Got homing sequenc to work, ....again

motor-control/core-xy-firmware/include/tmc2209/tmc2209.hpp

@@ -0,0 +1,125 @@
+#pragma once
+#include "pico/stdlib.h"
+#include "hardware/uart.h"
+
+#include "registers_map.hpp"
+
+/**
+ * @brief Interface to communicate with TMC2209 driver via UART
+ * This implements basic read and write operations to the TMC2209 driver
+ * It does not implement any register specific operations
+ */
+class TMC2209_UART {
+private:
+    uint8_t node_address;
+    uart_inst_t *uart_inst;
+    uint baudrate;
+    uint tx_pin;
+    uint rx_pin;
+
+
+public:
+    /**
+     * @brief Construct a new tmc2209 uart object
+     * This does not initialize the UART peripheral, it just sets the parameters
+     * 
+     * @param uart_id which UART to use (uart0 or uart1)
+     * @param node_address this is the address of the TMC2209 driver set by ms1, ms2 pins (0-3)
+     * @param baudrate UART baudrate to use (250k > baudrate > 2000, good value 115200, the tmc2209 has automatic baudrate detection)
+     * @param tx_pin TX pin of RP2040. Depending on the UART peripheral, diffrent pins are valid
+     * @param rx_pin RX pin of RP2040. Depending on the UART peripheral, diffrent pins are valid
+     */
+    TMC2209_UART(uart_inst_t *uart_inst, uint8_t node_address, uint baudrate, uint tx_pin, uint rx_pin);
+
+    /**
+     * @brief Initialize UART peripheral and pins
+     * 
+     */
+    void init();
+
+    /**
+     * @brief Calculate CRC8-ATM checksum for the given data
+     * the specific implementation is taken from TMC2209 datasheet
+     * 
+     * @param data Data to calculate CRC for
+     * @param size Size of the data (without CRC byte)
+     * @return uint8_t Calculated CRC8 checksum
+     */
+    uint8_t calc_crc8_atm(uint8_t *data, uint8_t size);
+    
+    /**
+     * @brief Perform a read operation to the TMC2209 driver
+     * This does not check if register is write only.
+     * It will wait for the response from the driver
+     * 
+     * @param address 
+     * @return uint32_t Data read from the register
+     */
+    uint32_t read(uint8_t address);
+
+    /**
+     * @brief Perform a write operation to the TMC2209 driver
+     * This does not check if register is read only.
+     * It will wait for the response from the driver
+     * 
+     * @param address Where to write the data (register Address)
+     * @param value Data to write to the register
+     */
+    void write(uint8_t address, uint32_t value);
+
+    /**
+     * @brief This if any CRC error occured during the last read/write operation. Should be checked after each operation
+     */
+    bool crc_error_flag = false;
+};
+
+/**
+ * @brief Higher level interface to TMC2209 driver
+ * This class simplifies dealing with the registers of the TMC2209 driver
+ * so you can just set the values
+ */
+class TMC2209_Registers {
+
+private:
+    TMC2209_UART uart_driver;
+
+    REG_CHOPCONF chopconfBuffer;
+
+public:
+    TMC2209_Registers(TMC2209_UART uart_driver);
+
+    void set_reg_gconf(
+        bool i_scale_analog,
+        bool internal_rsense,
+        bool en_SpreadCycle,
+        bool shaft,
+        bool index_otpw,
+        bool index_step,
+        bool pdn_disable,
+        bool mstep_reg_select,
+        bool multistep_filt
+    );
+
+    void set_holdCurrent(
+        uint8_t currentHold,
+        uint8_t currentRun,
+        uint8_t holdDelay
+    );
+
+    void set_thresholdPowerdown(uint8_t threshold);
+    void set_thresholdStealthChop(uint32_t threshold);
+    void set_thresholdCoolStep(uint32_t threshold);
+    void set_thresholdStall(uint8_t threshold);
+
+    void set_chopConfig(
+        bool lowsideShortProtection,
+        bool GNDShortProtection,
+        bool doubleEdge,
+        bool interpolation,
+        uint8_t microstepResolution,
+        bool voltageSensatifity,
+        uint8_t hysteresisOffset,
+        uint8_t hysteresisStart
+    );
+
+};