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main.c
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main.c
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#include "boards/Board.h"
#include "hal/derivative.h"
#include "hal/HAL.h"
#include "tmc/IdDetection.h"
#include "tmc/TMCL.h"
//#include "tmc/VitalSignsMonitor.h"
#include "tmc/BoardAssignment.h"
#include "tmc/ic/TMC4671/TMC4671.h"
#include "tmc/ramp/LinearRamp.h"
#include "TMC-API/tmc/helpers/Functions.h"
#include "tmc/TMCL.h"
#include <string.h>
const char *VersionString = MODULE_ID"V306"; // module id and version of the firmware shown in the TMCL-IDE
u32 updateCnt;
/* Keep as is! This lines are important for the update functionality. */
#if defined(Landungsbruecke)
const uint8 Protection[] __attribute__ ((section(".cfmconfig")))=
{
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, //Backdoor key
0xFF, 0xFF, 0xFF, 0xFF, //Flash protection (FPPROT)
0x7E, //Flash security (FSEC) => nach Image-Generierung manuell auf 0x40 setzen im Image
0xF9, //Flash option (FOPT) (NMI ausgeschaltet, EzPort ausgeschaltet, Normal power)
0xFF, //reserved
0xFF //reserved
};
__attribute__ ((section(".bldata"))) uint32 BLMagic;
#endif
#define DEFAULT_MOTOR 0
#define TMC4671_MOTORS 1
#define USE_LINEAR_RAMP
static IOPinTypeDef *PIN_DRV_ENN;
static ConfigurationTypeDef *TMC4671_config;
static SPIChannelTypeDef *TMC4671_SPIChannel;
typedef struct
{
u16 startVoltage;
u16 initWaitTime;
u16 actualInitWaitTime;
u8 initState;
u8 initMode;
u16 torqueMeasurementFactor; // u8.u8
u8 motionMode;
} TMinimalMotorConfig;
TMinimalMotorConfig motorConfig[TMC4671_MOTORS];
TMC_LinearRamp rampGenerator[TMC4671_MOTORS];
u8 actualMotionMode[TMC4671_MOTORS];
void readChipInfo()
{
int value;
uint8 dispByte;
value = tmc4671_readInt(0, TMC4671_CHIPINFO_DATA);
dispInt(value);
}
// => SPI wrapper
u8 tmc4671_readwriteByte(u8 motor, u8 data, u8 lastTransfer)
{
if (motor == DEFAULT_MOTOR)
return TMC4671_SPIChannel->readWrite(data, lastTransfer);
else
return 0;
}
// <= SPI wrapper
static uint32 rotate(uint8 motor, int32 velocity)
{
if(motor >= TMC4671_MOTORS)
return TMC_ERROR_MOTOR;
//#ifdef USE_LINEAR_RAMP
// update velocity ramp before switching from torque to velocity mode
if (actualMotionMode[motor] == TMC4671_MOTION_MODE_TORQUE)
rampGenerator[motor].rampVelocity = tmc4671_getActualVelocity(motor);
// switch to velocity motion mode
actualMotionMode[motor] = TMC4671_MOTION_MODE_VELOCITY;
tmc4671_switchToMotionMode(motor, TMC4671_MOTION_MODE_VELOCITY);
// set target velocity for ramp generator
rampGenerator[motor].targetVelocity = velocity;
//#else
//tmc4671_setTargetVelocity(motor, velocity);
//#endif
return TMC_ERROR_NONE;
}
static uint32 right(uint8 motor, int32 velocity)
{
return rotate(motor, velocity);
}
static uint32 left(uint8 motor, int32 velocity)
{
return rotate(motor, -velocity);
}
static uint32 stop(uint8 motor)
{
return rotate(motor, 0);
}
static uint32 moveTo(uint8 motor, int32 position)
{
if(motor >= TMC4671_MOTORS)
return TMC_ERROR_MOTOR;
#ifdef USE_LINEAR_RAMP
// update velocity ramp before switching from torque to position mode
if (actualMotionMode[motor] == TMC4671_MOTION_MODE_TORQUE)
rampGenerator[motor].rampVelocity = tmc4671_getActualVelocity(motor);
// switch to position motion mode
actualMotionMode[motor] = TMC4671_MOTION_MODE_POSITION;
tmc4671_switchToMotionMode(motor, TMC4671_MOTION_MODE_POSITION);
// set target position for ramp generator
rampGenerator[motor].targetPosition = position;
#else
tmc4671_setAbsolutTargetPosition(motor, position);
#endif
return TMC_ERROR_NONE;
}
static uint32 moveBy(uint8 motor, int32 *ticks)
{
if(motor >= TMC4671_MOTORS)
return TMC_ERROR_MOTOR;
// update velocity ramp before switching from torque to position mode
if (actualMotionMode[motor] == TMC4671_MOTION_MODE_TORQUE)
rampGenerator[motor].rampVelocity = tmc4671_getActualVelocity(motor);
// switch to position motion mode
actualMotionMode[motor] = TMC4671_MOTION_MODE_POSITION;
tmc4671_switchToMotionMode(motor, TMC4671_MOTION_MODE_POSITION);
// set target position for ramp generator
int actPos = tmc4671_readInt(motor, TMC4671_PID_POSITION_ACTUAL);
rampGenerator[motor].targetPosition = (s32) actPos + *ticks;
dispString("actPos is : ");
dispInt(actPos);
dispString("targetPos is : ");
dispInt(rampGenerator[motor].targetPosition);
return TMC_ERROR_NONE;
}
static uint32 handleParameter(u8 readWrite, u8 motor, u8 type, int32 *value)
{
u32 errors = TMC_ERROR_NONE;
if(motor >= TMC4671_MOTORS)
return TMC_ERROR_MOTOR;
switch(type)
{
case 4: // Maximum speed
if(readWrite == READ)
{
*value = (u32) tmc4671_readInt(motor, TMC4671_PID_VELOCITY_LIMIT);
#ifdef USE_LINEAR_RAMP
// update also ramp generator value
rampGenerator[motor].maxVelocity = *value;
#endif
}
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_PID_VELOCITY_LIMIT, *value);
#ifdef USE_LINEAR_RAMP
// update also ramp generator value
rampGenerator[motor].maxVelocity = *value;
#endif
}
break;
case 11: // acceleration
if(readWrite == READ)
{
*value = (u32) tmc4671_readInt(motor, TMC4671_PID_ACCELERATION_LIMIT);
#ifdef USE_LINEAR_RAMP
// update also ramp generator value
rampGenerator[motor].acceleration = *value;
#endif
}
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_PID_ACCELERATION_LIMIT, *value);
#ifdef USE_LINEAR_RAMP
// update also ramp generator value
rampGenerator[motor].acceleration = *value;
#endif
}
break;
#ifdef USE_LINEAR_RAMP
case 12: // enable velocity ramp
if(readWrite == READ)
*value = rampGenerator[motor].rampEnabled;
else if(readWrite == WRITE)
rampGenerator[motor].rampEnabled = *value;
break;
#endif
case 13: // ramp velocity
if(readWrite == READ) {
#ifdef USE_LINEAR_RAMP
*value = rampGenerator[motor].rampVelocity;
#else
*value = tmc4671_readInt(motor, TMC4671_PID_VELOCITY_TARGET);
#endif
}
break;
// ADC offsets
case 50:
// ADC_I1_OFFSET
if(readWrite == READ)
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_I1_SCALE_OFFSET, BIT_0_TO_15);
else if(readWrite == WRITE)
tmc4671_writeRegister16BitValue(motor, TMC4671_ADC_I1_SCALE_OFFSET, BIT_0_TO_15, *value);
break;
case 51:
// ADC_I0_OFFSET
if(readWrite == READ)
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_I0_SCALE_OFFSET, BIT_0_TO_15);
else if(readWrite == WRITE)
tmc4671_writeRegister16BitValue(motor, TMC4671_ADC_I0_SCALE_OFFSET, BIT_0_TO_15, *value);
break;
// ADC scaler values
case 53:
// ADC_I1_SCALE
if(readWrite == READ)
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_I1_SCALE_OFFSET, BIT_16_TO_31);
else if(readWrite == WRITE)
tmc4671_writeRegister16BitValue(motor, TMC4671_ADC_I1_SCALE_OFFSET, BIT_16_TO_31, *value);
break;
case 54:
// ADC_I0_SCALE
if(readWrite == READ)
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_I0_SCALE_OFFSET, BIT_16_TO_31);
else if(readWrite == WRITE)
tmc4671_writeRegister16BitValue(motor, TMC4671_ADC_I0_SCALE_OFFSET, BIT_16_TO_31, *value);
break;
case 100:
// ADC_VM_RAW
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_ADC_RAW_ADDR, 1);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_RAW_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 101:
// ADC_AGPI_A_RAW
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_ADC_RAW_ADDR, 1);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_RAW_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 102:
// ADC_AGPI_B_RAW
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_ADC_RAW_ADDR, 2);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_RAW_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 111:
// ADC_AENC_UX_RAW
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_ADC_RAW_ADDR, 2);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_RAW_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 112:
// ADC_AENC_WY_RAW
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_ADC_RAW_ADDR, 3);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_RAW_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 113:
// ADC_AENC_VN_RAW
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_ADC_RAW_ADDR, 3);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_RAW_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 116:
// ADC_I0_scaled
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_IWY_IUX, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 117:
// ADC_I2_scaled
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_IWY_IUX, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 118:
// ADC_I1_scaled
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_IV, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 120:
// AENC_UX
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_AENC_WY_UX, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 121:
// AENC_WY
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_AENC_WY_UX, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 122:
// AENC_VN
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_AENC_VN, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 124: // (vorher 103)
// ADCSD_I0_RAW
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_ADC_RAW_ADDR, 0);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_RAW_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 125: // (vorher 104)
// ADCSD_I1_RAW:
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_ADC_RAW_ADDR, 0);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_RAW_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 127:
// ADC_I0_EXT
if(readWrite == READ) {
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_I1_I0_EXT, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 128:
// ADC_I1_EXT
if(readWrite == READ) {
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_ADC_I1_I0_EXT, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 132:
// AENC_DECODER_COUNT
if(readWrite == READ) {
*value = (s32) tmc4671_readInt(motor, TMC4671_AENC_DECODER_COUNT);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 133:
// AENC_DECODER_COUNT_N
if(readWrite == READ) {
*value = (s32) tmc4671_readInt(motor, TMC4671_AENC_DECODER_COUNT_N);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 134:
// AENC_DECODER_PHI_E
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_AENC_DECODER_PHI_E_PHI_M, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 135:
// AENC_DECODER_PHI_M
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_AENC_DECODER_PHI_E_PHI_M, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 136:
// AENC_DECODER_POSITION
if(readWrite == READ) {
*value = (s32) tmc4671_readInt(motor, TMC4671_AENC_DECODER_POSITION);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 140:
// OPENLOOP_VELOCITY_TARGET
if(readWrite == READ) {
*value = (s32) tmc4671_readInt(motor, TMC4671_OPENLOOP_VELOCITY_TARGET);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 141:
// OPENLOOP_VELOCITY_ACTUAL
if(readWrite == READ) {
*value = (s32) tmc4671_readInt(motor, TMC4671_OPENLOOP_VELOCITY_ACTUAL);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 142:
// OPENLOOP_PHI
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_OPENLOOP_PHI, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 150:
// ABN_DECODER_COUNT
if(readWrite == READ) {
*value = tmc4671_readInt(motor, TMC4671_ABN_DECODER_COUNT) & 0x00FFFFFF;
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 151:
// ABN_DECODER_COUNT_N
if(readWrite == READ) {
*value = tmc4671_readInt(motor, TMC4671_ABN_DECODER_COUNT_N) & 0x00FFFFFF;
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 152:
// ABN_DECODER_PHI_E
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_ABN_DECODER_PHI_E_PHI_M, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 153:
// ABN_DECODER_PHI_M
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_ABN_DECODER_PHI_E_PHI_M, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 154:
// STATUS_REG_0
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 212);
*value = (s32) tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
}
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 212);
tmc4671_writeInt(motor, TMC4671_INTERIM_DATA, *value);
}
break;
case 155:
// STATUS_REG_1
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 213);
*value = (s32) tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
}
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 213);
tmc4671_writeInt(motor, TMC4671_INTERIM_DATA, *value);
}
break;
case 156:
// STATUS_PARAM_0
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 214);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
}
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 214);
tmc4671_writeRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15, *value);
}
break;
case 157:
// STATUS_PARAM_1
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 214);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
}
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 214);
tmc4671_writeRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31, *value);
}
break;
case 158:
// STATUS_PARAM_2
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 215);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
}
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 215);
tmc4671_writeRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15, *value);
}
break;
case 159:
// STATUS_PARAM_3
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 215);
*value = (u16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
}
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 215);
tmc4671_writeRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31, *value);
}
break;
case 160:
// HALL_PHI_E
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_HALL_PHI_E_INTERPOLATED_PHI_E, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 161:
// HALL_PHI_E_INTERPOLATED
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_HALL_PHI_E_INTERPOLATED_PHI_E, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 162:
// AENC_DECODER_PHI_A_RAW
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_AENC_DECODER_PHI_A_RAW, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 163:
// AENC_DECODER_PHI_A
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_AENC_DECODER_PHI_A, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 164:
// HALL_PHI_M
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_HALL_PHI_M, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 170:
// PHI_E
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_PHI_E, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 171:
// PID_TORQUE_TARGET
if(readWrite == READ)
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_PID_TORQUE_FLUX_TARGET, BIT_16_TO_31);
else if(readWrite == WRITE)
tmc4671_writeRegister16BitValue(motor, TMC4671_PID_TORQUE_FLUX_TARGET, BIT_16_TO_31, *value);
break;
case 172:
// PID_FLUX_TARGET
if(readWrite == READ)
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_PID_TORQUE_FLUX_TARGET, BIT_0_TO_15);
else if(readWrite == WRITE)
tmc4671_writeRegister16BitValue(motor, TMC4671_PID_TORQUE_FLUX_TARGET, BIT_0_TO_15, *value);
break;
case 173:
// PID_VELOCITY_TARGET
if(readWrite == READ) {
*value = (s32) tmc4671_readInt(motor, TMC4671_PID_VELOCITY_TARGET);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 174:
// PID_POSITION_TARGET
if(readWrite == READ) {
*value = (s32) tmc4671_readInt(motor, TMC4671_PID_POSITION_TARGET);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 175:
// PID_TORQUE_ACTUAL
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_PID_TORQUE_FLUX_ACTUAL, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 176:
// PID_TORQUE_ACTUAL_mA
if(readWrite == READ) {
*value = tmc4671_getActualTorque_mA(motor, motorConfig[motor].torqueMeasurementFactor);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 177:
// PID_FLUX_ACTUAL
if(readWrite == READ) {
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_PID_TORQUE_FLUX_ACTUAL, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 178:
// PID_VELOCITY_ACTUAL
if(readWrite == READ) {
*value = tmc4671_getActualVelocity(motor);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 179:
// PID_POSITION_ACTUAL
if(readWrite == READ)
*value = tmc4671_getActualPosition(motor);
else if(readWrite == WRITE)
{
tmc4671_writeInt(motor, TMC4671_PID_POSITION_ACTUAL, *value);
#ifdef USE_LINEAR_RAMP
// also update linear ramp during clear of actual position
if (actualMotionMode[motor] == TMC4671_MOTION_MODE_POSITION)
{
rampGenerator[motor].targetPosition = *value;
rampGenerator[motor].rampPosition = *value;
tmc4671_writeInt(motor, TMC4671_PID_POSITION_TARGET, *value);
}
#endif
}
break;
case 180:
// PID_TORQUE_ERROR
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_PID_ERROR_ADDR, 0);
*value = tmc4671_readInt(motor, TMC4671_PID_ERROR_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 181:
// PID_FLUX_ERROR
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_PID_ERROR_ADDR, 1);
*value = tmc4671_readInt(motor, TMC4671_PID_ERROR_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 182:
// PID_VELOCITY_ERROR
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_PID_ERROR_ADDR, 2);
*value = tmc4671_readInt(motor, TMC4671_PID_ERROR_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 183:
// PID_POSITION_ERROR
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_PID_ERROR_ADDR, 3);
*value = tmc4671_readInt(motor, TMC4671_PID_ERROR_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 184:
// PID_TORQUE_ERROR_SUM
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_PID_ERROR_ADDR, 4);
*value = tmc4671_readInt(motor, TMC4671_PID_ERROR_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 185:
// PID_FLUX_ERROR_SUM
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_PID_ERROR_ADDR, 5);
*value = tmc4671_readInt(motor, TMC4671_PID_ERROR_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 186:
// PID_VELOCITY_ERROR_SUM
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_PID_ERROR_ADDR, 6);
*value = tmc4671_readInt(motor, TMC4671_PID_ERROR_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 187:
// PID_POSITION_ERROR_SUM
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_PID_ERROR_ADDR, 7);
*value = tmc4671_readInt(motor, TMC4671_PID_ERROR_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 189:
// PIDIN_TARGET_TORQUE
if(readWrite == READ) {
*value = tmc4671_getTargetTorque_raw(motor);
} else if(readWrite == WRITE) {
tmc4671_setTargetTorque_raw(motor, *value);
}
break;
case 190:
// PIDIN_TARGET_TORQUE_mA
if(readWrite == READ) {
*value = tmc4671_getTargetTorque_mA(motor, motorConfig[motor].torqueMeasurementFactor);
} else if(readWrite == WRITE) {
tmc4671_setTargetTorque_mA(motor, motorConfig[motor].torqueMeasurementFactor, *value);
#ifdef USE_LINEAR_RAMP
// remember switched motion mode by setTargetTorque_mA
actualMotionMode[motor] = TMC4671_MOTION_MODE_TORQUE;
#endif
}
break;
case 191:
// PIDIN_TARGET_FLUX
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 1);
*value = tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 192:
// PIDIN_TARGET_VELOCITY
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 2);
*value = tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 193:
// PIDIN_TARGET_POSITION
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 3);
*value = tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 194:
// PIDOUT_TARGET_TORQUE
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 4);
*value = tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 195:
// PIDOUT_TARGET_FLUX
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 5);
*value = tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 196:
// PIDOUT_TARGET_VELOCITY
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 6);
*value = tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 197:
// PIDOUT_TARGET_POSITION
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 7);
*value = tmc4671_readInt(motor, TMC4671_INTERIM_DATA);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 198:
// FOC_IUX
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 8);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 199:
// FOC_IWY
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 8);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 200:
// FOC_IV
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 9);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 201:
// FOC_IA
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 10);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 202:
// FOC_IB
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 10);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 203:
// FOC_ID
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 11);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 204:
// FOC_IQ
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 11);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 205:
// FOC_UD
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 12);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 206:
// FOC_UQ
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 12);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 207:
// FOC_UD_LIMITED
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 13);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 208:
// FOC_UQ_LIMITED
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 13);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 209:
// FOC_UA
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 14);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 210:
// FOC_UB
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 14);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 211:
// FOC_UUX
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 15);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 212:
// FOC_UWY
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 15);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_16_TO_31);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 213:
// FOC_UV
if(readWrite == READ) {
tmc4671_writeInt(motor, TMC4671_INTERIM_ADDR, 16);
*value = (s16) tmc4671_readRegister16BitValue(motor, TMC4671_INTERIM_DATA, BIT_0_TO_15);
} else if(readWrite == WRITE) {
errors |= TMC_ERROR_TYPE;
}
break;
case 214: