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drivers: stepper: refactor common registers to tmc5xxx #81484

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Merged
nashif merged 2 commits into from
Nov 19, 2024
Merged

drivers: stepper: refactor common registers to tmc5xxx #81484

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f0c3274
drivers: stepper: tmc5xxx: generalized macros for tmc5xxx
jilaypandya Nov 17, 2024
dba952e
drivers: stepper: tmc5041: use tmc5xxx generalized macros
jilaypandya Nov 17, 2024
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56 changes: 28 additions & 28 deletions drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ static int tmc5041_write(const struct device *dev, const uint8_t reg_addr, const

k_sem_take(&data->sem, K_FOREVER);

err = tmc_spi_write_register(&bus, TMC5041_WRITE_BIT, reg_addr, reg_val);
err = tmc_spi_write_register(&bus, TMC5XXX_WRITE_BIT, reg_addr, reg_val);

k_sem_give(&data->sem);

Expand All @@ -83,7 +83,7 @@ static int tmc5041_read(const struct device *dev, const uint8_t reg_addr, uint32

k_sem_take(&data->sem, K_FOREVER);

err = tmc_spi_read_register(&bus, TMC5041_ADDRESS_MASK, reg_addr, reg_val);
err = tmc_spi_read_register(&bus, TMC5XXX_ADDRESS_MASK, reg_addr, reg_val);

k_sem_give(&data->sem);

Expand Down Expand Up @@ -117,7 +117,7 @@ static int stallguard_enable(const struct device *dev, const bool enable)
}

if (enable) {
reg_value |= TMC5041_SW_MODE_SG_STOP_ENABLE;
reg_value |= TMC5XXX_SW_MODE_SG_STOP_ENABLE;

int32_t actual_velocity;

Expand All @@ -136,7 +136,7 @@ static int stallguard_enable(const struct device *dev, const bool enable)
return -EAGAIN;
}
} else {
reg_value &= ~TMC5041_SW_MODE_SG_STOP_ENABLE;
reg_value &= ~TMC5XXX_SW_MODE_SG_STOP_ENABLE;
}
err = tmc5041_write(config->controller, TMC5041_SWMODE(config->index), reg_value);
if (err) {
Expand Down Expand Up @@ -193,11 +193,11 @@ static void rampstat_work_handler(struct k_work *work)

tmc5041_read(stepper_config->controller, TMC5041_DRVSTATUS(stepper_config->index),
&drv_status);
if (FIELD_GET(TMC5041_DRV_STATUS_SG_STATUS_MASK, drv_status) == 1U) {
if (FIELD_GET(TMC5XXX_DRV_STATUS_SG_STATUS_MASK, drv_status) == 1U) {
LOG_INF("%s: Stall detected", stepper_data->stepper->name);
err = tmc5041_write(stepper_config->controller,
TMC5041_RAMPMODE(stepper_config->index),
TMC5041_RAMPMODE_HOLD_MODE);
TMC5XXX_RAMPMODE_HOLD_MODE);
if (err != 0) {
LOG_ERR("%s: Failed to stop motor", stepper_data->stepper->name);
return;
Expand All @@ -213,29 +213,29 @@ static void rampstat_work_handler(struct k_work *work)
return;
}

const uint8_t ramp_stat_values = FIELD_GET(TMC5041_RAMPSTAT_INT_MASK, rampstat_value);
const uint8_t ramp_stat_values = FIELD_GET(TMC5XXX_RAMPSTAT_INT_MASK, rampstat_value);

if (ramp_stat_values > 0) {
switch (ramp_stat_values) {

case TMC5041_STOP_LEFT_EVENT:
case TMC5XXX_STOP_LEFT_EVENT:
LOG_DBG("RAMPSTAT %s:Left end-stop detected", stepper_data->stepper->name);
execute_callback(stepper_data->stepper,
STEPPER_EVENT_LEFT_END_STOP_DETECTED);
break;

case TMC5041_STOP_RIGHT_EVENT:
case TMC5XXX_STOP_RIGHT_EVENT:
LOG_DBG("RAMPSTAT %s:Right end-stop detected", stepper_data->stepper->name);
execute_callback(stepper_data->stepper,
STEPPER_EVENT_RIGHT_END_STOP_DETECTED);
break;

case TMC5041_POS_REACHED_EVENT:
case TMC5XXX_POS_REACHED_EVENT:
LOG_DBG("RAMPSTAT %s:Position reached", stepper_data->stepper->name);
execute_callback(stepper_data->stepper, STEPPER_EVENT_STEPS_COMPLETED);
break;

case TMC5041_STOP_SG_EVENT:
case TMC5XXX_STOP_SG_EVENT:
LOG_DBG("RAMPSTAT %s:Stall detected", stepper_data->stepper->name);
stallguard_enable(stepper_data->stepper, false);
execute_callback(stepper_data->stepper, STEPPER_EVENT_STALL_DETECTED);
Expand Down Expand Up @@ -266,9 +266,9 @@ static int tmc5041_stepper_enable(const struct device *dev, const bool enable)
}

if (enable) {
reg_value |= TMC5041_CHOPCONF_DRV_ENABLE_MASK;
reg_value |= TMC5XXX_CHOPCONF_DRV_ENABLE_MASK;
} else {
reg_value &= ~TMC5041_CHOPCONF_DRV_ENABLE_MASK;
reg_value &= ~TMC5XXX_CHOPCONF_DRV_ENABLE_MASK;
}

err = tmc5041_write(config->controller, TMC5041_CHOPCONF(config->index), reg_value);
Expand All @@ -291,7 +291,7 @@ static int tmc5041_stepper_is_moving(const struct device *dev, bool *is_moving)
return -EIO;
}

*is_moving = (FIELD_GET(TMC5041_DRV_STATUS_STST_BIT, reg_value) != 1U);
*is_moving = (FIELD_GET(TMC5XXX_DRV_STATUS_STST_BIT, reg_value) != 1U);
LOG_DBG("Stepper motor controller %s is moving: %d", dev->name, *is_moving);
return 0;
}
Expand All @@ -318,7 +318,7 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
int32_t target_position = position + steps;

err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
TMC5041_RAMPMODE_POSITIONING_MODE);
TMC5XXX_RAMPMODE_POSITIONING_MODE);
if (err != 0) {
return -EIO;
}
Expand Down Expand Up @@ -373,9 +373,9 @@ static int tmc5041_stepper_set_micro_step_res(const struct device *dev,
return -EIO;
}

reg_value &= ~TMC5041_CHOPCONF_MRES_MASK;
reg_value &= ~TMC5XXX_CHOPCONF_MRES_MASK;
reg_value |= ((MICRO_STEP_RES_INDEX(STEPPER_MICRO_STEP_256) - LOG2(res))
<< TMC5041_CHOPCONF_MRES_SHIFT);
<< TMC5XXX_CHOPCONF_MRES_SHIFT);

err = tmc5041_write(config->controller, TMC5041_CHOPCONF(config->index), reg_value);
if (err != 0) {
Expand All @@ -398,8 +398,8 @@ static int tmc5041_stepper_get_micro_step_res(const struct device *dev,
if (err != 0) {
return -EIO;
}
reg_value &= TMC5041_CHOPCONF_MRES_MASK;
reg_value >>= TMC5041_CHOPCONF_MRES_SHIFT;
reg_value &= TMC5XXX_CHOPCONF_MRES_MASK;
reg_value >>= TMC5XXX_CHOPCONF_MRES_SHIFT;
*res = (1 << (MICRO_STEP_RES_INDEX(STEPPER_MICRO_STEP_256) - reg_value));
LOG_DBG("Stepper motor controller %s get micro step resolution: %d", dev->name, *res);
return 0;
Expand All @@ -411,7 +411,7 @@ static int tmc5041_stepper_set_actual_position(const struct device *dev, const i
int err;

err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
TMC5041_RAMPMODE_HOLD_MODE);
TMC5XXX_RAMPMODE_HOLD_MODE);
if (err != 0) {
return -EIO;
}
Expand Down Expand Up @@ -449,7 +449,7 @@ static int tmc5041_stepper_set_target_position(const struct device *dev, const i
}

err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
TMC5041_RAMPMODE_POSITIONING_MODE);
TMC5XXX_RAMPMODE_POSITIONING_MODE);
if (err != 0) {
return -EIO;
}
Expand Down Expand Up @@ -493,7 +493,7 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de
switch (direction) {
case STEPPER_DIRECTION_POSITIVE:
err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
TMC5041_RAMPMODE_POSITIVE_VELOCITY_MODE);
TMC5XXX_RAMPMODE_POSITIVE_VELOCITY_MODE);
if (err != 0) {
return -EIO;
}
Expand All @@ -505,7 +505,7 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de

case STEPPER_DIRECTION_NEGATIVE:
err = tmc5041_write(config->controller, TMC5041_RAMPMODE(config->index),
TMC5041_RAMPMODE_NEGATIVE_VELOCITY_MODE);
TMC5XXX_RAMPMODE_NEGATIVE_VELOCITY_MODE);
if (err != 0) {
return -EIO;
}
Expand Down Expand Up @@ -611,15 +611,15 @@ static int tmc5041_init(const struct device *dev)

/* Init non motor-index specific registers here. */
LOG_DBG("GCONF: %d", config->gconf);
err = tmc5041_write(dev, TMC5041_GCONF, config->gconf);
err = tmc5041_write(dev, TMC5XXX_GCONF, config->gconf);
if (err != 0) {
return -EIO;
}

/* Read GSTAT register values to clear any errors SPI Datagram. */
uint32_t gstat_value;

err = tmc5041_read(dev, TMC5041_GSTAT, &gstat_value);
err = tmc5041_read(dev, TMC5XXX_GSTAT, &gstat_value);
if (err != 0) {
return -EIO;
}
Expand Down Expand Up @@ -647,8 +647,8 @@ static int tmc5041_stepper_init(const struct device *dev)

LOG_DBG("Setting stall guard to %d with delay %d ms", stepper_config->sg_threshold,
stepper_config->sg_velocity_check_interval_ms);
if (!IN_RANGE(stepper_config->sg_threshold, TMC5041_SG_MIN_VALUE,
TMC5041_SG_MAX_VALUE)) {
if (!IN_RANGE(stepper_config->sg_threshold, TMC5XXX_SG_MIN_VALUE,
TMC5XXX_SG_MAX_VALUE)) {
LOG_ERR("Stallguard threshold out of range");
return -EINVAL;
}
Expand All @@ -657,7 +657,7 @@ static int tmc5041_stepper_init(const struct device *dev)

err = tmc5041_write(
stepper_config->controller, TMC5041_COOLCONF(stepper_config->index),
stall_guard_threshold << TMC5041_COOLCONF_SG2_THRESHOLD_VALUE_SHIFT);
stall_guard_threshold << TMC5XXX_COOLCONF_SG2_THRESHOLD_VALUE_SHIFT);
if (err != 0) {
return -EIO;
}
Expand Down
118 changes: 58 additions & 60 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 @@ -20,7 +20,64 @@
/** Common Registers for TMC5041 and TMC51XX */
#if defined(CONFIG_STEPPER_ADI_TMC5041)

#define TMC5XXX_CLOCK_FREQ_SHIFT 24
#define TMC5XXX_WRITE_BIT 0x80U
#define TMC5XXX_ADDRESS_MASK 0x7FU

#define TMC5XXX_CLOCK_FREQ_SHIFT 24

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drivers/stepper/adi_tmc/adi_tmc_reg.h:27 
-#define TMC5XXX_WRITE_BIT        0x80U
-#define TMC5XXX_ADDRESS_MASK     0x7FU
+#define TMC5XXX_WRITE_BIT    0x80U
+#define TMC5XXX_ADDRESS_MASK 0x7FU
 
- #define TMC5XXX_CLOCK_FREQ_SHIFT 24
+#define TMC5XXX_CLOCK_FREQ_SHIFT 24
#define TMC5XXX_GCONF 0x00
#define TMC5XXX_GSTAT 0x01

#define TMC5XXX_RAMPMODE_POSITIONING_MODE 0
#define TMC5XXX_RAMPMODE_POSITIVE_VELOCITY_MODE 1
#define TMC5XXX_RAMPMODE_NEGATIVE_VELOCITY_MODE 2
#define TMC5XXX_RAMPMODE_HOLD_MODE 3

#define TMC5XXX_SG_MIN_VALUE -64
#define TMC5XXX_SG_MAX_VALUE 63
#define TMC5XXX_SW_MODE_SG_STOP_ENABLE BIT(10)

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drivers/stepper/adi_tmc/adi_tmc_reg.h:38 
-#define TMC5XXX_SG_MIN_VALUE -64
-#define TMC5XXX_SG_MAX_VALUE 63
+#define TMC5XXX_SG_MIN_VALUE           -64
+#define TMC5XXX_SG_MAX_VALUE           63

#define TMC5XXX_COOLCONF_SG2_THRESHOLD_VALUE_SHIFT 16

#define TMC5XXX_IHOLD_MASK GENMASK(4, 0)
#define TMC5XXX_IHOLD_SHIFT 0
#define TMC5XXX_IHOLD(n) (((n) << TMC5XXX_IHOLD_SHIFT) & TMC5XXX_IHOLD_MASK)

#define TMC5XXX_IRUN_MASK GENMASK(12, 8)
#define TMC5XXX_IRUN_SHIFT 8
#define TMC5XXX_IRUN(n) (((n) << TMC5XXX_IRUN_SHIFT) & TMC5XXX_IRUN_MASK)

#define TMC5XXX_IHOLDDELAY_MASK GENMASK(19, 16)
#define TMC5XXX_IHOLDDELAY_SHIFT 16
#define TMC5XXX_IHOLDDELAY(n) (((n) << TMC5XXX_IHOLDDELAY_SHIFT) & TMC5XXX_IHOLDDELAY_MASK)

#define TMC5XXX_CHOPCONF_DRV_ENABLE_MASK GENMASK(3, 0)
#define TMC5XXX_CHOPCONF_MRES_MASK GENMASK(27, 24)
#define TMC5XXX_CHOPCONF_MRES_SHIFT 24

#define TMC5XXX_RAMPSTAT_INT_MASK GENMASK(7, 4)
#define TMC5XXX_RAMPSTAT_INT_SHIFT 4

#define TMC5XXX_RAMPSTAT_POS_REACHED_EVENT_MASK BIT(7)
#define TMC5XXX_POS_REACHED_EVENT \
(TMC5XXX_RAMPSTAT_POS_REACHED_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)

#define TMC5XXX_RAMPSTAT_STOP_SG_EVENT_MASK BIT(6)
#define TMC5XXX_STOP_SG_EVENT \
(TMC5XXX_RAMPSTAT_STOP_SG_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)

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drivers/stepper/adi_tmc/adi_tmc_reg.h:68 
-#define TMC5XXX_STOP_SG_EVENT                                                                      \
-	(TMC5XXX_RAMPSTAT_STOP_SG_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)
+#define TMC5XXX_STOP_SG_EVENT               (TMC5XXX_RAMPSTAT_STOP_SG_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)
#define TMC5XXX_RAMPSTAT_STOP_RIGHT_EVENT_MASK BIT(5)
#define TMC5XXX_STOP_RIGHT_EVENT \
(TMC5XXX_RAMPSTAT_STOP_RIGHT_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)

#define TMC5XXX_RAMPSTAT_STOP_LEFT_EVENT_MASK BIT(4)
#define TMC5XXX_STOP_LEFT_EVENT \
(TMC5XXX_RAMPSTAT_STOP_LEFT_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)

#define TMC5XXX_DRV_STATUS_STST_BIT BIT(31)
#define TMC5XXX_DRV_STATUS_SG_RESULT_MASK GENMASK(9, 0)
#define TMC5XXX_DRV_STATUS_SG_STATUS_MASK BIT(24)
#define TMC5XXX_DRV_STATUS_SG_STATUS_SHIFT 24

#endif

Expand All @@ -37,19 +94,11 @@
* @{
*/

#define TMC5041_WRITE_BIT 0x80U
#define TMC5041_ADDRESS_MASK 0x7FU

#define TMC5041_GCONF_POSCMP_ENABLE_SHIFT 3
#define TMC5041_GCONF_TEST_MODE_SHIFT 7
#define TMC5041_GCONF_SHAFT_SHIFT(n) ((n) ? 8 : 9)
#define TMC5041_LOCK_GCONF_SHIFT 10

#define TMC5041_GCONF 0x00
#define TMC5041_GSTAT 0x01
#define TMC5041_INPUT 0x04
#define TMC5041_X_COMPARE 0x05

#define TMC5041_PWMCONF(motor) (0x10 | TMC5041_MOTOR_ADDR_PWM(motor))
#define TMC5041_PWM_STATUS(motor) (0x11 | TMC5041_MOTOR_ADDR_PWM(motor))

Expand Down Expand Up @@ -89,57 +138,6 @@
#define TMC5041_COOLCONF(motor) (0x6D | TMC5041_MOTOR_ADDR_DRV(motor))
#define TMC5041_DRVSTATUS(motor) (0x6F | TMC5041_MOTOR_ADDR_DRV(motor))

#define TMC5041_RAMPMODE_POSITIONING_MODE 0
#define TMC5041_RAMPMODE_POSITIVE_VELOCITY_MODE 1
#define TMC5041_RAMPMODE_NEGATIVE_VELOCITY_MODE 2
#define TMC5041_RAMPMODE_HOLD_MODE 3

#define TMC5041_SW_MODE_SG_STOP_ENABLE BIT(10)

#define TMC5041_RAMPSTAT_INT_MASK GENMASK(7, 4)
#define TMC5041_RAMPSTAT_INT_SHIFT 4

#define TMC5041_RAMPSTAT_POS_REACHED_EVENT_MASK BIT(7)
#define TMC5041_POS_REACHED_EVENT \
(TMC5041_RAMPSTAT_POS_REACHED_EVENT_MASK >> TMC5041_RAMPSTAT_INT_SHIFT)

#define TMC5041_RAMPSTAT_STOP_SG_EVENT_MASK BIT(6)
#define TMC5041_STOP_SG_EVENT (TMC5041_RAMPSTAT_STOP_SG_EVENT_MASK >> TMC5041_RAMPSTAT_INT_SHIFT)

#define TMC5041_RAMPSTAT_STOP_RIGHT_EVENT_MASK BIT(5)
#define TMC5041_STOP_RIGHT_EVENT \
(TMC5041_RAMPSTAT_STOP_RIGHT_EVENT_MASK >> TMC5041_RAMPSTAT_INT_SHIFT)

#define TMC5041_RAMPSTAT_STOP_LEFT_EVENT_MASK BIT(4)
#define TMC5041_STOP_LEFT_EVENT \
(TMC5041_RAMPSTAT_STOP_LEFT_EVENT_MASK >> TMC5041_RAMPSTAT_INT_SHIFT)

#define TMC5041_DRV_STATUS_STST_BIT BIT(31)
#define TMC5041_DRV_STATUS_SG_RESULT_MASK GENMASK(9, 0)
#define TMC5041_DRV_STATUS_SG_STATUS_MASK BIT(24)
#define TMC5041_DRV_STATUS_SG_STATUS_SHIFT 24

#define TMC5041_SG_MIN_VALUE -64
#define TMC5041_SG_MAX_VALUE 63

#define TMC5041_COOLCONF_SG2_THRESHOLD_VALUE_SHIFT 16

#define TMC5041_IHOLD_MASK GENMASK(4, 0)
#define TMC5041_IHOLD_SHIFT 0
#define TMC5041_IHOLD(n) (((n) << TMC5041_IHOLD_SHIFT) & TMC5041_IHOLD_MASK)

#define TMC5041_IRUN_MASK GENMASK(12, 8)
#define TMC5041_IRUN_SHIFT 8
#define TMC5041_IRUN(n) (((n) << TMC5041_IRUN_SHIFT) & TMC5041_IRUN_MASK)

#define TMC5041_IHOLDDELAY_MASK GENMASK(19, 16)
#define TMC5041_IHOLDDELAY_SHIFT 16
#define TMC5041_IHOLDDELAY(n) (((n) << TMC5041_IHOLDDELAY_SHIFT) & TMC5041_IHOLDDELAY_MASK)

#define TMC5041_CHOPCONF_DRV_ENABLE_MASK GENMASK(3, 0)
#define TMC5041_CHOPCONF_MRES_MASK GENMASK(27, 24)
#define TMC5041_CHOPCONF_MRES_SHIFT 24

#endif

/**
Expand Down
6 changes: 3 additions & 3 deletions include/zephyr/drivers/stepper/stepper_trinamic.h
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Original file line number Diff line number Diff line change
Expand Up @@ -144,10 +144,10 @@
.tzerowait = DT_PROP(node, tzerowait), \
.vcoolthrs = DT_PROP(node, vcoolthrs), \
.vhigh = DT_PROP(node, vhigh), \
.iholdrun = (TMC5041_IRUN(DT_PROP(node, irun)) | \
TMC5041_IHOLD(DT_PROP(node, ihold)) | \
TMC5041_IHOLDDELAY(DT_PROP(node, iholddelay))), \
.iholdrun = (TMC5XXX_IRUN(DT_PROP(node, irun)) | \
TMC5XXX_IHOLD(DT_PROP(node, ihold)) | \
TMC5XXX_IHOLDDELAY(DT_PROP(node, iholddelay))), \
}

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include/zephyr/drivers/stepper/stepper_trinamic.h:150 
-#define TMC_RAMP_DT_SPEC_GET(node)						\
-	{									\
-		.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),				\
-		.vcoolthrs = DT_PROP(node, vcoolthrs),				\
-		.vhigh = DT_PROP(node, vhigh),					\
-		.iholdrun = (TMC5XXX_IRUN(DT_PROP(node, irun)) |		\
-			     TMC5XXX_IHOLD(DT_PROP(node, ihold)) |		\
-			     TMC5XXX_IHOLDDELAY(DT_PROP(node, iholddelay))),	\
+#define TMC_RAMP_DT_SPEC_GET(node)                                                                 \
+	{                                                                                          \
+		.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),                                             \
+		.vcoolthrs = DT_PROP(node, vcoolthrs),                                             \
+		.vhigh = DT_PROP(node, vhigh),                                                     \
+		.iholdrun =                                                                        \
+			(TMC5XXX_IRUN(DT_PROP(node, irun)) | TMC5XXX_IHOLD(DT_PROP(node, ihold)) | \
+			 TMC5XXX_IHOLDDELAY(DT_PROP(node, iholddelay))),                           \

/**
* @brief Configure Trinamic Stepper Ramp Generator
Expand Down
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