Zephyr API Documentation 4.0.0-rc3
A Scalable Open Source RTOS
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stepper_trinamic.h
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1
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
24#include <stdint.h>
25#include <zephyr/drivers/stepper.h>
26
27#ifdef __cplusplus
28extern "C" {
29#endif
30
34#define TMC_RAMP_VSTART_MAX GENMASK(17, 0)
35#define TMC_RAMP_VSTART_MIN 0
36#define TMC_RAMP_V1_MAX GENMASK(19, 0)
37#define TMC_RAMP_V1_MIN 0
38#define TMC_RAMP_VMAX_MAX (GENMASK(22, 0) - 512)
39#define TMC_RAMP_VMAX_MIN 0
40#define TMC_RAMP_A1_MAX GENMASK(15, 0)
41#define TMC_RAMP_A1_MIN 0
42#define TMC_RAMP_AMAX_MAX GENMASK(15, 0)
43#define TMC_RAMP_AMAX_MIN 0
44#define TMC_RAMP_D1_MAX GENMASK(15, 0)
45#define TMC_RAMP_D1_MIN 1
46#define TMC_RAMP_DMAX_MAX GENMASK(15, 0)
47#define TMC_RAMP_DMAX_MIN 0
48#define TMC_RAMP_VSTOP_MAX GENMASK(17, 0)
49#define TMC_RAMP_VSTOP_MIN 1
50#define TMC_RAMP_TZEROWAIT_MAX (GENMASK(15, 0) - 512)
51#define TMC_RAMP_TZEROWAIT_MIN 0
52#define TMC_RAMP_VCOOLTHRS_MAX GENMASK(22, 0)
53#define TMC_RAMP_VCOOLTHRS_MIN 0
54#define TMC_RAMP_VHIGH_MAX GENMASK(22, 0)
55#define TMC_RAMP_VHIGH_MIN 0
56#define TMC_RAMP_IHOLD_IRUN_MAX GENMASK(4, 0)
57#define TMC_RAMP_IHOLD_IRUN_MIN 0
58#define TMC_RAMP_IHOLDDELAY_MAX GENMASK(3, 0)
59#define TMC_RAMP_IHOLDDELAY_MIN 0
60#define TMC_RAMP_VACTUAL_SHIFT 22
61
79
83#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
134#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 = (TMC5041_IRUN(DT_PROP(node, irun)) | \
148 TMC5041_IHOLD(DT_PROP(node, ihold)) | \
149 TMC5041_IHOLDDELAY(DT_PROP(node, iholddelay))), \
150 }
151
162int tmc5041_stepper_set_ramp(const struct device *dev,
163 const struct tmc_ramp_generator_data *ramp_data);
164
169#ifdef __cplusplus
170}
171#endif
172
173#endif /* ZEPHYR_INCLUDE_DRIVERS_STEPPER_STEPPER_TRINAMIC_H_ */
tmc5041_stepper_set_ramp
int tmc5041_stepper_set_ramp(const struct device *dev, const struct tmc_ramp_generator_data *ramp_data)
Configure Trinamic Stepper Ramp Generator.
uint32_t
__UINT32_TYPE__ uint32_t
Definition stdint.h:90
uint16_t
__UINT16_TYPE__ uint16_t
Definition stdint.h:89
stepper.h
Public API for Stepper Driver.
device
Runtime device structure (in ROM) per driver instance.
Definition device.h:412
tmc_ramp_generator_data
Trinamic Stepper Ramp Generator data.
Definition stepper_trinamic.h:65
tmc_ramp_generator_data::amax
uint16_t amax
Definition stepper_trinamic.h:70
tmc_ramp_generator_data::dmax
uint16_t dmax
Definition stepper_trinamic.h:72
tmc_ramp_generator_data::vcoolthrs
uint32_t vcoolthrs
Definition stepper_trinamic.h:75
tmc_ramp_generator_data::vmax
uint32_t vmax
Definition stepper_trinamic.h:68
tmc_ramp_generator_data::vhigh
uint32_t vhigh
Definition stepper_trinamic.h:76
tmc_ramp_generator_data::vstop
uint32_t vstop
Definition stepper_trinamic.h:73
tmc_ramp_generator_data::vstart
uint32_t vstart
Definition stepper_trinamic.h:66
tmc_ramp_generator_data::d1
uint16_t d1
Definition stepper_trinamic.h:71
tmc_ramp_generator_data::iholdrun
uint32_t iholdrun
Definition stepper_trinamic.h:77
tmc_ramp_generator_data::tzerowait
uint16_t tzerowait
Definition stepper_trinamic.h:74
tmc_ramp_generator_data::v1
uint32_t v1
Definition stepper_trinamic.h:67
tmc_ramp_generator_data::a1
uint16_t a1
Definition stepper_trinamic.h:69