tmc7300.h File Reference

Header file for the TMC7300 driver. More...

#include <stdint.h>
#include "no_os_uart.h"
#include "no_os_gpio.h"

Include dependency graph for tmc7300.h:

Classes
struct	_tmc7300_drv_status
union	tmc7300_drv_status
struct	_tmc7300_ioin
union	tmc7300_ioin
struct	tmc7300_bridge_priv
struct	tmc7300_desc
struct	tmc7300_init_param
	TMC7300 initialization structure. More...

Macros
#define	TMC7300_BRIDGE_NUM   2
#define	TMC7300_DUTY_MAX_VALUE   511
#define	TMC7300_SENDDELAY_MAX_VALUE   15
#define	TMC7300_GCONF_REG   0x00
#define	TMC7300_IFCNT_REG   0x02
#define	TMC7300_SLAVECONF_REG   0x03
#define	TMC7300_IOIN_REG   0x03
#define	TMC7300_CURRENT_LIMIT_REG   0x10
#define	TMC7300_PWM_AB_REG   0x22
#define	TMC7300_CHOPCONF_REG   0x6C
#define	TMC7300_DRV_STATUS_REG   0x6F
#define	TMC7300_PWMCONF_REG   0x70
#define	TMC7300_PAR_MODE_MASK   NO_OS_BIT(2)
#define	TMC7300_PWM_DIRECT_MASK   NO_OS_BIT(0)
#define	TMC7300_DRV_ENABLE_MASK   NO_OS_BIT(0)
#define	TMC7300_SLAVECONF_MASK   NO_OS_GENMASK(11, 8)
#define	TMC7300_IRUN_MASK   NO_OS_GENMASK(12, 8)
#define	TMC7300_PWM_B_MASK   NO_OS_GENMASK(24, 16)
#define	TMC7300_PWM_FREQ_MASK   NO_OS_GENMASK(17, 16)
#define	TMC7300_FREEWHEEL_MASK   NO_OS_GENMASK(21, 20)
#define	TMC7300_BLANK_TIME_MASK   NO_OS_GENMASK(16, 15)
#define	TMC7300_LI_MASK(bridge)
#define	TMC7300_PWM_MASK(bridge)

Enumerations
enum	tmc7300_bridge {   TMC7300_BRIDGE_A ,   TMC7300_BRIDGE_B }
enum	tmc7300_standstill_mode {   TMC7300_FREEWHEELING = 1 ,   TMC7300_BREAK_LS ,   TMC7300_BREAK_HS }
enum	tmc7300_pwm_freq {   TMC7300_PWM_FREQ_2_1024 ,   TMC7300_PWM_FREQ_2_683 ,   TMC7300_PWM_FREQ_2_512 ,   TMC7300_PWM_FREQ_2_410 }
enum	tmc7300_blank_time {   TMC7300_BLANK_TIME_16 ,   TMC7300_BLANK_TIME_24 ,   TMC7300_BLANK_TIME_32 ,   TMC7300_BLANK_TIME_40 }
enum	tmc7300_motor_dir {   TMC7300_DIR_CW ,   TMC7300_DIR_CCW }

Functions
int	tmc7300_reg_read (struct tmc7300_desc *, uint32_t, uint32_t *)
	Read a register.
int	tmc7300_reg_write (struct tmc7300_desc *, uint32_t, uint32_t)
	Write a register.
int	tmc7300_reg_update (struct tmc7300_desc *, uint32_t, uint32_t, uint32_t)
	Update a register.
int	tmc7300_get_load_indicator (struct tmc7300_desc *, enum tmc7300_bridge, uint32_t *)
	Get the load indicator.
int	tmc7300_drv_enable (struct tmc7300_desc *, bool)
	Enable the bridge driver.
int	tmc7300_set_pwm_duty (struct tmc7300_desc *, enum tmc7300_bridge, int32_t)
	Set the PWM duty cycle.
int	tmc7300_set_send_delay (struct tmc7300_desc *, uint8_t)
	Set the UART response delay.
int	tmc7300_set_current_limit (struct tmc7300_desc *, uint32_t)
	Set the current limit.
int	tmc7300_get_ifcnt (struct tmc7300_desc *, uint8_t *)
	Get the number of UART valid write accesses. Wraps around at 255.
int	tmc7300_get_drv_status (struct tmc7300_desc *, union tmc7300_drv_status *)
	Read the driver status register.
int	tmc7300_get_ioin (struct tmc7300_desc *, union tmc7300_ioin *)
	Read the IOIN register.
int	tmc7300_set_standstill_mode (struct tmc7300_desc *, enum tmc7300_standstill_mode)
	Set the standstill mode. The motorrun bit will be set to 0.
int	tmc7300_set_pwm_freq (struct tmc7300_desc *, enum tmc7300_pwm_freq)
	Set the frequency of the PWM signal.
int	tmc7300_get_pwm_freq (struct tmc7300_desc *, enum tmc7300_pwm_freq *)
	Get the frequency of the PWM signal.
int	tmc7300_get_blank_time (struct tmc7300_desc *, enum tmc7300_blank_time *)
	Get the comparator blank time register.
int	tmc7300_set_blank_time (struct tmc7300_desc *, enum tmc7300_blank_time)
	Set the comparator blank time register.
int	tmc7300_set_pwm_duty_dir (struct tmc7300_desc *, enum tmc7300_bridge, uint8_t, enum tmc7300_motor_dir)
	Set the PWM duty cycle and direction.
int	tmc7300_init (struct tmc7300_desc **, struct tmc7300_init_param *)
	Initialize the TMC7300 driver.
int	tmc7300_remove (struct tmc7300_desc *)
	Free the resources allocated by tmc7300_init().

Detailed Description

Header file for the TMC7300 driver.

Author

Ciprian Regus (cipri.nosp@m.an.r.nosp@m.egus@.nosp@m.anal.nosp@m.og.co.nosp@m.m)

Copyright 2024(c) Analog Devices, Inc.

SPDX-License-Identifier: BSD-3-Clause

Macro Definition Documentation

TMC7300_BLANK_TIME_MASK

#define TMC7300_BLANK_TIME_MASK   NO_OS_GENMASK(16, 15)

TMC7300_BRIDGE_NUM

#define TMC7300_BRIDGE_NUM   2

TMC7300_CHOPCONF_REG

#define TMC7300_CHOPCONF_REG   0x6C

TMC7300_CURRENT_LIMIT_REG

#define TMC7300_CURRENT_LIMIT_REG   0x10

TMC7300_DRV_ENABLE_MASK

#define TMC7300_DRV_ENABLE_MASK   NO_OS_BIT(0)

TMC7300_DRV_STATUS_REG

#define TMC7300_DRV_STATUS_REG   0x6F

TMC7300_DUTY_MAX_VALUE

#define TMC7300_DUTY_MAX_VALUE   511

TMC7300_FREEWHEEL_MASK

#define TMC7300_FREEWHEEL_MASK   NO_OS_GENMASK(21, 20)

TMC7300_GCONF_REG

#define TMC7300_GCONF_REG   0x00

TMC7300_IFCNT_REG

#define TMC7300_IFCNT_REG   0x02

TMC7300_IOIN_REG

#define TMC7300_IOIN_REG   0x03

TMC7300_IRUN_MASK

#define TMC7300_IRUN_MASK   NO_OS_GENMASK(12, 8)

TMC7300_LI_MASK

#define TMC7300_LI_MASK

(

bridge

)

Value:

                    (bridge == 0) ? NO_OS_BIT(6) : \
                    NO_OS_BIT(7)

TMC7300_PAR_MODE_MASK

#define TMC7300_PAR_MODE_MASK   NO_OS_BIT(2)

TMC7300_PWM_AB_REG

#define TMC7300_PWM_AB_REG   0x22

TMC7300_PWM_B_MASK

#define TMC7300_PWM_B_MASK   NO_OS_GENMASK(24, 16)

TMC7300_PWM_DIRECT_MASK

#define TMC7300_PWM_DIRECT_MASK   NO_OS_BIT(0)

TMC7300_PWM_FREQ_MASK

#define TMC7300_PWM_FREQ_MASK   NO_OS_GENMASK(17, 16)

TMC7300_PWM_MASK

#define TMC7300_PWM_MASK

(

bridge

)

Value:

                    (bridge == 0) ? NO_OS_GENMASK(8, 0) : \
                    NO_OS_GENMASK(24, 16)

TMC7300_PWMCONF_REG

#define TMC7300_PWMCONF_REG   0x70

TMC7300_SENDDELAY_MAX_VALUE

#define TMC7300_SENDDELAY_MAX_VALUE   15

TMC7300_SLAVECONF_MASK

#define TMC7300_SLAVECONF_MASK   NO_OS_GENMASK(11, 8)

TMC7300_SLAVECONF_REG

#define TMC7300_SLAVECONF_REG   0x03

Enumeration Type Documentation

tmc7300_blank_time

enum tmc7300_blank_time

Enumerator
TMC7300_BLANK_TIME_16
TMC7300_BLANK_TIME_24
TMC7300_BLANK_TIME_32
TMC7300_BLANK_TIME_40

tmc7300_bridge

enum tmc7300_bridge

Enumerator
TMC7300_BRIDGE_A
TMC7300_BRIDGE_B

tmc7300_motor_dir

enum tmc7300_motor_dir

Enumerator
TMC7300_DIR_CW
TMC7300_DIR_CCW

tmc7300_pwm_freq

enum tmc7300_pwm_freq

Enumerator
TMC7300_PWM_FREQ_2_1024
TMC7300_PWM_FREQ_2_683
TMC7300_PWM_FREQ_2_512
TMC7300_PWM_FREQ_2_410

tmc7300_standstill_mode

enum tmc7300_standstill_mode

Enumerator
TMC7300_FREEWHEELING
TMC7300_BREAK_LS
TMC7300_BREAK_HS

Function Documentation

tmc7300_drv_enable()

int tmc7300_drv_enable	(	struct tmc7300_desc *	desc,
		bool	enable )

Enable the bridge driver.

Set the state of the bridge driver

Parameters

desc	- The TMC7300 descriptor.
enable	- Enable or disable the driver.

Returns

0 in case of success, negative error code otherwise.

tmc7300_get_blank_time()

int tmc7300_get_blank_time	(	struct tmc7300_desc *	desc,
		enum tmc7300_blank_time *	time )

Get the comparator blank time register.

Read the comparator's blank time.

Parameters

desc	- The TMC7300 descriptor.
time	- The blank time setting.

Returns

0 in case of success, negative error code otherwise.

tmc7300_get_drv_status()

int tmc7300_get_drv_status	(	struct tmc7300_desc *	desc,
		union tmc7300_drv_status *	status )

Read the driver status register.

Read the DRV_STATUS register

Parameters

desc	- The TMC7300 descriptor.
status	- The driver status.

Returns

0 in case of success, negative error code otherwise.

tmc7300_get_ifcnt()

int tmc7300_get_ifcnt	(	struct tmc7300_desc *	desc,
		uint8_t *	ifcnt )

Get the number of UART valid write accesses. Wraps around at 255.

Read the valid write access counter

Parameters

desc	- The TMC7300 descriptor.
ifcnt	- The number of valid write accesses.

Returns

0 in case of success, negative error code otherwise.

tmc7300_get_ioin()

int tmc7300_get_ioin	(	struct tmc7300_desc *	desc,
		union tmc7300_ioin *	ioin )

Read the IOIN register.

Read the IOIN register

Parameters

desc	- The TMC7300 descriptor.
ioin	- The IOIN register value.

Returns

0 in case of success, negative error code otherwise.

tmc7300_get_load_indicator()

int tmc7300_get_load_indicator	(	struct tmc7300_desc *	desc,
		enum tmc7300_bridge	bridge,
		uint32_t *	val )

Get the load indicator.

Read the LI{A,B} field, indicating if the bridge output is current limited or not

Parameters

desc	- The TMC7300 descriptor.
bridge	- The bridge to get the load indicator for.
val	- The load indicator value.

Returns

0 in case of success, negative error code otherwise.

tmc7300_get_pwm_freq()

int tmc7300_get_pwm_freq	(	struct tmc7300_desc *	desc,
		enum tmc7300_pwm_freq *	freq )

Get the frequency of the PWM signal.

Read the PWM frequency

Parameters

desc	- The TMC7300 descriptor.
freq	- Division factor for the internal clock oscillator (12 MHz).

Returns

0 in case of success, negative error code otherwise.

tmc7300_init()

int tmc7300_init	(	struct tmc7300_desc **	desc,
		struct tmc7300_init_param *	param )

Initialize the TMC7300 driver.

Configure the initial state of the TMC7300

Parameters

desc	- The TMC7300 descriptor.
param	- The initialization parameters.

Returns

0 in case of success, negative error code otherwise.

tmc7300_reg_read()

int tmc7300_reg_read	(	struct tmc7300_desc *	desc,
		uint32_t	addr,
		uint32_t *	val )

Read a register.

Read the value of a register

Parameters

desc	- The TMC7300 descriptor.
addr	- The register address.
val	- The value to read.

Returns

0 in case of success, negative error code otherwise.

tmc7300_reg_update()

int tmc7300_reg_update	(	struct tmc7300_desc *	desc,
		uint32_t	addr,
		uint32_t	mask,
		uint32_t	val )

Update a register.

Update the value of a field specified using a bit mask

Parameters

desc	- The TMC7300 descriptor.
addr	- The register address.
mask	- The mask to apply.
val	- The value of the field specified by the mask. Will be shifted to the correct position.

Returns

0 in case of success, negative error code otherwise.

tmc7300_reg_write()

int tmc7300_reg_write	(	struct tmc7300_desc *	desc,
		uint32_t	addr,
		uint32_t	val )

Write a register.

Write the value of a register

Parameters

desc	- The TMC7300 descriptor.
addr	- The register address.
val	- The value to write.

Returns

0 in case of success, negative error code otherwise.

tmc7300_remove()

int tmc7300_remove

(

struct tmc7300_desc *

desc

)

Free the resources allocated by tmc7300_init().

Free the resources allocated by the tmc7300_init() function

Parameters

desc	- The TMC7300 descriptor.

Returns

0 in case of success, negative error code otherwise.

tmc7300_set_blank_time()

int tmc7300_set_blank_time	(	struct tmc7300_desc *	desc,
		enum tmc7300_blank_time	time )

Set the comparator blank time register.

Set the comparator's blank time.

Parameters

desc	- The TMC7300 descriptor.
time	- The blank time setting.

Returns

0 in case of success, negative error code otherwise.

tmc7300_set_current_limit()

int tmc7300_set_current_limit	(	struct tmc7300_desc *	desc,
		uint32_t	val )

Set the current limit.

Set the current limit field

Parameters

desc	- The TMC7300 descriptor.
val	- The current limit value.

Returns

0 in case of success, negative error code otherwise.

tmc7300_set_pwm_duty()

int tmc7300_set_pwm_duty	(	struct tmc7300_desc *	desc,
		enum tmc7300_bridge	bridge,
		int32_t	duty )

Set the PWM duty cycle.

Set the value of the PWM duty cycle. The sign specifies the full bridge output direction

Parameters

desc	- The TMC7300 descriptor.
bridge	- The bridge to set the PWM duty cycle for.
duty	- The duty cycle value.

Returns

0 in case of success, negative error code otherwise.

tmc7300_set_pwm_duty_dir()

int tmc7300_set_pwm_duty_dir	(	struct tmc7300_desc *	desc,
		enum tmc7300_bridge	bridge,
		uint8_t	duty,
		enum tmc7300_motor_dir	dir )

Set the PWM duty cycle and direction.

Set the PWM duty cycle in the 0 - 255 (0% - 100%) range and the output direction (CW/CCW)

Parameters

desc	- The TMC7300 descriptor.
bridge	- The bridge to set the PWM duty cycle for.
duty	- The duty cycle value.
dir	- The direction of the motor.

Returns

0 in case of success, negative error code otherwise.

tmc7300_set_pwm_freq()

int tmc7300_set_pwm_freq	(	struct tmc7300_desc *	desc,
		enum tmc7300_pwm_freq	freq )

Set the frequency of the PWM signal.

Set the PWM frequency

Parameters

desc	- The TMC7300 descriptor.
freq	- Division factor for the internal clock oscillator (12 MHz).

Returns

0 in case of success, negative error code otherwise.

tmc7300_set_send_delay()

int tmc7300_set_send_delay	(	struct tmc7300_desc *	desc,
		uint8_t	delay )

Set the UART response delay.

Set the delay in the device's UART access response

Parameters

desc	- The TMC7300 descriptor.
delay	- The delay value.

Returns

0 in case of success, negative error code otherwise.

tmc7300_set_standstill_mode()

int tmc7300_set_standstill_mode	(	struct tmc7300_desc *	desc,
		enum tmc7300_standstill_mode	mode )

Set the standstill mode. The motorrun bit will be set to 0.

Set the standstill mode (freewheeling/braking). The PWM output will be stopped.

Parameters

desc	- The TMC7300 descriptor.
mode	- The standstill mode setting (freewheeling or break).

Returns

0 in case of success, negative error code otherwise.