80 lines
2.4 KiB
C++
80 lines
2.4 KiB
C++
#include "pico/stdlib.h"
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#include "pico.h"
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#include "hardware/uart.h"
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#include "tmc2209.hpp"
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TMC2209_UART::TMC2209_UART(
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uart_inst_t *uart_inst,
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uint8_t node_address,
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uint baudrate,
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uint tx_pin,
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uint rx_pin
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) {
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this->uart_inst = uart_inst;
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this->node_address = node_address & 0b11;
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this->baudrate = baudrate;
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this->tx_pin = tx_pin;
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this->rx_pin = rx_pin;
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}
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void TMC2209_UART::init() {
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gpio_set_function(this->tx_pin, UART_FUNCSEL_NUM(this->uart_inst, this->tx_pin));
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gpio_set_function(this->rx_pin, UART_FUNCSEL_NUM(this->uart_inst, this->rx_pin));
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// UART format: 8 data bits, 1 stop bit, no parity
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// -> https://www.analog.com/media/en/technical-documentation/data-sheets/TMC2209_datasheet_rev1.09.pdf
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uart_set_format(this->uart_inst, 8, 1, UART_PARITY_NONE);
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// Clear to Send (CTS) and Request to Send (RTS) are not used
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// (This is for automaticlly telling the other side that it is ready to receive/send data)
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uart_set_hw_flow(this->uart_inst, false, false);
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uart_set_fifo_enabled(this->uart_inst, true);
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uart_init(this->uart_inst, this->baudrate);
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}
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uint8_t TMC2209_UART::calc_crc8_atm(uint8_t *data, uint8_t size) {
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int i,j;
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uint8_t crc = 0; // CRC located in last byte of message
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uint8_t currentByte;
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for (i=0; i<size; i++) { // Execute for all bytes of a message
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currentByte = data[i]; // Retrieve a byte to be sent from Array
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for (j=0; j<8; j++) {
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if ((crc >> 7) ^ (currentByte & 0x01)) { // update CRC based result of XOR operation
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crc = (crc << 1) ^ 0x07;
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} else {
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crc = (crc << 1);
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}
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currentByte = currentByte >> 1;
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} // for CRC bit
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} // for message byte
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return crc;
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}
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uint32_t TMC2209_UART::read(uint8_t address) {
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uint8_t data[4] = {
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0b01010101, // Sync byte
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this->node_address, // Node address
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(address & (uint8_t)(0x7F)), // Register address, last bit is 0 for read
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0
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};
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data[3] = this->calc_crc8_atm(data, 3);
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uart_write_blocking(this->uart_inst, data, 4);
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uint8_t response[12];
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uart_read_blocking(this->uart_inst, response, 12);
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if(response[11] != calc_crc8_atm(&response[4], 7)) {
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this->crc_error_flag = true;
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return 0;
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} else {
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return *((uint32_t*) &response[7]);
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}
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} |