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 : /**
63 : * @brief Trinamic Stepper Ramp Generator data
64 : */
65 1 : struct tmc_ramp_generator_data {
66 0 : uint32_t vstart;
67 0 : uint32_t v1;
68 0 : uint32_t vmax;
69 0 : uint16_t a1;
70 0 : uint16_t amax;
71 0 : uint16_t d1;
72 0 : uint16_t dmax;
73 0 : uint32_t vstop;
74 0 : uint16_t tzerowait;
75 0 : uint32_t vcoolthrs;
76 0 : uint32_t vhigh;
77 0 : uint32_t iholdrun;
78 : };
79 :
80 : /**
81 : * @brief Check if Ramp DT data is within limits
82 : */
83 1 : #define CHECK_RAMP_DT_DATA(node) \
84 : COND_CODE_1(DT_PROP_EXISTS(node, vstart), \
85 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vstart), TMC_RAMP_VSTART_MIN, \
86 : TMC_RAMP_VSTART_MAX), "vstart out of range"), ()); \
87 : COND_CODE_1(DT_PROP_EXISTS(node, v1), \
88 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, v1), TMC_RAMP_V1_MIN, \
89 : TMC_RAMP_V1_MAX), "v1 out of range"), ()); \
90 : COND_CODE_1(DT_PROP_EXISTS(node, vmax), \
91 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vmax), TMC_RAMP_VMAX_MIN, \
92 : TMC_RAMP_VMAX_MAX), "vmax out of range"), ()); \
93 : COND_CODE_1(DT_PROP_EXISTS(node, a1), \
94 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, a1), TMC_RAMP_A1_MIN, \
95 : TMC_RAMP_A1_MAX), "a1 out of range"), ()); \
96 : COND_CODE_1(DT_PROP_EXISTS(node, amax), \
97 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, amax), TMC_RAMP_AMAX_MIN, \
98 : TMC_RAMP_AMAX_MAX), "amax out of range"), ()); \
99 : COND_CODE_1(DT_PROP_EXISTS(node, d1), \
100 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, d1), TMC_RAMP_D1_MIN, \
101 : TMC_RAMP_D1_MAX), "d1 out of range"), ()); \
102 : COND_CODE_1(DT_PROP_EXISTS(node, dmax), \
103 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, dmax), TMC_RAMP_DMAX_MIN, \
104 : TMC_RAMP_DMAX_MAX), "dmax out of range"), ()); \
105 : COND_CODE_1(DT_PROP_EXISTS(node, vstop), \
106 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vstop), TMC_RAMP_VSTOP_MIN, \
107 : TMC_RAMP_VSTOP_MAX), "vstop out of range"), ()); \
108 : COND_CODE_1(DT_PROP_EXISTS(node, tzerowait), \
109 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, tzerowait), TMC_RAMP_TZEROWAIT_MIN, \
110 : TMC_RAMP_TZEROWAIT_MAX), "tzerowait out of range"), ()); \
111 : COND_CODE_1(DT_PROP_EXISTS(node, vcoolthrs), \
112 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vcoolthrs), TMC_RAMP_VCOOLTHRS_MIN, \
113 : TMC_RAMP_VCOOLTHRS_MAX), "vcoolthrs out of range"), ()); \
114 : COND_CODE_1(DT_PROP_EXISTS(node, vhigh), \
115 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, vhigh), TMC_RAMP_VHIGH_MIN, \
116 : TMC_RAMP_VHIGH_MAX), "vhigh out of range"), ()); \
117 : COND_CODE_1(DT_PROP_EXISTS(node, ihold), \
118 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, ihold), TMC_RAMP_IHOLD_IRUN_MIN, \
119 : TMC_RAMP_IHOLD_IRUN_MAX), "ihold out of range"), ()); \
120 : COND_CODE_1(DT_PROP_EXISTS(node, irun), \
121 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, irun), TMC_RAMP_IHOLD_IRUN_MIN, \
122 : TMC_RAMP_IHOLD_IRUN_MAX), "irun out of range"), ()); \
123 : COND_CODE_1(DT_PROP_EXISTS(node, iholddelay), \
124 : BUILD_ASSERT(IN_RANGE(DT_PROP(node, iholddelay), TMC_RAMP_IHOLDDELAY_MIN, \
125 : TMC_RAMP_IHOLDDELAY_MAX), "iholddelay out of range"), ());
126 :
127 : /**
128 : * @brief Get Trinamic Stepper Ramp Generator data from DT
129 : *
130 : * @param node DT node identifier
131 : *
132 : * @return struct tmc_ramp_generator_data
133 : */
134 1 : #define TMC_RAMP_DT_SPEC_GET(node) \
135 : { \
136 : .vstart = DT_PROP(node, vstart), \
137 : .v1 = DT_PROP(node, v1), \
138 : .vmax = DT_PROP(node, vmax), \
139 : .a1 = DT_PROP(node, a1), \
140 : .amax = DT_PROP(node, amax), \
141 : .d1 = DT_PROP(node, d1), \
142 : .dmax = DT_PROP(node, dmax), \
143 : .vstop = DT_PROP(node, vstop), \
144 : .tzerowait = DT_PROP(node, tzerowait), \
145 : .vcoolthrs = DT_PROP(node, vcoolthrs), \
146 : .vhigh = DT_PROP(node, vhigh), \
147 : .iholdrun = (TMC5XXX_IRUN(DT_PROP(node, irun)) | \
148 : TMC5XXX_IHOLD(DT_PROP(node, ihold)) | \
149 : TMC5XXX_IHOLDDELAY(DT_PROP(node, iholddelay))), \
150 : }
151 :
152 : /**
153 : * @brief Configure Trinamic Stepper Ramp Generator
154 : *
155 : * @param dev Pointer to the stepper motor controller instance
156 : * @param ramp_data Pointer to a struct containing the required ramp parameters
157 : *
158 : * @retval -EIO General input / output error
159 : * @retval -ENOSYS If not implemented by device driver
160 : * @retval 0 Success
161 : */
162 1 : int tmc5041_stepper_set_ramp(const struct device *dev,
163 : const struct tmc_ramp_generator_data *ramp_data);
164 :
165 : /**
166 : * @}
167 : */
168 :
169 : #ifdef __cplusplus
170 : }
171 : #endif
172 :
173 : #endif /* ZEPHYR_INCLUDE_DRIVERS_STEPPER_STEPPER_TRINAMIC_H_ */
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