tmc7300.h

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/***************************************************************************/
#ifndef _TMC7300_H_
#define _TMC7300_H_
 
#include <stdint.h>
#include "no_os_uart.h"
#include "no_os_gpio.h"
 
#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) (bridge == 0) ? NO_OS_BIT(6) : \
                    NO_OS_BIT(7)
 
#define TMC7300_PWM_MASK(bridge)    (bridge == 0) ? NO_OS_GENMASK(8, 0) : \
                    NO_OS_GENMASK(24, 16)
 
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,
};
 
struct _tmc7300_drv_status {
    uint8_t otpw : 1;
    uint8_t ot : 1;
    uint8_t s2ga : 1;
    uint8_t s2gb : 1;
    uint8_t s2vsa : 1;
    uint8_t s2vsb : 1;
    uint8_t lia : 1;
    uint8_t lib : 1;
    uint8_t t120: 1;
    uint8_t t150: 1;
    uint32_t reserved: 22;
};
 
union tmc7300_drv_status {
    struct _tmc7300_drv_status bits;
    uint32_t val;
};
 
struct _tmc7300_ioin {
    uint8_t en : 1;
    uint8_t nstdby : 1;
    uint8_t ad0 : 1;
    uint8_t ad1 : 1;
    uint8_t diag : 1;
    uint8_t uart_on : 1;
    uint8_t uart_input : 1;
    uint8_t mode_input : 1;
    uint8_t a2 : 1;
    uint8_t a1 : 1;
    uint8_t comp_a1a2 : 1;
    uint8_t comp_b1b2 : 1;
    uint16_t reserved : 12;
    uint8_t version : 8;
};
 
union tmc7300_ioin {
    struct _tmc7300_ioin bits;
    uint32_t val;
};
 
struct tmc7300_bridge_priv {
    uint8_t pwm_duty;
    enum tmc7300_motor_dir motor_dir;
};
 
struct tmc7300_desc {
    uint32_t addr;
    struct no_os_uart_desc *comm_desc;
    struct no_os_gpio_desc *en_gpio;
    struct no_os_gpio_desc *vio_gpio;
 
    bool motor_drive;
    /* Current limit setting */
    uint8_t irun;
    struct tmc7300_bridge_priv bridge_priv[TMC7300_BRIDGE_NUM];
};
 
struct tmc7300_init_param {
    uint32_t addr;
    struct no_os_uart_desc *comm_desc;
    struct no_os_gpio_desc *en_gpio;
    struct no_os_gpio_desc *vio_gpio;
    bool parallel_mode;
};
 
int tmc7300_reg_read(struct tmc7300_desc *, uint32_t, uint32_t *);
 
int tmc7300_reg_write(struct tmc7300_desc *, uint32_t, uint32_t);
 
int tmc7300_reg_update(struct tmc7300_desc *, uint32_t, uint32_t, uint32_t);
 
int tmc7300_get_load_indicator(struct tmc7300_desc *, enum tmc7300_bridge,
                   uint32_t *);
 
int tmc7300_drv_enable(struct tmc7300_desc *, bool);
 
int tmc7300_set_pwm_duty(struct tmc7300_desc *, enum tmc7300_bridge, int32_t);
 
int tmc7300_set_send_delay(struct tmc7300_desc *, uint8_t);
 
int tmc7300_set_current_limit(struct tmc7300_desc *, uint32_t);
 
int tmc7300_get_ifcnt(struct tmc7300_desc *, uint8_t *);
 
int tmc7300_get_drv_status(struct tmc7300_desc *, union tmc7300_drv_status *);
 
int tmc7300_get_ioin(struct tmc7300_desc *, union tmc7300_ioin *);
 
int tmc7300_set_standstill_mode(struct tmc7300_desc *,
                enum tmc7300_standstill_mode);
 
int tmc7300_set_pwm_freq(struct tmc7300_desc *, enum tmc7300_pwm_freq);
 
int tmc7300_get_pwm_freq(struct tmc7300_desc *, enum tmc7300_pwm_freq *);
 
int tmc7300_get_blank_time(struct tmc7300_desc *, enum tmc7300_blank_time *);
 
int tmc7300_set_blank_time(struct tmc7300_desc *, enum tmc7300_blank_time);
 
int tmc7300_set_pwm_duty_dir(struct tmc7300_desc *, enum tmc7300_bridge,
                 uint8_t, enum tmc7300_motor_dir);
 
int tmc7300_init(struct tmc7300_desc **, struct tmc7300_init_param *);
 
int tmc7300_remove(struct tmc7300_desc *);
 
#endif