[4];
struct {
uint8_t sync;
uint8_t slave;
TMC2209_addr_t addr;
uint8_t crc;
} msg;
} TMC2209_read_datagram_t;
typedef struct {
// driver registers
TMC2209_gconf_dgr_t gconf;
TMC2209_gstat_dgr_t gstat;
TMC2209_ifcnt_dgr_t ifcnt;
TMC2209_slaveconf_dgr_t slaveconf;
TMC2209_otp_prog_dgr_t otp_prog;
TMC2209_otp_read_dgr_t otp_read;
TMC2209_ioin_dgr_t ioin;
TMC2209_factory_conf_dgr_t factory_conf;
TMC2209_ihold_irun_dgr_t ihold_irun;
TMC2209_tpowerdown_dgr_t tpowerdown;
TMC2209_tstep_dgr_t tstep;
TMC2209_tpwmthrs_dgr_t tpwmthrs;
TMC2209_tcoolthrs_dgr_t tcoolthrs;
TMC2209_vactual_dgr_t vactual;
TMC2209_sgthrs_dgr_t sgthrs;
TMC2209_sg_result_dgr_t sg_result;
TMC2209_coolconf_dgr_t coolconf;
TMC2209_mscnt_dgr_t mscnt;
TMC2209_mscuract_dgr_t mscuract;
TMC2209_chopconf_dgr_t chopconf;
TMC2209_drv_status_dgr_t drv_status;
TMC2209_pwmconf_dgr_t pwmconf;
TMC2209_pwm_scale_dgr_t pwm_scale;
TMC2209_pwm_auto_ctrl_dgr_t pwm_auto;
TMC2209_status_t driver_status;
// trinamic_config_t config;
} TMC2209_t;
//======================================================================================
void TMC2209_Init(TMC2209* tmc2209, TMC_UART* serial_instance); //ok
void TMC2209_destroy(TMC2209* tmc2209); //TODO
uint8_t compute_crc8_atm(const uint8_t *datagram, size_t length, uint8_t initial_value); //ok
uint64_t* read_reg(TMC2209* tmc2209, int reg) ; //ok
uint32_t read_int(TMC2209* tmc2209, int reg); //ok
bool write_reg(TMC2209* tmc2209, int reg, int val); //ok
bool write_reg_check(TMC2209* tmc2209, int reg, int val) ; //ok
void driver_status(TMC2209* tmc2209); //NotWork
void general_config(TMC2209* tmc2209); //NotWork
void general_stat(TMC2209* tmc2209); //NotWork
bool set_vactual(TMC2209* tmc2209, int value); //ok
void set_voltage_sense(TMC2209* tmc2209, bool enabled); //ok
bool get_voltage_sense(TMC2209* tmc2209); //ok
void set_current_flow(TMC2209* tmc2209, double run_current, double hold_current_multiplier, int hold_current_delay, double Vref);//averif NotWork
int get_iscale_analog(TMC2209* tmc2209); //ok
void set_iscale_analog(TMC2209* tmc2209, bool enabled); //ok
int get_interpolation(TMC2209* tmc2209); //ok
void set_interpolation(TMC2209* tmc2209, bool enabled); //ok
int get_internal_resistor_sense(TMC2209* tmc2209); //ok
void set_internal_resistor_sense(TMC2209* tmc2209, bool enabled); //ok
int get_spread_cycle(TMC2209* tmc2209); //NotWork
void set_spread_cycle(TMC2209* tmc2209, bool enabled); //NotWork
void set_microstepping_resolution(TMC2209* tmc2209, int msres); //ok
int get_microstepping_resolution(TMC2209* tmc2209); //ok
void set_microstep_resolution_regselect(TMC2209* tmc2209, bool enabled); //ok
void set_irun_ihold(TMC2209* tmc2209, double IHold, double IRun, int IHoldDelay); //ok
int get_direction_shart(TMC2209* tmc2209); //ok
void ioin(TMC2209* tmc2209);
void clear_general_stat(TMC2209* tmc2209); //ok
void set_direction_shart(TMC2209* tmc2209, int direction); //ok
int get_stallguard(TMC2209* tmc2209);
void set_stallguard_threshold(TMC2209* tmc2209, int threshold);
void set_coolstep_threshold(TMC2209* tmc2209, int threshold);
void set_stallguard_callback(TMC2209* tmc2209, int stallguard_pin, int threshold, int callback, int min_speed);
int get_tstep(TMC2209* tmc2209);
int get_microstep_counter(TMC2209* tmc2209, bool in_steps, int offset);
#endif