tmc5240.h

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/***************************************************************************/
 
#ifndef TMC5240_H
#define TMC5240_H
 
#include "no_os_spi.h"
#include "no_os_util.h"
 
#define TMC5240_DEFAULT_D1      10
#define TMC5240_DEFAULT_D2      10
#define TMC5240_DEFAULT_VSTOP       10

struct tmc5240_dev {
    struct no_os_spi_desc *spi_desc;
    uint32_t vstart;
    uint32_t a1;
    uint32_t v1;
    uint32_t a2;
    uint32_t v2;
    uint32_t amax;
    uint32_t vmax;
    uint32_t dmax;
    uint32_t d2;
    uint32_t d1;
    uint32_t vstop;
    uint32_t clock;
    uint32_t step_angle_millidegrees;
    uint8_t microsteps_res;
    uint8_t id;
};

struct tmc5240_init_param {
    struct no_os_spi_init_param spi_init_param;
    uint32_t vstart;
    uint32_t a1;
    uint32_t v1;
    uint32_t a2;
    uint32_t v2;
    uint32_t amax;
    uint32_t vmax;
    uint32_t dmax;
    uint32_t d2;
    uint32_t d1;
    uint32_t vstop;
    uint32_t clock;
    uint32_t step_angle_millidegrees;
    uint8_t microsteps_res;
    uint8_t iholddelay;
    uint8_t irundelay;
    uint8_t current_hold;
    uint8_t current_run;
    uint8_t toff;
    uint8_t tbl;
    uint8_t global_scaler;
    uint8_t slope_control;
    uint8_t current_range;
};

int tmc5240_init(struct tmc5240_dev **device,
         struct tmc5240_init_param *init_param);

int tmc5240_remove(struct tmc5240_dev *device);

int tmc5240_reg_read(struct tmc5240_dev *device, uint8_t reg_addr,
             uint32_t *reg_data);

int tmc5240_reg_write(struct tmc5240_dev *device, uint8_t reg_addr,
              uint32_t reg_data);

int tmc5240_reg_update(struct tmc5240_dev *device, uint8_t reg_addr,
               uint32_t mask, uint32_t val);

int tmc5240_set_motion_profile(struct tmc5240_dev *device);

int tmc5240_get_target_pos(struct tmc5240_dev *device, int32_t *position);

int tmc5240_set_target_pos(struct tmc5240_dev *device, int32_t position);

int tmc5240_get_current_pos(struct tmc5240_dev *device, int32_t *position);

int tmc5240_set_current_pos(struct tmc5240_dev *device, int32_t position);

int tmc5240_get_current_accel(struct tmc5240_dev *device,
                  int32_t *acceleration);

int tmc5240_get_current_vel(struct tmc5240_dev *device, int32_t *velocity);

int tmc5240_set_target_vel(struct tmc5240_dev *device, int32_t velocity);

int tmc5240_get_shaft_dir(struct tmc5240_dev *device, uint8_t *dir);

int tmc5240_set_shaft_dir(struct tmc5240_dev *device, uint8_t dir);

int tmc5240_get_amax(struct tmc5240_dev *device, int32_t *amax);

int tmc5240_set_amax(struct tmc5240_dev *device, int32_t amax);

int tmc5240_get_vmax(struct tmc5240_dev *device, int32_t *vmax);

int tmc5240_set_vmax(struct tmc5240_dev *device, int32_t vmax);

int tmc5240_get_dmax(struct tmc5240_dev *device, int32_t *dmax);

int tmc5240_set_dmax(struct tmc5240_dev *device, int32_t dmax);

int tmc5240_get_vstart(struct tmc5240_dev *device, int32_t *vstart);

int tmc5240_set_vstart(struct tmc5240_dev *device, int32_t vstart);

int tmc5240_get_a1(struct tmc5240_dev *device, int32_t *a1);

int tmc5240_set_a1(struct tmc5240_dev *device, int32_t a1);

int tmc5240_get_v1(struct tmc5240_dev *device, int32_t *v1);

int tmc5240_set_v1(struct tmc5240_dev *device, int32_t v1);

int tmc5240_get_a2(struct tmc5240_dev *device, int32_t *a2);

int tmc5240_set_a2(struct tmc5240_dev *device, int32_t a2);

int tmc5240_get_v2(struct tmc5240_dev *device, int32_t *v2);

int tmc5240_set_v2(struct tmc5240_dev *device, int32_t v2);

int tmc5240_get_d1(struct tmc5240_dev *device, int32_t *d1);

int tmc5240_set_d1(struct tmc5240_dev *device, int32_t d1);

int tmc5240_get_d2(struct tmc5240_dev *device, int32_t *d2);

int tmc5240_set_d2(struct tmc5240_dev *device, int32_t d2);

int tmc5240_get_vstop(struct tmc5240_dev *device, int32_t *vstop);

int tmc5240_set_vstop(struct tmc5240_dev *device, int32_t vstop);

int tmc5240_get_rampmode(struct tmc5240_dev *device, int32_t *rampmode);

int tmc5240_set_rampmode(struct tmc5240_dev *device, int32_t rampmode);

int tmc5240_stop(struct tmc5240_dev *device);
 
#endif