97 lines
2.4 KiB
C
97 lines
2.4 KiB
C
#include "tmc2240.h"
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tmc2240_t _tmc2240[TMC2240_MAX];
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static void tmc2240_write(tmc2240_index_e index, uint8_t *data)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
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for (uint16_t i = 0; i < 5; i++)
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{
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tmc->spi->interface.u.normal.spi_send(tmc->spi, data[i]);
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}
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tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
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}
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static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
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for (uint16_t i = 0; i < 5; i++) // 循环读取数据
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{
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rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
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}
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tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
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__NOP();
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__NOP();
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__NOP();
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tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
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for (uint16_t i = 0; i < 5; i++) // 循环读取数据
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{
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rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
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}
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tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
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}
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void tmc2240_config(tmc2240_index_e index)
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{
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uint8_t wdata[5];
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wdata[0] = 0x80 | TMC2240_REG_GCONF; // 写入 GCONF 寄存器
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wdata[1] = 0x00;
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wdata[2] = 0x00;
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wdata[3] = 0x00;
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wdata[4] = 0x01;
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tmc2240_write(index, wdata);
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// 读取 GCONF 寄存器
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uint8_t rdata[5] = {0};
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wdata[0] = TMC2240_REG_GCONF;
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tmc2240_read(index, wdata, rdata);
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_tmc2240[index].data.gconf = rdata[4];
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}
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void tmc2240_init(tmc2240_index_e index, spi_gpio_group_t *gpios)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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tmc->spi = spi_create(SPI_TYPE_NORMAL, *gpios, 0);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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}
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tmc2240_t *tmc2240_get(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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return &_tmc2240[index];
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}
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int32_t tmc2240_position_read(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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uint8_t wdata[5] = {0};
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uint8_t rdata[5] = {0};
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wdata[0] = 0x21; // XACTUAL register address
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tmc2240_read(index, wdata, rdata);
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int32_t response = 0;
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response |= (rdata[1]);
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response <<= 8;
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response |= (rdata[2]);
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response <<= 8;
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response |= (rdata[3]);
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response <<= 8;
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response |= (rdata[4]);
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tmc->data.position = response;
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return response;
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}
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