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drivers: stepper: add common helper header for tmc5xxx functions #80795

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Merged
merged 1 commit into from
Nov 16, 2024
Merged

drivers: stepper: add common helper header for tmc5xxx functions #80795

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23 changes: 9 additions & 14 deletions drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
/*
* SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
* SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
* SPDX-License-Identifier: Apache-2.0
*/

Expand All @@ -10,8 +11,8 @@
#include <zephyr/drivers/stepper.h>
#include <zephyr/drivers/stepper/stepper_trinamic.h>

#include "adi_tmc_reg.h"
#include "adi_tmc_spi.h"
#include "adi_tmc5xxx_common.h"

#include <zephyr/logging/log.h>

Expand Down Expand Up @@ -93,17 +94,6 @@ static int tmc5041_read(const struct device *dev, const uint8_t reg_addr, uint32
return 0;
}

static void calculate_velocity_from_hz_to_fclk(const struct device *dev, const uint32_t velocity_hz,
uint32_t *const velocity_fclk)
{
const struct tmc5041_config *config = dev->config;

*velocity_fclk =
((uint64_t)(velocity_hz) << TMC5041_CLOCK_FREQ_SHIFT) / config->clock_frequency;
LOG_DBG("Stepper motor controller %s velocity: %d Hz, velocity_fclk: %d", dev->name,
velocity_hz, *velocity_fclk);
}

static int tmc5041_stepper_set_event_callback(const struct device *dev,
stepper_event_callback_t callback, void *user_data)
{
Expand Down Expand Up @@ -356,10 +346,13 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
static int tmc5041_stepper_set_max_velocity(const struct device *dev, uint32_t velocity)
{
const struct tmc5041_stepper_config *config = dev->config;
const struct tmc5041_config *tmc5041_config = config->controller->config;
const uint32_t clock_frequency = tmc5041_config->clock_frequency;
uint32_t velocity_fclk;
int err;

calculate_velocity_from_hz_to_fclk(config->controller, velocity, &velocity_fclk);
velocity_fclk = tmc5xxx_calculate_velocity_from_hz_to_fclk(velocity, clock_frequency);

err = tmc5041_write(config->controller, TMC5041_VMAX(config->index), velocity_fclk);
if (err != 0) {
LOG_ERR("%s: Failed to set max velocity", dev->name);
Expand Down Expand Up @@ -482,11 +475,13 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de
{
LOG_DBG("Stepper motor controller %s enable constant velocity mode", dev->name);
const struct tmc5041_stepper_config *config = dev->config;
const struct tmc5041_config *tmc5041_config = config->controller->config;
struct tmc5041_stepper_data *data = dev->data;
const uint32_t clock_frequency = tmc5041_config->clock_frequency;
uint32_t velocity_fclk;
int err;

calculate_velocity_from_hz_to_fclk(config->controller, velocity, &velocity_fclk);
velocity_fclk = tmc5xxx_calculate_velocity_from_hz_to_fclk(velocity, clock_frequency);

if (config->is_sg_enabled) {
err = stallguard_enable(dev, false);
Expand Down
51 changes: 51 additions & 0 deletions drivers/stepper/adi_tmc/adi_tmc5xxx_common.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,51 @@
/**
* @file drivers/stepper/adi_tmc/adi_tmc5xxx_common.h
*
* @brief Common TMC5xxx stepper controller driver definitions
*/

/**
* SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
* SPDX-License-Identifier: Apache-2.0
*/

#ifndef ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_
#define ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_

#include "adi_tmc_reg.h"

#ifdef __cplusplus
extern "C" {
#endif

/**
* @name TMC5xxx module functions
* @anchor TMC5XXX_FUNCTIONS
*
* @{
*/

/**
* @brief Calculate the velocity in full clock cycles from the velocity in Hz
*
* @param velocity_hz Velocity in Hz
* @param clock_frequency Clock frequency in Hz
*
* @return Calculated velocity in full clock cycles
*/
static inline uint32_t tmc5xxx_calculate_velocity_from_hz_to_fclk(uint64_t velocity_hz,
uint32_t clock_frequency)
{
__ASSERT_NO_MSG(clock_frequency);
return (velocity_hz << TMC5XXX_CLOCK_FREQ_SHIFT) / clock_frequency;
}

/**
* @}
*/

#ifdef __cplusplus
}
#endif

#endif /* ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_ */
9 changes: 7 additions & 2 deletions drivers/stepper/adi_tmc/adi_tmc_reg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,13 @@
extern "C" {
#endif

/** Common Registers for TMC5041 and TMC51XX */
#if defined(CONFIG_STEPPER_ADI_TMC5041)
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@faxe1008 faxe1008 Nov 4, 2024

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Doesn't this rely on the correct include order? The autoconf is not pulled in otherwise.


#define TMC5XXX_CLOCK_FREQ_SHIFT 24

#endif

#ifdef CONFIG_STEPPER_ADI_TMC5041

#define TMC5041_MOTOR_ADDR(m) (0x20 << (m))
Expand Down Expand Up @@ -133,8 +140,6 @@ extern "C" {
#define TMC5041_CHOPCONF_MRES_MASK GENMASK(27, 24)
#define TMC5041_CHOPCONF_MRES_SHIFT 24

#define TMC5041_CLOCK_FREQ_SHIFT 24

#endif

/**
Expand Down
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