Commit 6098b2f6 authored by Jilay Pandya's avatar Jilay Pandya Committed by Anas Nashif
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drivers: stepper: tmc5041: use tmc5xxx generalized macros 

This commit refactors tmc5041 driver to use tmc5xxx generalized macros

Signed-off-by: default avatarJilay Pandya <jilay.pandya@outlook.com>
parent f3a868ad

drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c

+28 −28
Changes for drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c: 28 added lines, 28 removed lines.
Original line number Diff line number Diff line
@@ -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);
@@ -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);
@@ -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;
@@ -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) {
@@ -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;
@@ -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);
@@ -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);
@@ -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;

}
@@ -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;

	}
@@ -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) {
@@ -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;
@@ -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;

	}
@@ -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;

	}
@@ -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;

		}
@@ -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;

		}
@@ -611,7 +611,7 @@ 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;

	}
@@ -619,7 +619,7 @@ static int tmc5041_init(const struct device *dev) 
	/* 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;

	}
@@ -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;

		}
@@ -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;

		}

include/zephyr/drivers/stepper/stepper_trinamic.h

+3 −3
Changes for include/zephyr/drivers/stepper/stepper_trinamic.h: 3 added lines, 3 removed lines.
Original line number Diff line number Diff line
@@ -144,9 +144,9 @@ struct tmc_ramp_generator_data { 
		.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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