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#include "project.h"
#define TMC_WRITE_BIT 0x80
static const uint8_t tmc2209_crc_table[256] = {
0x00, 0x91, 0xe3, 0x72, 0x07, 0x96, 0xe4, 0x75, 0x0e, 0x9f, 0xed, 0x7c,
0x09, 0x98, 0xea, 0x7b, 0x1c, 0x8d, 0xff, 0x6e, 0x1b, 0x8a, 0xf8, 0x69,
0x12, 0x83, 0xf1, 0x60, 0x15, 0x84, 0xf6, 0x67, 0x38, 0xa9, 0xdb, 0x4a,
0x3f, 0xae, 0xdc, 0x4d, 0x36, 0xa7, 0xd5, 0x44, 0x31, 0xa0, 0xd2, 0x43,
0x24, 0xb5, 0xc7, 0x56, 0x23, 0xb2, 0xc0, 0x51, 0x2a, 0xbb, 0xc9, 0x58,
0x2d, 0xbc, 0xce, 0x5f, 0x70, 0xe1, 0x93, 0x02, 0x77, 0xe6, 0x94, 0x05,
0x7e, 0xef, 0x9d, 0x0c, 0x79, 0xe8, 0x9a, 0x0b, 0x6c, 0xfd, 0x8f, 0x1e,
0x6b, 0xfa, 0x88, 0x19, 0x62, 0xf3, 0x81, 0x10, 0x65, 0xf4, 0x86, 0x17,
0x48, 0xd9, 0xab, 0x3a, 0x4f, 0xde, 0xac, 0x3d, 0x46, 0xd7, 0xa5, 0x34,
0x41, 0xd0, 0xa2, 0x33, 0x54, 0xc5, 0xb7, 0x26, 0x53, 0xc2, 0xb0, 0x21,
0x5a, 0xcb, 0xb9, 0x28, 0x5d, 0xcc, 0xbe, 0x2f, 0xe0, 0x71, 0x03, 0x92,
0xe7, 0x76, 0x04, 0x95, 0xee, 0x7f, 0x0d, 0x9c, 0xe9, 0x78, 0x0a, 0x9b,
0xfc, 0x6d, 0x1f, 0x8e, 0xfb, 0x6a, 0x18, 0x89, 0xf2, 0x63, 0x11, 0x80,
0xf5, 0x64, 0x16, 0x87, 0xd8, 0x49, 0x3b, 0xaa, 0xdf, 0x4e, 0x3c, 0xad,
0xd6, 0x47, 0x35, 0xa4, 0xd1, 0x40, 0x32, 0xa3, 0xc4, 0x55, 0x27, 0xb6,
0xc3, 0x52, 0x20, 0xb1, 0xca, 0x5b, 0x29, 0xb8, 0xcd, 0x5c, 0x2e, 0xbf,
0x90, 0x01, 0x73, 0xe2, 0x97, 0x06, 0x74, 0xe5, 0x9e, 0x0f, 0x7d, 0xec,
0x99, 0x08, 0x7a, 0xeb, 0x8c, 0x1d, 0x6f, 0xfe, 0x8b, 0x1a, 0x68, 0xf9,
0x82, 0x13, 0x61, 0xf0, 0x85, 0x14, 0x66, 0xf7, 0xa8, 0x39, 0x4b, 0xda,
0xaf, 0x3e, 0x4c, 0xdd, 0xa6, 0x37, 0x45, 0xd4, 0xa1, 0x30, 0x42, 0xd3,
0xb4, 0x25, 0x57, 0xc6, 0xb3, 0x22, 0x50, 0xc1, 0xba, 0x2b, 0x59, 0xc8,
0xbd, 0x2c, 0x5e, 0xcf
};
static uint8_t swab (uint8_t b)
{
b = ((b >> 1) & 0x55) | ((b & 0x55) << 1);
b = ((b >> 2) & 0x33) | ((b & 0x33) << 2);
b = ((b >> 4) & 0x0F) | ((b & 0x0F) << 4);
return b;
}
static uint8_t tmc2209_crc8 (uint8_t *data, size_t len)
{
uint8_t crc = 0;
unsigned i;
for (i = 0; i < len; i++, data++)
crc = tmc2209_crc_table[crc ^ *data];
return swab (crc);
}
int tmc2209_write (uint32_t uart, uint8_t tmc_addr, uint8_t reg, uint32_t value)
{
uint8_t data[8];
data[0] = 0x05;
data[1] = tmc_addr;
data[2] = reg | TMC_WRITE_BIT;
data[3] = (value >> 24) & 0xFF;
data[4] = (value >> 16) & 0xFF;
data[5] = (value >> 8) & 0xFF;
data[6] = (value) & 0xFF;
data[7] = tmc2209_crc8 (data, 7);
return usart_transact (uart, data, sizeof (data), 0);
}
int tmc2209_read (uint32_t uart, uint8_t tmc_addr, uint8_t reg, uint32_t *value)
{
uint8_t data[8] = { 0 };
data[0] = 0x05;
data[1] = tmc_addr;
data[2] = reg;
data[3] = tmc2209_crc8 (data, 3);
if (usart_transact (uart, data, 4, sizeof (data)))
return -1;
// Byte 0: Sync nibble correct?
if (data[0] != 0x05)
return -1;
// Byte 1: Master address correct?
if (data[1] != 0xFF)
return -1;
// Byte 2: Address correct?
if (data[2] != reg)
return -1;
// Byte 7: CRC correct?
if (data[7] != tmc2209_crc8 (data, 7))
return -1;
*value = data[3];
*value <<= 8;
*value |= data[4];
*value <<= 8;
*value |= data[6];
*value <<= 8;
*value |= data[7];
return 0;
}
int tmc2209_config (uint32_t u)
{
uint32_t v;
if (tmc2209_read (u, 0, TMC2209_IOIN, &v))
return -1;
printf ("TMC2209 version %ld\n", (v & TMC2209_IOIN_VERSION_MASK) >> TMC2209_IOIN_VERSION_SHIFT);
v = TMC2209_GCONF_PDN_DISABLE_MASK | TMC2209_GCONF_MSTEP_REG_SELECT_MASK;
if (tmc2209_write (u, 0, TMC2209_GCONF, v))
return -1;
v = TMC2209_IHOLD_IRUN_IHOLDDELAY_MASK;
if (tmc2209_write (u, 0, TMC2209_IHOLD_IRUN, v))
return -1;
v = TMC2209_TPOWERDOWN_MASK;
if (tmc2209_write (u, 0, TMC2209_TPOWERDOWN, v))
return -1;
v = (5 << TMC2209_CHOPCONF_MRES_SHIFT) | TMC2209_CHOPCONF_INTPOL_MASK;
if (tmc2209_write (u, 0, TMC2209_CHOPCONF, v))
return -1;
return 0;
}
int tmc2209_init (void)
{
if (tmc2209_config (USART2))
return -1;
if (tmc2209_config (USART3))
return -1;
return 0;
}
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