Line data Source code
1 1 : /**
2 : * @file drivers/stepper/stepper_trinamic.h
3 : *
4 : * @brief Public API for Trinamic Stepper Controller Specific Functions
5 : *
6 : */
7 :
8 : /*
9 : * SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
10 : *
11 : * SPDX-License-Identifier: Apache-2.0
12 : */
13 :
14 : #ifndef ZEPHYR_INCLUDE_DRIVERS_STEPPER_STEPPER_TRINAMIC_H_
15 : #define ZEPHYR_INCLUDE_DRIVERS_STEPPER_STEPPER_TRINAMIC_H_
16 :
17 : /**
18 : * @brief Trinamic Stepper Controller Interface
19 : * @defgroup trinamic_stepper_interface Trinamic Stepper Controller Interface
20 : * @ingroup stepper_interface
21 : * @{
22 : */
23 :
24 : #include <stdint.h>
25 : #include <zephyr/drivers/stepper.h>
26 :
27 : #ifdef __cplusplus
28 : extern "C" {
29 : #endif
30 :
31 : /**
32 : * @brief Trinamic stepper controller ramp generator data limits
33 : */
34 1 : #define TMC_RAMP_VSTART_MAX GENMASK(17, 0)
35 0 : #define TMC_RAMP_VSTART_MIN 0
36 0 : #define TMC_RAMP_V1_MAX GENMASK(19, 0)
37 0 : #define TMC_RAMP_V1_MIN 0
38 0 : #define TMC_RAMP_VMAX_MAX (GENMASK(22, 0) - 512)
39 0 : #define TMC_RAMP_VMAX_MIN 0
40 0 : #define TMC_RAMP_A1_MAX GENMASK(15, 0)
41 0 : #define TMC_RAMP_A1_MIN 0
42 0 : #define TMC_RAMP_AMAX_MAX GENMASK(15, 0)
43 0 : #define TMC_RAMP_AMAX_MIN 0
44 0 : #define TMC_RAMP_D1_MAX GENMASK(15, 0)
45 0 : #define TMC_RAMP_D1_MIN 1
46 0 : #define TMC_RAMP_DMAX_MAX GENMASK(15, 0)
47 0 : #define TMC_RAMP_DMAX_MIN 0
48 0 : #define TMC_RAMP_VSTOP_MAX GENMASK(17, 0)
49 0 : #define TMC_RAMP_VSTOP_MIN 1
50 0 : #define TMC_RAMP_TZEROWAIT_MAX (GENMASK(15, 0) - 512)
51 0 : #define TMC_RAMP_TZEROWAIT_MIN 0
52 0 : #define TMC_RAMP_VCOOLTHRS_MAX GENMASK(22, 0)
53 0 : #define TMC_RAMP_VCOOLTHRS_MIN 0
54 0 : #define TMC_RAMP_VHIGH_MAX GENMASK(22, 0)
55 0 : #define TMC_RAMP_VHIGH_MIN 0
56 0 : #define TMC_RAMP_IHOLD_IRUN_MAX GENMASK(4, 0)
57 0 : #define TMC_RAMP_IHOLD_IRUN_MIN 0
58 0 : #define TMC_RAMP_IHOLDDELAY_MAX GENMASK(3, 0)
59 0 : #define TMC_RAMP_IHOLDDELAY_MIN 0
60 0 : #define TMC_RAMP_VACTUAL_SHIFT 22
61 : /**
62 : * @brief Trinamic Stepper Ramp Generator data
63 : */
64 1 : struct tmc_ramp_generator_data {
65 0 : uint32_t vstart;
66 0 : uint32_t v1;
67 0 : uint32_t vmax;
68 0 : uint16_t a1;
69 0 : uint16_t amax;
70 0 : uint16_t d1;
71 0 : uint16_t dmax;
72 0 : uint32_t vstop;
73 0 : uint16_t tzerowait;
74 0 : uint32_t vcoolthrs;
75 0 : uint32_t vhigh;
76 0 : uint32_t iholdrun;
77 : };
78 :
79 : /**
80 : * @brief Check if Ramp DT data is within limits
81 : */
82 1 : #define CHECK_RAMP_DT_DATA(node) \
83 : COND_CODE_1(DT_PROP_EXISTS(node, vstart), \
84 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vstart), TMC_RAMP_VSTART_MIN, \
85 : TMC_RAMP_VSTART_MAX), "vstart out of range"), ()); \
86 : COND_CODE_1(DT_PROP_EXISTS(node, v1), \
87 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, v1), TMC_RAMP_V1_MIN, \
88 : TMC_RAMP_V1_MAX), "v1 out of range"), ()); \
89 : COND_CODE_1(DT_PROP_EXISTS(node, vmax), \
90 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vmax), TMC_RAMP_VMAX_MIN, \
91 : TMC_RAMP_VMAX_MAX), "vmax out of range"), ()); \
92 : COND_CODE_1(DT_PROP_EXISTS(node, a1), \
93 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, a1), TMC_RAMP_A1_MIN, \
94 : TMC_RAMP_A1_MAX), "a1 out of range"), ()); \
95 : COND_CODE_1(DT_PROP_EXISTS(node, amax), \
96 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, amax), TMC_RAMP_AMAX_MIN, \
97 : TMC_RAMP_AMAX_MAX), "amax out of range"), ()); \
98 : COND_CODE_1(DT_PROP_EXISTS(node, d1), \
99 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, d1), TMC_RAMP_D1_MIN, \
100 : TMC_RAMP_D1_MAX), "d1 out of range"), ()); \
101 : COND_CODE_1(DT_PROP_EXISTS(node, dmax), \
102 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, dmax), TMC_RAMP_DMAX_MIN, \
103 : TMC_RAMP_DMAX_MAX), "dmax out of range"), ()); \
104 : COND_CODE_1(DT_PROP_EXISTS(node, vstop), \
105 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vstop), TMC_RAMP_VSTOP_MIN, \
106 : TMC_RAMP_VSTOP_MAX), "vstop out of range"), ()); \
107 : COND_CODE_1(DT_PROP_EXISTS(node, tzerowait), \
108 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, tzerowait), TMC_RAMP_TZEROWAIT_MIN, \
109 : TMC_RAMP_TZEROWAIT_MAX), "tzerowait out of range"), ()); \
110 : COND_CODE_1(DT_PROP_EXISTS(node, vcoolthrs), \
111 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vcoolthrs), TMC_RAMP_VCOOLTHRS_MIN, \
112 : TMC_RAMP_VCOOLTHRS_MAX), "vcoolthrs out of range"), ()); \
113 : COND_CODE_1(DT_PROP_EXISTS(node, vhigh), \
114 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vhigh), TMC_RAMP_VHIGH_MIN, \
115 : TMC_RAMP_VHIGH_MAX), "vhigh out of range"), ()); \
116 : COND_CODE_1(DT_PROP_EXISTS(node, ihold), \
117 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, ihold), TMC_RAMP_IHOLD_IRUN_MIN, \
118 : TMC_RAMP_IHOLD_IRUN_MAX), "ihold out of range"), ()); \
119 : COND_CODE_1(DT_PROP_EXISTS(node, irun), \
120 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, irun), TMC_RAMP_IHOLD_IRUN_MIN, \
121 : TMC_RAMP_IHOLD_IRUN_MAX), "irun out of range"), ()); \
122 : COND_CODE_1(DT_PROP_EXISTS(node, iholddelay), \
123 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, iholddelay), TMC_RAMP_IHOLDDELAY_MIN, \
124 : TMC_RAMP_IHOLDDELAY_MAX), "iholddelay out of range"), ());
125 :
126 : /**
127 : * @brief Get Trinamic Stepper Ramp Generator data from DT
128 : *
129 : * @param node DT node identifier
130 : *
131 : * @return struct tmc_ramp_generator_data
132 : */
133 1 : #define TMC_RAMP_DT_SPEC_GET(node) \
134 : { \
135 : .vstart = DT_PROP(node, vstart), \
136 : .v1 = DT_PROP(node, v1), \
137 : .vmax = DT_PROP(node, vmax), \
138 : .a1 = DT_PROP(node, a1), \
139 : .amax = DT_PROP(node, amax), \
140 : .d1 = DT_PROP(node, d1), \
141 : .dmax = DT_PROP(node, dmax), \
142 : .vstop = DT_PROP(node, vstop), \
143 : .tzerowait = DT_PROP(node, tzerowait), \
144 : .vcoolthrs = DT_PROP(node, vcoolthrs), \
145 : .vhigh = DT_PROP(node, vhigh), \
146 : .iholdrun = (TMC5041_IRUN(DT_PROP(node, irun)) | \
147 : TMC5041_IHOLD(DT_PROP(node, ihold)) | \
148 : TMC5041_IHOLDDELAY(DT_PROP(node, iholddelay))), \
149 : }
150 :
151 : /**
152 : * @brief Configure Trinamic Stepper Ramp Generator
153 : *
154 : * @param dev Pointer to the stepper motor controller instance
155 : * @param ramp_data Pointer to a struct containing the required ramp parameters
156 : *
157 : * @retval -EIO General input / output error
158 : * @retval -ENOSYS If not implemented by device driver
159 : * @retval 0 Success
160 : */
161 1 : int tmc5041_stepper_set_ramp(const struct device *dev,
162 : const struct tmc_ramp_generator_data *ramp_data);
163 :
164 : /**
165 : * @}
166 : */
167 :
168 : #ifdef __cplusplus
169 : }
170 : #endif
171 :
172 : #endif /* ZEPHYR_INCLUDE_DRIVERS_STEPPER_STEPPER_TRINAMIC_H_ */
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