Commit 242e6ea1 authored by Anders Nielsen's avatar Anders Nielsen Committed by Benjamin Cabé
Browse files

drivers: stepper: adi_tmc: Prepare for tmc51xx support 



Add Kconfig option. Find common regs. Update ramp generator data.

Signed-off-by: default avatarAnders Nielsen <anders.nielsen@prevas.dk>
parent 92b2d462

drivers/stepper/adi_tmc/Kconfig

+1 −0
Original line number Diff line number Diff line
@@ -21,5 +21,6 @@ comment "Trinamic Stepper Drivers" 


rsource "Kconfig.tmc22xx"

rsource "Kconfig.tmc50xx"

rsource "Kconfig.tmc51xx"



endif # STEPPER_ADI_TMC

drivers/stepper/adi_tmc/Kconfig.tmc51xx

0 → 100644
+12 −0
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# SPDX-FileCopyrightText: Copyright (c) 2025 Prevas A/S

# SPDX-License-Identifier: Apache-2.0



config STEPPER_ADI_TMC51XX

	bool "Activate trinamic tmc51xx stepper driver"

	depends on DT_HAS_ADI_TMC51XX_ENABLED && STEPPER_ADI_TMC

	select STEPPER_ADI_TMC_SPI

	default y



module = TMC51XX

module-str = tmc51xx

rsource "Kconfig.tmc_rampgen_template"

drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c

+1 −2
Original line number Diff line number Diff line
@@ -15,7 +15,6 @@ 
#include "adi_tmc5xxx_common.h"



#include <zephyr/logging/log.h>



LOG_MODULE_REGISTER(tmc50xx, CONFIG_STEPPER_LOG_LEVEL);



struct tmc50xx_data {
@@ -730,7 +729,7 @@ static DEVICE_API(stepper, tmc50xx_stepper_api) = { 
						stallguard_velocity_check_interval_ms),		\

		.is_sg_enabled = DT_PROP(child, activate_stallguard2),				\

		IF_ENABLED(CONFIG_STEPPER_ADI_TMC50XX_RAMP_GEN,					\

		(.default_ramp_config = TMC_RAMP_DT_SPEC_GET(child))) };

		(.default_ramp_config = TMC_RAMP_DT_SPEC_GET_TMC50XX(child))) };



#define TMC50XX_STEPPER_DATA_DEFINE(child)							\

	static struct tmc50xx_stepper_data tmc50xx_stepper_data_##child = {			\

drivers/stepper/adi_tmc/adi_tmc_reg.h

+59 −22
Original line number Diff line number Diff line
@@ -7,6 +7,7 @@ 


/*

 * SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG

 * SPDX-FileCopyrightText: Copyright (c) 2025 Prevas A/S

 * SPDX-License-Identifier: Apache-2.0

 */
@@ -18,7 +19,7 @@ extern "C" { 
#endif



/** Common Registers for TMC50XX and TMC51XX */

#if defined(CONFIG_STEPPER_ADI_TMC50XX)

#if defined(CONFIG_STEPPER_ADI_TMC50XX) || defined(CONFIG_STEPPER_ADI_TMC51XX)



#define TMC5XXX_WRITE_BIT        0x80U

#define TMC5XXX_ADDRESS_MASK     0x7FU
@@ -79,12 +80,32 @@ extern "C" { 
#define TMC5XXX_DRV_STATUS_SG_STATUS_MASK  BIT(24)

#define TMC5XXX_DRV_STATUS_SG_STATUS_SHIFT 24



#define TMC50XX_MOTOR_ADDR(m)     (0x20 << (m))

#define TMC50XX_MOTOR_ADDR_DRV(m) ((m) << 4)



#define TMC50XX_RAMPMODE(motor)   (0x00 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_XACTUAL(motor)    (0x01 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VACTUAL(motor)    (0x02 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VSTART(motor)     (0x03 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_A1(motor)         (0x04 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_V1(motor)         (0x05 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_AMAX(motor)       (0x06 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VMAX(motor)       (0x07 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_DMAX(motor)       (0x08 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_D1(motor)         (0x0A | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VSTOP(motor)      (0x0B | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_TZEROWAIT(motor)  (0x0C | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_XTARGET(motor)    (0x0D | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_SWMODE(motor)     (0x14 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_RAMPSTAT(motor)   (0x15 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_CHOPCONF(motor)   (0x6C | TMC50XX_MOTOR_ADDR_DRV(motor))

#define TMC50XX_COOLCONF(motor)   (0x6D | TMC50XX_MOTOR_ADDR_DRV(motor))

#define TMC50XX_DRVSTATUS(motor)  (0x6F | TMC50XX_MOTOR_ADDR_DRV(motor))



#endif



#ifdef CONFIG_STEPPER_ADI_TMC50XX



#define TMC50XX_MOTOR_ADDR(m)     (0x20 << (m))

#define TMC50XX_MOTOR_ADDR_DRV(m) ((m) << 4)

#define TMC50XX_MOTOR_ADDR_PWM(m) ((m) << 3)



/**
@@ -102,24 +123,9 @@ extern "C" { 
#define TMC50XX_PWMCONF(motor)    (0x10 | TMC50XX_MOTOR_ADDR_PWM(motor))

#define TMC50XX_PWM_STATUS(motor) (0x11 | TMC50XX_MOTOR_ADDR_PWM(motor))



#define TMC50XX_RAMPMODE(motor)   (0x00 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_XACTUAL(motor)    (0x01 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VACTUAL(motor)    (0x02 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VSTART(motor)     (0x03 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_A1(motor)         (0x04 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_V1(motor)         (0x05 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_AMAX(motor)       (0x06 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VMAX(motor)       (0x07 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_DMAX(motor)       (0x08 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_D1(motor)         (0x0A | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VSTOP(motor)      (0x0B | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_TZEROWAIT(motor)  (0x0C | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_XTARGET(motor)    (0x0D | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_IHOLD_IRUN(motor) (0x10 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VCOOLTHRS(motor)  (0x11 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_VHIGH(motor)      (0x12 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_SWMODE(motor)     (0x14 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_RAMPSTAT(motor)   (0x15 | TMC50XX_MOTOR_ADDR(motor))

#define TMC50XX_XLATCH(motor)     (0x16 | TMC50XX_MOTOR_ADDR(motor))



#define TMC50XX_MSLUT0(motor)     (0x60 | TMC50XX_MOTOR_ADDR_DRV(motor))
@@ -134,12 +140,43 @@ extern "C" { 
#define TMC50XX_MSLUTSTART(motor) (0x69 | TMC50XX_MOTOR_ADDR_DRV(motor))

#define TMC50XX_MSCNT(motor)      (0x6A | TMC50XX_MOTOR_ADDR_DRV(motor))

#define TMC50XX_MSCURACT(motor)   (0x6B | TMC50XX_MOTOR_ADDR_DRV(motor))

#define TMC50XX_CHOPCONF(motor)   (0x6C | TMC50XX_MOTOR_ADDR_DRV(motor))

#define TMC50XX_COOLCONF(motor)   (0x6D | TMC50XX_MOTOR_ADDR_DRV(motor))

#define TMC50XX_DRVSTATUS(motor)  (0x6F | TMC50XX_MOTOR_ADDR_DRV(motor))



#endif /* CONFIG_STEPPER_ADI_TMC50XX */



#ifdef CONFIG_STEPPER_ADI_TMC51XX



#define TMC51XX_GCONF_EN_PWM_MODE_SHIFT	2

#define TMC51XX_GCONF_SHAFT_SHIFT	4

#define TMC51XX_GCONF_TEST_MODE_SHIFT	17



#define TMC51XX_IHOLD_IRUN	0x10

#define TMC51XX_TPOWER_DOWN	0x11

#define TMC51XX_TSTEP		0x12

#define TMC51XX_TPWMTHRS	0x13

#define TMC51XX_TCOOLTHRS	0x14

#define TMC51XX_THIGH		0x15



#define TMC51XX_RAMPMODE   	TMC50XX_RAMPMODE(0)

#define TMC51XX_XACTUAL    	TMC50XX_XACTUAL(0)

#define TMC51XX_VACTUAL    	TMC50XX_VACTUAL(0)

#define TMC51XX_VSTART     	TMC50XX_VSTART(0)

#define TMC51XX_A1         	TMC50XX_A1(0)

#define TMC51XX_V1         	TMC50XX_V1(0)

#define TMC51XX_AMAX       	TMC50XX_AMAX(0)

#define TMC51XX_VMAX       	TMC50XX_VMAX(0)

#define TMC51XX_DMAX       	TMC50XX_DMAX(0)

#define TMC51XX_D1         	TMC50XX_D1(0)

#define TMC51XX_VSTOP      	TMC50XX_VSTOP(0)

#define TMC51XX_TZEROWAIT  	TMC50XX_TZEROWAIT(0)

#define TMC51XX_XTARGET    	TMC50XX_XTARGET(0)

#define TMC51XX_SWMODE     	TMC50XX_SWMODE(0)

#define TMC51XX_RAMPSTAT   	TMC50XX_RAMPSTAT(0)

#define TMC51XX_CHOPCONF   	TMC50XX_CHOPCONF(0)

#define TMC51XX_COOLCONF   	TMC50XX_COOLCONF(0)

#define TMC51XX_DRVSTATUS  	TMC50XX_DRVSTATUS(0)



#endif /* CONFIG_STEPPER_ADI_TMC51XX */



/**

 * @}

 */

dts/bindings/stepper/adi/adi,tmc50xx.yaml

+1 −3
Original line number Diff line number Diff line
@@ -13,7 +13,7 @@ description: | 
        tmc50xx: tmc50xx@0 {

            compatible = "adi,tmc50xx";

            reg = <0>;

            spi-max-frequency = <DT_FREQ_M(24)>; /* Maximum SPI bus frequency */

            spi-max-frequency = <DT_FREQ_M(8)>; /* Maximum SPI bus frequency */



            #address-cells = <1>;

            #size-cells = <0>;
@@ -61,8 +61,6 @@ include: 
  - name: adi,trinamic-gconf.yaml

    property-allowlist:

      - poscmp-enable

      - shaft1

      - shaft2

      - test-mode

      - lock-gconf

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