some tests for uart mode
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ladyada
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c602ea03e0
commit
70ad31700a
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#include "Adafruit_BusIO_Register.h"
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#include "Adafruit_GenericDevice.h"
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// Debugging macros
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//#define DEBUG_SERIAL Serial
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#ifdef DEBUG_SERIAL
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#define DEBUG_PRINT(x) DEBUG_SERIAL.print(x)
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#define DEBUG_PRINTLN(x) DEBUG_SERIAL.println(x)
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#define DEBUG_PRINT_HEX(x) \
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do { \
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if (x < 0x10) \
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DEBUG_SERIAL.print('0'); \
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DEBUG_SERIAL.print(x, HEX); \
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DEBUG_SERIAL.print(' '); \
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} while (0)
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#else
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#define DEBUG_PRINT(x)
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#define DEBUG_PRINTLN(x)
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#define DEBUG_PRINT_HEX(x)
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#endif
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// Add IOIN register definition
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#define TMC2209_IOIN 0x06
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class TMC2209_UART {
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private:
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static TMC2209_UART *_instance;
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Stream *_uart_stream;
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uint8_t _addr;
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static bool uart_read_impl(uint8_t *buffer, size_t len) {
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return _instance->uart_read_fn(buffer, len);
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}
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static bool uart_write_impl(const uint8_t *buffer, size_t len) {
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return _instance->uart_write_fn(buffer, len);
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}
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static bool uart_readreg_impl(uint8_t *addr_buf, uint8_t addrsiz,
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uint8_t *data, uint16_t datalen) {
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return _instance->uart_readreg_fn(addr_buf, addrsiz, data, datalen);
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}
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static bool uart_writereg_impl(uint8_t *addr_buf, uint8_t addrsiz,
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const uint8_t *data, uint16_t datalen) {
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return _instance->uart_writereg_fn(addr_buf, addrsiz, data, datalen);
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}
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bool uart_read_fn(uint8_t *buffer, size_t len) {
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uint16_t timeout = 100;
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while (_uart_stream->available() < len && timeout--) {
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delay(1);
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}
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if (timeout == 0) {
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DEBUG_PRINTLN("Read timeout!");
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return false;
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}
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DEBUG_PRINT("Reading: ");
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for (size_t i = 0; i < len; i++) {
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buffer[i] = _uart_stream->read();
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DEBUG_PRINT_HEX(buffer[i]);
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}
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DEBUG_PRINTLN("");
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return true;
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}
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bool uart_write_fn(const uint8_t *buffer, size_t len) {
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DEBUG_PRINT("Writing: ");
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for (size_t i = 0; i < len; i++) {
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DEBUG_PRINT_HEX(buffer[i]);
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}
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DEBUG_PRINTLN("");
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_uart_stream->write(buffer, len);
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return true;
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}
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bool uart_readreg_fn(uint8_t *addr_buf, uint8_t addrsiz, uint8_t *data,
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uint16_t datalen) {
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while (_uart_stream->available())
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_uart_stream->read();
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uint8_t packet[4] = {0x05, uint8_t(_addr << 1), addr_buf[0], 0x00};
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packet[3] = calcCRC(packet, 3);
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if (!uart_write_impl(packet, 4))
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return false;
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// Read back echo
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uint8_t echo[4];
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if (!uart_read_impl(echo, 4))
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return false;
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// Verify echo
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for (uint8_t i = 0; i < 4; i++) {
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if (echo[i] != packet[i]) {
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DEBUG_PRINTLN("Echo mismatch");
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return false;
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}
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}
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uint8_t response[8]; // sync + 0xFF + reg + 4 data bytes + CRC
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if (!uart_read_impl(response, 8))
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return false;
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// Verify response
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if (response[0] != 0x05) {
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DEBUG_PRINTLN("Invalid sync byte");
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return false;
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}
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// Verify 0xFF address byte
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if (response[1] != 0xFF) {
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DEBUG_PRINTLN("Invalid reply address");
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return false;
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}
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// Verify register address matches our request
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if (response[2] != addr_buf[0]) {
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DEBUG_PRINTLN("Register mismatch");
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return false;
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}
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// Verify CRC
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uint8_t crc = calcCRC(response, 7); // Calculate CRC of all but last byte
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if (crc != response[7]) {
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DEBUG_PRINTLN("CRC mismatch");
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return false;
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}
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// Copy the data bytes
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memcpy(data, &response[3], 4);
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return true;
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}
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bool uart_writereg_fn(uint8_t *addr_buf, uint8_t addrsiz, const uint8_t *data,
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uint16_t datalen) {
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while (_uart_stream->available())
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_uart_stream->read();
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uint8_t packet[8] = {0x05,
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uint8_t(_addr << 1),
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uint8_t(addr_buf[0] | 0x80),
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data[0],
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data[1],
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data[2],
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data[3],
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0x00};
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packet[7] = calcCRC(packet, 7);
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if (!uart_write_impl(packet, 8))
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return false;
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// Read and verify echo
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uint8_t echo[8];
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if (!uart_read_impl(echo, 8))
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return false;
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// Verify echo matches what we sent
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for (uint8_t i = 0; i < 8; i++) {
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if (echo[i] != packet[i]) {
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DEBUG_PRINTLN("Write echo mismatch");
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return false;
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}
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}
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return true;
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}
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static uint8_t calcCRC(uint8_t *data, uint8_t length) {
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uint8_t crc = 0;
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for (uint8_t i = 0; i < length; i++) {
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uint8_t currentByte = data[i];
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for (uint8_t j = 0; j < 8; j++) {
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if ((crc >> 7) ^ (currentByte & 0x01)) {
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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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}
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}
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return crc;
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}
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public:
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TMC2209_UART(Stream *serial, uint8_t addr)
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: _uart_stream(serial), _addr(addr) {
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_instance = this;
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}
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Adafruit_GenericDevice *createDevice() {
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return new Adafruit_GenericDevice(uart_read_impl, uart_write_impl,
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uart_readreg_impl, uart_writereg_impl);
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}
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};
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TMC2209_UART *TMC2209_UART::_instance = nullptr;
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void setup() {
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Serial.begin(115200);
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while (!Serial)
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;
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delay(100);
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Serial.println("TMC2209 Generic Device register read/write test!");
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Serial2.begin(115200);
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TMC2209_UART uart(&Serial2, 0);
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Adafruit_GenericDevice *device = uart.createDevice();
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device->begin();
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// Create register object for IOIN
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Adafruit_BusIO_Register ioin_reg(device,
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TMC2209_IOIN, // device and register address
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4, // width = 4 bytes
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MSBFIRST, // byte order
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1); // address width = 1 byte
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Serial.print("IOIN = 0x");
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Serial.println(ioin_reg.read(), HEX);
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// Create RegisterBits for VERSION field (bits 28:24)
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Adafruit_BusIO_RegisterBits version_bits(
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&ioin_reg, 8, 24); // 8 bits wide, starting at bit 24
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Serial.println("Reading VERSION...");
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uint8_t version = version_bits.read();
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Serial.print("VERSION = 0x");
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Serial.println(version, HEX);
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}
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void loop() { delay(1000); }
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@ -0,0 +1,67 @@
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#include "Adafruit_GenericDevice.h"
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Stream *uart_stream; // Will hold the pointer to our Stream object
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Adafruit_GenericDevice *create_uart_device(Stream *serial_port) {
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uart_stream = serial_port; // Store the Stream pointer
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auto uart_write = [](const uint8_t *buffer, size_t len) -> bool {
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uart_stream->write(buffer, len);
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return true;
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};
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auto uart_read = [](uint8_t *buffer, size_t len) -> bool {
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uint16_t timeout = 100;
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while (uart_stream->available() < len && timeout--) {
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delay(1);
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}
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if (timeout == 0) {
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return false;
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}
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for (size_t i = 0; i < len; i++) {
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buffer[i] = uart_stream->read();
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}
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return true;
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};
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return new Adafruit_GenericDevice(uart_read, uart_write);
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}
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void setup() {
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Serial.begin(115200);
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while (!Serial)
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;
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delay(100);
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Serial.println("Generic Device test!");
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Serial2.begin(115200);
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Adafruit_GenericDevice *device = create_uart_device(&Serial2);
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device->begin();
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uint8_t write_buf[4] = {0x5, 0x0, 0x0, 0x48};
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uint8_t read_buf[8];
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Serial.println("Writing data...");
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if (!device->write(write_buf, 4)) {
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Serial.println("Write failed!");
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return;
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}
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Serial.println("Reading response...");
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if (!device->read(read_buf, 8)) {
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Serial.println("Read failed!");
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return;
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}
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Serial.print("Got response: ");
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for (int i = 0; i < 8; i++) {
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Serial.print("0x");
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Serial.print(read_buf[i], HEX);
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Serial.print(" ");
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}
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Serial.println();
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}
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void loop() { delay(1000); }
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