tmc2130.c

/*
 * tmc2130.c - interface for Trinamic TMC2130 stepper driver
 *
 * v0.0.10 / 2024-11-07
 */

/*

Copyright (c) 2018-2024, Terje Io
All rights reserved.

Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.

* Neither the name of the copyright holder nor the names of its contributors may
be used to endorse or promote products derived from this software without
specific prior written permission..

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

*/

/*
 * Reference for calculations:
 * https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC5130_TMC2130_TMC2100_Calculations.xlsx
 *
 */

#include <math.h>
#include <string.h>

#include "tmc2130.h"

static const trinamic_cfg_params_t cfg_params = {

    .cap.drvconf = 0,

    .cap.coolconf.seup = 0b11,
    .cap.coolconf.sedn = 0b11,
    .cap.coolconf.semax = 0b1111,
    .cap.coolconf.semin = 0b1111,
    .cap.coolconf.seimin = 1,

    .cap.chopconf.toff = 0b1111,
    .cap.chopconf.hstrt = 0b111,
    .cap.chopconf.hend = 0b1111,
    .cap.chopconf.rndtf = 1,
    .cap.chopconf.chm = 1,
    .cap.chopconf.tbl = 0b11,

    .dflt.drvconf = 0,

    .dflt.coolconf.seup = TMC2130_SEUP,
    .dflt.coolconf.sedn = TMC2130_SEDN,
    .dflt.coolconf.semax = TMC2130_SEMAX,
    .dflt.coolconf.semin = TMC2130_SEMIN,
    .dflt.coolconf.seimin = TMC2130_SEIMIN,

    .dflt.chopconf.toff = TMC2130_TOFF,
    .dflt.chopconf.hstrt = TMC2130_HSTRT - 1,
    .dflt.chopconf.hend = TMC2130_HEND + 3,
    .dflt.chopconf.rndtf = TMC2130_RNDTF,
    .dflt.chopconf.chm = TMC2130_CHM,
    .dflt.chopconf.tbl = TMC2130_TBL
};

static const TMC2130_t tmc2130_defaults = {
    .config.f_clk = TMC2130_F_CLK,
    .config.mode = TMC2130_MODE,
    .config.r_sense = TMC2130_R_SENSE,
    .config.current = TMC2130_CURRENT,
    .config.hold_current_pct = TMC2130_HOLD_CURRENT_PCT,
    .config.microsteps = TMC2130_MICROSTEPS,

    // register adresses
    .gconf.addr.reg = TMC2130Reg_GCONF,
    .gconf.reg.en_pwm_mode = TMC2130_EN_PWM_MODE,
    .gstat.addr.reg = TMC2130Reg_GSTAT,
    .ioin.addr.reg = TMC2130Reg_IOIN,
    .ihold_irun.addr.reg = TMC2130Reg_IHOLD_IRUN,
    .ihold_irun.reg.iholddelay = TMC2130_IHOLDDELAY,
    .tpowerdown.addr.reg = TMC2130Reg_TPOWERDOWN,
    .tpowerdown.reg.tpowerdown = TMC2130_TPOWERDOWN,
    .tstep.addr.reg = TMC2130Reg_TSTEP,
    .tpwmthrs.addr.reg = TMC2130Reg_TPWMTHRS,
    .tpwmthrs.reg.tpwmthrs = TMC2130_TPWM_THRS,
    .tcoolthrs.addr.reg = TMC2130Reg_TCOOLTHRS,
    .tcoolthrs.reg.tcoolthrs = TMC2130_COOLSTEP_THRS,
    .thigh.addr.reg = TMC2130Reg_THIGH,
    .vdcmin.addr.reg = TMC2130Reg_VDCMIN,
    .mscnt.addr.reg = TMC2130Reg_MSCNT,
    .mscuract.addr.reg = TMC2130Reg_MSCURACT,
    .chopconf.addr.reg = TMC2130Reg_CHOPCONF,
    .chopconf.reg.intpol = TMC2130_INTPOL,
    .chopconf.reg.toff = TMC2130_TOFF,
    .chopconf.reg.chm = TMC2130_CHM,
    .chopconf.reg.tbl = TMC2130_TBL,
    .chopconf.reg.rndtf = TMC2130_RNDTF,
    .chopconf.reg.hend = TMC2130_HEND + 3,
#if TMC2130_CHM == 0
    .chopconf.reg.hstrt = TMC2130_HSTRT - 1,
#else
    .chopconf.reg.fd3 = (TMC2130_TFD & 0x08) >> 3,
    .chopconf.reg.hstrt = TMC2130_TFD & 0x07,
#endif
    .coolconf.addr.reg = TMC2130Reg_COOLCONF,
    .coolconf.reg.semin = TMC2130_SEMIN,
    .coolconf.reg.seup = TMC2130_SEUP,
    .coolconf.reg.semax = TMC2130_SEMAX,
    .coolconf.reg.sedn = TMC2130_SEDN,
    .coolconf.reg.seimin = TMC2130_SEIMIN,
    .dcctrl.addr.reg = TMC2130Reg_DCCTRL,
    .drv_status.addr.reg = TMC2130Reg_DRV_STATUS,
    .pwmconf.addr.reg = TMC2130Reg_PWMCONF,
    .pwmconf.reg.pwm_autoscale = TMC2130_PWM_AUTOSCALE,
    .pwmconf.reg.pwm_ampl = TMC2130_PWM_AMPL,
    .pwmconf.reg.pwm_grad = TMC2130_PWM_GRAD,
    .pwmconf.reg.pwm_freq = TMC2130_PWM_FREQ,
    .pwm_scale.addr.reg = TMC2130Reg_PWM_SCALE,
    .lost_steps.addr.reg = TMC2130Reg_LOST_STEPS,
#ifdef TMC2130_COMPLETE
    .xdirect.addr.reg = TMC2130Reg_XDIRECT,
    .mslut[0].addr.reg = TMC2130Reg_MSLUT_BASE,
    .mslut[1].addr.reg = (tmc2130_regaddr_t)(TMC2130Reg_MSLUT_BASE + 1),
    .mslut[2].addr.reg = (tmc2130_regaddr_t)(TMC2130Reg_MSLUT_BASE + 2),
    .mslut[3].addr.reg = (tmc2130_regaddr_t)(TMC2130Reg_MSLUT_BASE + 3),
    .mslut[4].addr.reg = (tmc2130_regaddr_t)(TMC2130Reg_MSLUT_BASE + 4),
    .mslut[5].addr.reg = (tmc2130_regaddr_t)(TMC2130Reg_MSLUT_BASE + 5),
    .mslut[6].addr.reg = (tmc2130_regaddr_t)(TMC2130Reg_MSLUT_BASE + 6),
    .mslut[7].addr.reg = (tmc2130_regaddr_t)(TMC2130Reg_MSLUT_BASE + 7),
    .mslutsel.addr.reg = TMC2130Reg_MSLUTSEL,
    .mslutstart.addr.reg = TMC2130Reg_MSLUTSTART,
    .encm_ctrl.addr.reg = TMC2130Reg_ENCM_CTRL,
#endif

};

const trinamic_cfg_params_t *TMC2130_GetConfigDefaults (void)
{
    return &cfg_params;
}

static void _set_rms_current (TMC2130_t *driver)
{
    float maxv = (((float)(driver->config.r_sense + 20)) * (float)(32UL * driver->config.current)) * 1.41421f / 1000.0f;

    int8_t current_scaling = (int8_t)(maxv / 325.0f) - 1;

    // If the current scaling is too low set the vsense bit and recalculate the current setting
    if ((driver->chopconf.reg.vsense = (current_scaling < 16)))
        current_scaling = (int8_t)(maxv / 180.0f) - 1;

    driver->ihold_irun.reg.irun = current_scaling > 31 ? 31 : current_scaling;
    driver->ihold_irun.reg.ihold = (driver->ihold_irun.reg.irun * driver->config.hold_current_pct) / 100;
}

void TMC2130_SetDefaults (TMC2130_t *driver)
{
    memcpy(driver, &tmc2130_defaults, sizeof(TMC2130_t));

    _set_rms_current(driver);

    driver->chopconf.reg.mres = tmc_microsteps_to_mres(driver->config.microsteps);
}

bool TMC2130_Init (TMC2130_t *driver)
{
    // Read drv_status to check if driver is online
    tmc_spi_read(driver->config.motor, (TMC_spi_datagram_t *)&driver->drv_status);
    if(driver->drv_status.reg.value == 0 || driver->drv_status.reg.value == 0xFFFFFFFF)
        return false;

    // Perform a status register read to clear reset flag
    tmc_spi_read(driver->config.motor, (TMC_spi_datagram_t *)&driver->gstat);

    driver->chopconf.reg.mres = tmc_microsteps_to_mres(driver->config.microsteps);

    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->gconf);
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->coolconf);
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->pwmconf);
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->tpowerdown);
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->tpwmthrs);

    TMC2130_SetCurrent(driver, driver->config.current, driver->config.hold_current_pct);

    // Read back chopconf to check if driver is online
    uint32_t chopconf = driver->chopconf.reg.value;
    tmc_spi_read(driver->config.motor, (TMC_spi_datagram_t *)&driver->chopconf);

    return driver->chopconf.reg.value == chopconf;
}

uint16_t TMC2130_GetCurrent (TMC2130_t *driver, trinamic_current_t type)
{
    uint8_t cs;
    bool vsense;

    switch(type) {
        case TMCCurrent_Max:
            cs = 31;
            vsense = 0;
            break;
        case TMCCurrent_Actual:
            cs = driver->ihold_irun.reg.irun;
            vsense = driver->chopconf.reg.vsense;
            break;
        case TMCCurrent_Hold:
            cs = driver->ihold_irun.reg.ihold;
            vsense = driver->chopconf.reg.vsense;
            break;
        default: // TMCCurrent_Min:
            cs = 0;
            vsense = 1;
            break;
    }

    return (uint16_t)ceilf((float)(cs + 1) / 32.0f * (vsense ? 180.0f : 325.0f) / (float)(driver->config.r_sense + 20) / 1.41421f * 1000.0f);
}

// r_sense = mOhm, Vsense = mV, current = mA (RMS)
void TMC2130_SetCurrent (TMC2130_t *driver, uint16_t mA, uint8_t hold_pct)
{
    driver->config.current = mA;
    driver->config.hold_current_pct = hold_pct;

    _set_rms_current(driver);

    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->chopconf);
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->ihold_irun);
}

float TMC2130_GetTPWMTHRS (TMC2130_t *driver, float steps_mm)
{
    return tmc_calc_tstep_inv(&driver->config, driver->tpwmthrs.reg.tpwmthrs, steps_mm);
}

void TMC2130_SetTPWMTHRS (TMC2130_t *driver, float mm_sec, float steps_mm)
{
    driver->tpwmthrs.reg.tpwmthrs = tmc_calc_tstep(&driver->config, mm_sec, steps_mm);
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->tpwmthrs);
}

void TMC2130_SetTHIGH (TMC2130_t *driver, float mm_sec, float steps_mm) // -> pwm threshold
{
    driver->thigh.reg.thigh = tmc_calc_tstep(&driver->config, mm_sec, steps_mm);
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->thigh);
}

void TMC2130_SetTCOOLTHRS (TMC2130_t *driver, float mm_sec, float steps_mm) // -> pwm threshold
{
    driver->tcoolthrs.reg.tcoolthrs = tmc_calc_tstep(&driver->config, mm_sec, steps_mm);
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->tcoolthrs);
}

// 1 - 256 in steps of 2^value is valid for TMC2130
bool TMC2130_MicrostepsIsValid (uint16_t usteps)
{
    return tmc_microsteps_validate(usteps);
}

void TMC2130_SetMicrosteps (TMC2130_t *driver, tmc2130_microsteps_t msteps)
{
    driver->chopconf.reg.mres = tmc_microsteps_to_mres(msteps);
    driver->config.microsteps = (tmc2130_microsteps_t)(1 << (8 - driver->chopconf.reg.mres));
// TODO: recalc and set hybrid threshold if enabled?
    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->chopconf);
}

void TMC2130_SetConstantOffTimeChopper (TMC2130_t *driver, uint8_t constant_off_time, uint8_t blank_time, uint8_t fast_decay_time, int8_t sine_wave_offset, bool use_current_comparator)
{
    //calculate the value acc to the clock cycles
    if (blank_time >= 54)
        blank_time = 3;
    else if (blank_time >= 36)
        blank_time = 2;
    else if (blank_time >= 24)
        blank_time = 1;
    else
        blank_time = 0;

    if (fast_decay_time > 15)
        fast_decay_time = 15;

    if(driver->chopconf.reg.chm)
        driver->chopconf.reg.fd3 = (fast_decay_time & 0x8) >> 3;

    driver->chopconf.reg.tbl = blank_time;
    driver->chopconf.reg.toff = constant_off_time < 2 ? 2 : (constant_off_time > 15 ? 15 : constant_off_time);
    driver->chopconf.reg.hstrt = fast_decay_time & 0x7;
    driver->chopconf.reg.hend = (sine_wave_offset < -3 ? -3 : (sine_wave_offset > 12 ? 12 : sine_wave_offset)) + 3;
    driver->chopconf.reg.rndtf = !use_current_comparator;

    tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)&driver->chopconf);
}

TMC2130_status_t TMC2130_WriteRegister (TMC2130_t *driver, TMC2130_datagram_t *reg)
{
    TMC2130_status_t status;

    status.value = tmc_spi_write(driver->config.motor, (TMC_spi_datagram_t *)reg);

    return status;
}

TMC2130_status_t TMC2130_ReadRegister (TMC2130_t *driver, TMC2130_datagram_t *reg)
{
    TMC2130_status_t status;

    status.value = tmc_spi_read(driver->config.motor, (TMC_spi_datagram_t *)reg);

    return status;
}

// Returns pointer to shadow register or NULL if not found
TMC2130_datagram_t *TMC2130_GetRegPtr (TMC2130_t *driver, tmc2130_regaddr_t reg)
{
    TMC2130_datagram_t *ptr = (TMC2130_datagram_t *)driver;

    while(ptr && ptr->addr.reg != reg) {
        ptr++;
        if(ptr->addr.reg == TMC2130Reg_LOST_STEPS && ptr->addr.reg != reg)
            ptr = NULL;
    }

    return ptr;
}