[DRAFT]: Adding in the TMC429 driver

tmc/ic/TMC429/TMC429.c

@@ -0,0 +1,62 @@
+/*******************************************************************************
+* Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG
+* (now owned by Analog Devices Inc.),
+*
+* Copyright © 2024 Analog Devices Inc. All Rights Reserved.
+* This software is proprietary to Analog Devices, Inc. and its licensors.
+*******************************************************************************/
+
+#include "TMC429.h"
+#include "TMC429_HW_Abstraction.h"
+
+void tmc429_rotateMotor(uint16_t icID, uint8_t motor, int32_t velocity)
+{
+    if(motor >= TMC429_MOTORS)
+        return;
+
+	writeRegisterSPI(icID, TMC429_V_TARGET(motor), (velocity >= 0)? velocity : -velocity);
+}
+
+int32_t readRegisterSPI(uint16_t icID, uint8_t address)
+{
+	uint8_t data[4] = { 0 };
+
+	// Set the address for reading
+    // Set bit 0 to 1 to indicate a read operation
+    data[0] = (address & TMC429_ADDRESS_MASK) | TMC429_WRITE_READ_BIT;
+
+	// Send the read request
+	tmc429_readWriteSPI(icID, &data[0], sizeof(data));
+
+	// Rewrite the address and set the read bit
+	data[0] = (address & TMC429_ADDRESS_MASK) | TMC429_WRITE_READ_BIT;
+
+	// Send another request to receive the read reply
+	tmc429_readWriteSPI(icID, &data[0], sizeof(data));
+
+	return (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | data[3];
+}
+
+void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value)
+{
+	uint8_t data[4] = { 0 };
+
+	// Set bit 0 to 0 to indicate a write operation
+	data[0] = address & TMC429_ADDRESS_MASK;
+	data[1] = 0xFF & (value >> 16);
+	data[2] = 0xFF & (value >> 8);
+	data[3] = 0xFF & value;
+
+	// Send the write request
+	tmc429_readWriteSPI(icID, &data[0], sizeof(data));
+}
+
+int32_t tmc429_readRegister(uint16_t icID, uint8_t address)
+{
+    return readRegisterSPI(icID, address);
+}
+
+void tmc429_writeRegister(uint16_t icID, uint8_t address, int32_t value)
+{
+    writeRegisterSPI(icID, address, value);
+}

tmc/ic/TMC429/TMC429.h

@@ -0,0 +1,76 @@
+/*******************************************************************************
+* Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG
+* (now owned by Analog Devices Inc.),
+*
+* Copyright © 2024 Analog Devices Inc. All Rights Reserved.
+* This software is proprietary to Analog Devices, Inc. and its licensors.
+*******************************************************************************/
+
+#ifndef TMC_IC_TMC429_H_
+#define TMC_IC_TMC429_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include "TMC429_HW_Abstraction.h"
+
+/*******************************************************************************
+* API Configuration Defines
+* These control optional features of the TMC-API implementation.
+* These can be commented in/out here or defined from the build system.
+*******************************************************************************/
+
+// => TMC-API wrapper
+extern void tmc429_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength);
+// => TMC-API wrapper
+
+int32_t tmc429_readRegister(uint16_t icID, uint8_t address);
+void tmc429_writeRegister(uint16_t icID, uint8_t address, int32_t value);
+void tmc429_rotateMotor(uint16_t icID, uint8_t motor, int32_t velocity);
+
+typedef struct
+{
+    uint32_t mask;
+    uint8_t shift;
+    uint8_t address;
+    bool isSigned;
+} RegisterField;
+
+static inline uint32_t tmc429_fieldExtract(uint32_t data, RegisterField field)
+{
+    uint32_t value = (data & field.mask) >> field.shift;
+
+    if (field.isSigned)
+    {
+        // Apply signedness conversion
+        uint32_t baseMask = field.mask >> field.shift;
+        uint32_t signMask = baseMask & (~baseMask >> 1);
+        value = (value ^ signMask) - signMask;
+    }
+
+    return value;
+}
+
+static inline uint32_t tmc429_fieldRead(uint16_t icID, RegisterField field)
+{
+	uint32_t value = tmc429_readRegister(icID, field.address);
+
+    return tmc429_fieldExtract(value, field);
+}
+
+static inline uint32_t tmc429_fieldUpdate(uint32_t data, RegisterField field, uint32_t value)
+{
+    return (data & (~field.mask)) | ((value << field.shift) & field.mask);
+}
+
+static inline void tmc429_fieldWrite(uint16_t icID, RegisterField field, uint32_t value)
+{
+	uint32_t regValue = tmc429_readRegister(icID, field.address);
+
+	regValue = tmc429_fieldUpdate(regValue, field, value);
+
+    tmc429_writeRegister(icID, field.address, regValue);
+}
+
+
+#endif /* TMC_IC_TMC429_H_ */