From a69d542f0f5e5ab309328a3a4cd420e91fdeaf02 Mon Sep 17 00:00:00 2001 From: Graham Harrison Date: Fri, 6 Jun 2025 15:50:55 -0600 Subject: [PATCH 1/4] Update TMC5072_HW_Abstraction.h fixes #79 --- tmc/ic/TMC5072/TMC5072_HW_Abstraction.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h b/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h index 7fc094b5..4d843181 100644 --- a/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h +++ b/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h @@ -140,11 +140,11 @@ #define TMC5072_IFCNT_MASK 0x000000FF #define TMC5072_IFCNT_SHIFT 0 #define TMC5072_IFCNT_FIELD(motor) ((RegisterField) {TMC5072_IFCNT_MASK, TMC5072_IFCNT_SHIFT, TMC5072_IFCNT, false}) -#define TMC5072_SLAVEADDR_MASK 0x0000000F +#define TMC5072_SLAVEADDR_MASK 0x000000FF #define TMC5072_SLAVEADDR_SHIFT 0 #define TMC5072_SLAVEADDR_FIELD(motor) ((RegisterField) {TMC5072_SLAVEADDR_MASK, TMC5072_SLAVEADDR_SHIFT, TMC5072_SLAVECONF, false}) -#define TMC5072_SENDDELAY_MASK 0x000000F0 -#define TMC5072_SENDDELAY_SHIFT 4 +#define TMC5072_SENDDELAY_MASK 0x00000F00 +#define TMC5072_SENDDELAY_SHIFT 8 #define TMC5072_SENDDELAY_FIELD(motor) ((RegisterField) {TMC5072_SENDDELAY_MASK, TMC5072_SENDDELAY_SHIFT, TMC5072_SLAVECONF, false}) #define TMC5072_TEST_SEL_MASK 0x0000000F #define TMC5072_TEST_SEL_SHIFT 0 From e79cb38a22dc38986a01e3414c364d0e1687c8e5 Mon Sep 17 00:00:00 2001 From: Graham Harrison Date: Fri, 6 Jun 2025 16:46:31 -0600 Subject: [PATCH 2/4] add missing register added missing register drv_err2 --- tmc/ic/TMC5072/TMC5072_HW_Abstraction.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h b/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h index 4d843181..24f0575d 100644 --- a/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h +++ b/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h @@ -134,6 +134,9 @@ #define TMC5072_DRV_ERR1_MASK 0x00000002 #define TMC5072_DRV_ERR1_SHIFT 1 #define TMC5072_DRV_ERR1_FIELD(motor) ((RegisterField) {TMC5072_DRV_ERR1_MASK, TMC5072_DRV_ERR1_SHIFT, TMC5072_GSTAT, false}) +#define TMC5072_DRV_ERR2_MASK 0x00000002 +#define TMC5072_DRV_ERR2_SHIFT 2 +#define TMC5072_DRV_ERR2_FIELD(motor) ((RegisterField) {TMC5072_DRV_ERR2_MASK, TMC5072_DRV_ERR2_SHIFT, TMC5072_GSTAT, false}) #define TMC5072_UV_CP_MASK 0x00000008 #define TMC5072_UV_CP_SHIFT 3 #define TMC5072_UV_CP_FIELD(motor) ((RegisterField) {TMC5072_UV_CP_MASK, TMC5072_UV_CP_SHIFT, TMC5072_GSTAT, false}) From fa1c93fd8b8625007c1a49ff3bfa2be4929e8f81 Mon Sep 17 00:00:00 2001 From: Graham Harrison Date: Fri, 6 Jun 2025 16:50:17 -0600 Subject: [PATCH 3/4] fix for register --- tmc/ic/TMC5072/TMC5072_HW_Abstraction.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h b/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h index 24f0575d..9c97b365 100644 --- a/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h +++ b/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h @@ -134,7 +134,7 @@ #define TMC5072_DRV_ERR1_MASK 0x00000002 #define TMC5072_DRV_ERR1_SHIFT 1 #define TMC5072_DRV_ERR1_FIELD(motor) ((RegisterField) {TMC5072_DRV_ERR1_MASK, TMC5072_DRV_ERR1_SHIFT, TMC5072_GSTAT, false}) -#define TMC5072_DRV_ERR2_MASK 0x00000002 +#define TMC5072_DRV_ERR2_MASK 0x00000004 #define TMC5072_DRV_ERR2_SHIFT 2 #define TMC5072_DRV_ERR2_FIELD(motor) ((RegisterField) {TMC5072_DRV_ERR2_MASK, TMC5072_DRV_ERR2_SHIFT, TMC5072_GSTAT, false}) #define TMC5072_UV_CP_MASK 0x00000008 From 3b9b73844b30291dd73624d29a126c06c9383708 Mon Sep 17 00:00:00 2001 From: Graham Harrison Date: Thu, 12 Jun 2025 11:36:08 -0600 Subject: [PATCH 4/4] add ramp mode def --- tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h b/tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h index d649029e..98b0b1ac 100644 --- a/tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h +++ b/tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h @@ -21,6 +21,9 @@ #define TMC4361A_COVER_DONE (1<<25) +#define TMC4361A_RAMPMODE_OPERATION_MODE_VELOCITY 0 +#define TMC4361A_RAMPMODE_OPERATION_MODE_POSITION 1 + #define TMC4361A_RAMP_HOLD 0 #define TMC4361A_RAMP_TRAPEZ 1 #define TMC4361A_RAMP_SSHAPE 2