Trinamic Stepper Controller Interface. More...

Data Structures
struct	tmc_ramp_generator_data
	Trinamic Stepper Ramp Generator data. More...

Macros
#define	TMC_RAMP_VSTART_MAX GENMASK(17, 0)
	Trinamic stepper controller ramp generator data limits.
#define	TMC_RAMP_VSTART_MIN 0
#define	TMC_RAMP_V1_MAX GENMASK(19, 0)
#define	TMC_RAMP_V1_MIN 0
#define	TMC_RAMP_VMAX_MAX (GENMASK(22, 0) - 512)
#define	TMC_RAMP_VMAX_MIN 0
#define	TMC_RAMP_A1_MAX GENMASK(15, 0)
#define	TMC_RAMP_A1_MIN 0
#define	TMC_RAMP_AMAX_MAX GENMASK(15, 0)
#define	TMC_RAMP_AMAX_MIN 0
#define	TMC_RAMP_D1_MAX GENMASK(15, 0)
#define	TMC_RAMP_D1_MIN 1
#define	TMC_RAMP_DMAX_MAX GENMASK(15, 0)
#define	TMC_RAMP_DMAX_MIN 0
#define	TMC_RAMP_VSTOP_MAX GENMASK(17, 0)
#define	TMC_RAMP_VSTOP_MIN 1
#define	TMC_RAMP_TZEROWAIT_MAX (GENMASK(15, 0) - 512)
#define	TMC_RAMP_TZEROWAIT_MIN 0
#define	TMC_RAMP_IHOLD_IRUN_MAX GENMASK(4, 0)
#define	TMC_RAMP_IHOLD_IRUN_MIN 0
#define	TMC_RAMP_IHOLDDELAY_MAX GENMASK(3, 0)
#define	TMC_RAMP_IHOLDDELAY_MIN 0
#define	TMC_RAMP_VACTUAL_SHIFT 22
#define	TMC_RAMP_XACTUAL_SHIFT 31
#define	TMC_RAMP_VCOOLTHRS_MAX GENMASK(22, 0)
#define	TMC_RAMP_VCOOLTHRS_MIN 0
#define	TMC_RAMP_VHIGH_MAX GENMASK(22, 0)
#define	TMC_RAMP_VHIGH_MIN 0
#define	TMC_RAMP_TPOWERDOWN_MAX GENMASK(7, 0)
#define	TMC_RAMP_TPOWERDOWN_MIN 0
#define	TMC_RAMP_TPWMTHRS_MAX GENMASK(19, 0)
#define	TMC_RAMP_TPWMTHRS_MIN 0
#define	TMC_RAMP_TCOOLTHRS_MAX GENMASK(19, 0)
#define	TMC_RAMP_TCOOLTHRS_MIN 0
#define	TMC_RAMP_THIGH_MAX GENMASK(19, 0)
#define	TMC_RAMP_THIGH_MIN 0
#define	CHECK_RAMP_DT_DATA(node)
	Check if Ramp DT data is within limits.
#define	TMC_RAMP_DT_SPEC_GET_COMMON(node)
	Get Trinamic Stepper Ramp Generator data from DT.
#define	TMC_RAMP_DT_SPEC_GET_TMC50XX(node)
#define	TMC_RAMP_DT_SPEC_GET_TMC51XX(node)

Functions
int	tmc50xx_stepper_set_ramp (const struct device dev, const struct tmc_ramp_generator_data ramp_data)
	Configure Trinamic Stepper Ramp Generator.
int	tmc50xx_stepper_set_max_velocity (const struct device *dev, uint32_t velocity)
	Set the maximum velocity of the stepper motor.

Detailed Description

Trinamic Stepper Controller Interface.

Macro Definition Documentation

◆ CHECK_RAMP_DT_DATA

#define CHECK_RAMP_DT_DATA ( node )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Value:

        COND_CODE_1(DT_PROP_EXISTS(node, vstart),                                    \
                BUILD_ASSERT(IN_RANGE(DT_PROP(node, vstart), TMC_RAMP_VSTART_MIN, \
                              TMC_RAMP_VSTART_MAX), "vstart out of range"), ());     \
        COND_CODE_1(DT_PROP_EXISTS(node, v1),                                           \
                BUILD_ASSERT(IN_RANGE(DT_PROP(node, v1), TMC_RAMP_V1_MIN,             \
                              TMC_RAMP_V1_MAX), "v1 out of range"), ());         \
        COND_CODE_1(DT_PROP_EXISTS(node, vmax),                                         \
                BUILD_ASSERT(IN_RANGE(DT_PROP(node, vmax), TMC_RAMP_VMAX_MIN,               \
                              TMC_RAMP_VMAX_MAX), "vmax out of range"), ());           \
        COND_CODE_1(DT_PROP_EXISTS(node, a1),                                           \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, a1), TMC_RAMP_A1_MIN,                     \
                              TMC_RAMP_A1_MAX), "a1 out of range"), ());         \
        COND_CODE_1(DT_PROP_EXISTS(node, amax),                                         \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, amax), TMC_RAMP_AMAX_MIN,                       \
                              TMC_RAMP_AMAX_MAX), "amax out of range"), ());           \
        COND_CODE_1(DT_PROP_EXISTS(node, d1),                                           \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, d1), TMC_RAMP_D1_MIN,                     \
                              TMC_RAMP_D1_MAX), "d1 out of range"), ());         \
        COND_CODE_1(DT_PROP_EXISTS(node, dmax),                                         \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, dmax), TMC_RAMP_DMAX_MIN,                       \
                              TMC_RAMP_DMAX_MAX), "dmax out of range"), ());           \
        COND_CODE_1(DT_PROP_EXISTS(node, vstop),                                        \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, vstop), TMC_RAMP_VSTOP_MIN,                    \
                              TMC_RAMP_VSTOP_MAX), "vstop out of range"), ());                \
        COND_CODE_1(DT_PROP_EXISTS(node, tzerowait),                                    \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, tzerowait), TMC_RAMP_TZEROWAIT_MIN,                \
                              TMC_RAMP_TZEROWAIT_MAX), "tzerowait out of range"), ());    \
        COND_CODE_1(DT_PROP_EXISTS(node, ihold),                                        \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, ihold), TMC_RAMP_IHOLD_IRUN_MIN,          \
                              TMC_RAMP_IHOLD_IRUN_MAX), "ihold out of range"), ());      \
        COND_CODE_1(DT_PROP_EXISTS(node, irun),                                         \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, irun), TMC_RAMP_IHOLD_IRUN_MIN,           \
                              TMC_RAMP_IHOLD_IRUN_MAX), "irun out of range"), ());       \
        COND_CODE_1(DT_PROP_EXISTS(node, iholddelay),                                   \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, iholddelay), TMC_RAMP_IHOLDDELAY_MIN,     \
                              TMC_RAMP_IHOLDDELAY_MAX), "iholddelay out of range"), ());\
        /* TMC50XX specific */                                                          \
        COND_CODE_1(DT_PROP_EXISTS(node, vcoolthrs),                                    \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, vcoolthrs), TMC_RAMP_VCOOLTHRS_MIN,                \
                              TMC_RAMP_VCOOLTHRS_MAX), "vcoolthrs out of range"), ());    \
        COND_CODE_1(DT_PROP_EXISTS(node, vhigh),                                        \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, vhigh), TMC_RAMP_VHIGH_MIN,                    \
                              TMC_RAMP_VHIGH_MAX), "vhigh out of range"), ());                \
        /* TMC51XX specific */                                                          \
        COND_CODE_1(DT_PROP_EXISTS(node, tpowerdown),                                   \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, tpowerdown), TMC_RAMP_TPOWERDOWN_MIN,     \
                              TMC_RAMP_TPOWERDOWN_MAX), "tpowerdown out of range"), ());\
        COND_CODE_1(DT_PROP_EXISTS(node, tpwmthrs),                                     \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, tpwmthrs), TMC_RAMP_TPWMTHRS_MIN,           \
                              TMC_RAMP_TPWMTHRS_MAX), "tpwmthrs out of range"), ());       \
        COND_CODE_1(DT_PROP_EXISTS(node, tcoolthrs),                                    \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, tcoolthrs), TMC_RAMP_TCOOLTHRS_MIN,                \
                              TMC_RAMP_TCOOLTHRS_MAX), "tcoolthrs out of range"), ());    \
        COND_CODE_1(DT_PROP_EXISTS(node, thigh),                                        \
        BUILD_ASSERT(IN_RANGE(DT_PROP(node, thigh), TMC_RAMP_THIGH_MIN,                    \
                              TMC_RAMP_THIGH_MAX), "thigh out of range"), ());

Check if Ramp DT data is within limits.

◆ TMC_RAMP_A1_MAX

#define TMC_RAMP_A1_MAX GENMASK(15, 0)

#include <zephyr/drivers/stepper/stepper_trinamic.h>

◆ TMC_RAMP_A1_MIN

#define TMC_RAMP_A1_MIN 0

#include <zephyr/drivers/stepper/stepper_trinamic.h>

◆ TMC_RAMP_AMAX_MAX

#define TMC_RAMP_AMAX_MAX GENMASK(15, 0)

#include <zephyr/drivers/stepper/stepper_trinamic.h>

◆ TMC_RAMP_AMAX_MIN

#define TMC_RAMP_AMAX_MIN 0

#include <zephyr/drivers/stepper/stepper_trinamic.h>

◆ TMC_RAMP_D1_MAX

#define TMC_RAMP_D1_MAX GENMASK(15, 0)

#include <zephyr/drivers/stepper/stepper_trinamic.h>

◆ TMC_RAMP_D1_MIN

#define TMC_RAMP_D1_MIN 1

#include <zephyr/drivers/stepper/stepper_trinamic.h>

◆ TMC_RAMP_DMAX_MAX

#define TMC_RAMP_DMAX_MAX GENMASK(15, 0)

#include <zephyr/drivers/stepper/stepper_trinamic.h>

◆ TMC_RAMP_DMAX_MIN

#define TMC_RAMP_DMAX_MIN 0

#include <zephyr/drivers/stepper/stepper_trinamic.h>

◆ TMC_RAMP_DT_SPEC_GET_COMMON

#define TMC_RAMP_DT_SPEC_GET_COMMON ( node )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Value:

                .vstart = DT_PROP(node, vstart),                         \
                .v1 = DT_PROP(node, v1),                                 \
                .vmax = DT_PROP(node, vmax),                                     \
                .a1 = DT_PROP(node, a1),                                 \
                .amax = DT_PROP(node, amax),                                     \
                .d1 = DT_PROP(node, d1),                                 \
                .dmax = DT_PROP(node, dmax),                                     \
                .vstop = DT_PROP(node, vstop),                                   \
                .tzerowait = DT_PROP(node, tzerowait),                           \
                .iholdrun = (TMC5XXX_IRUN(DT_PROP(node, irun)) |         \
                             TMC5XXX_IHOLD(DT_PROP(node, ihold)) |               \
                             TMC5XXX_IHOLDDELAY(DT_PROP(node, iholddelay))),

Get Trinamic Stepper Ramp Generator data from DT.

Parameters

node	DT node identifier

Returns: struct tmc_ramp_generator_data

◆ TMC_RAMP_DT_SPEC_GET_TMC50XX

#define TMC_RAMP_DT_SPEC_GET_TMC50XX ( node )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Value:

        {                                                                       \
                TMC_RAMP_DT_SPEC_GET_COMMON(node)                               \
                .vhigh = DT_PROP(node, vhigh),                                   \
                .vcoolthrs = DT_PROP(node, vcoolthrs),                           \
        }

◆ TMC_RAMP_DT_SPEC_GET_TMC51XX

#define TMC_RAMP_DT_SPEC_GET_TMC51XX ( node )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Value:

        {                                                                       \
                TMC_RAMP_DT_SPEC_GET_COMMON(DT_DRV_INST(node))                       \
                .tpowerdown = DT_INST_PROP(node, tpowerdown),                       \
                .tpwmthrs = DT_INST_PROP(node, tpwmthrs),                   \
                .tcoolthrs = DT_INST_PROP(node, tcoolthrs),                 \
                .thigh = DT_INST_PROP(node, thigh),                         \
        }