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:

This graph shows which files directly or indirectly include this file:

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. More...

int	tmc7300_reg_write (struct tmc7300_desc *, uint32_t, uint32_t)
	Write a register. More...

int	tmc7300_reg_update (struct tmc7300_desc *, uint32_t, uint32_t, uint32_t)
	Update a register. More...

int	tmc7300_get_load_indicator (struct tmc7300_desc , enum tmc7300_bridge, uint32_t )
	Get the load indicator. More...

int	tmc7300_drv_enable (struct tmc7300_desc *, bool)
	Enable the bridge driver. More...

int	tmc7300_set_pwm_duty (struct tmc7300_desc *, enum tmc7300_bridge, int32_t)
	Set the PWM duty cycle. More...

int	tmc7300_set_send_delay (struct tmc7300_desc *, uint8_t)
	Set the UART response delay. More...

int	tmc7300_set_current_limit (struct tmc7300_desc *, uint32_t)
	Set the current limit. More...

int	tmc7300_get_ifcnt (struct tmc7300_desc , uint8_t )
	Get the number of UART valid write accesses. Wraps around at 255. More...

int	tmc7300_get_drv_status (struct tmc7300_desc , union tmc7300_drv_status )
	Read the driver status register. More...

int	tmc7300_get_ioin (struct tmc7300_desc , union tmc7300_ioin )
	Read the IOIN register. More...

int	tmc7300_set_standstill_mode (struct tmc7300_desc *, enum tmc7300_standstill_mode)
	Set the standstill mode. The motorrun bit will be set to 0. More...

int	tmc7300_set_pwm_freq (struct tmc7300_desc *, enum tmc7300_pwm_freq)
	Set the frequency of the PWM signal. More...

int	tmc7300_get_pwm_freq (struct tmc7300_desc , enum tmc7300_pwm_freq )
	Get the frequency of the PWM signal. More...

int	tmc7300_get_blank_time (struct tmc7300_desc , enum tmc7300_blank_time )
	Get the comparator blank time register. More...

int	tmc7300_set_blank_time (struct tmc7300_desc *, enum tmc7300_blank_time)
	Set the comparator blank time register. More...

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. More...

int	tmc7300_init (struct tmc7300_desc *, struct tmc7300_init_param )
	Initialize the TMC7300 driver. More...

int	tmc7300_remove (struct tmc7300_desc *)
	Free the resources allocated by tmc7300_init(). More...

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)

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of Analog Devices, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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.

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◆ 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.

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◆ 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.

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◆ 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.

Classes

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ TMC7300_BLANK_TIME_MASK

◆ TMC7300_BRIDGE_NUM

◆ TMC7300_CHOPCONF_REG

◆ TMC7300_CURRENT_LIMIT_REG

◆ TMC7300_DRV_ENABLE_MASK

◆ TMC7300_DRV_STATUS_REG

◆ TMC7300_DUTY_MAX_VALUE

◆ TMC7300_FREEWHEEL_MASK

◆ TMC7300_GCONF_REG

◆ TMC7300_IFCNT_REG

◆ TMC7300_IOIN_REG

◆ TMC7300_IRUN_MASK

◆ TMC7300_LI_MASK

◆ TMC7300_PAR_MODE_MASK

◆ TMC7300_PWM_AB_REG

◆ TMC7300_PWM_B_MASK

◆ TMC7300_PWM_DIRECT_MASK

◆ TMC7300_PWM_FREQ_MASK

◆ TMC7300_PWM_MASK

◆ TMC7300_PWMCONF_REG

◆ TMC7300_SENDDELAY_MAX_VALUE

◆ TMC7300_SLAVECONF_MASK

◆ TMC7300_SLAVECONF_REG

Enumeration Type Documentation

◆ tmc7300_blank_time

◆ tmc7300_bridge

◆ tmc7300_motor_dir

◆ tmc7300_pwm_freq

◆ tmc7300_standstill_mode

Function Documentation

◆ tmc7300_drv_enable()

◆ tmc7300_get_blank_time()

◆ tmc7300_get_drv_status()

◆ tmc7300_get_ifcnt()

◆ tmc7300_get_ioin()

◆ tmc7300_get_load_indicator()

◆ tmc7300_get_pwm_freq()

◆ tmc7300_init()

◆ tmc7300_reg_read()

◆ tmc7300_reg_update()

◆ tmc7300_reg_write()

◆ tmc7300_remove()

◆ tmc7300_set_blank_time()

◆ tmc7300_set_current_limit()

◆ tmc7300_set_pwm_duty()

◆ tmc7300_set_pwm_duty_dir()

◆ tmc7300_set_pwm_freq()

◆ tmc7300_set_send_delay()

◆ tmc7300_set_standstill_mode()