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52 lines
1.6 KiB
52 lines
1.6 KiB
/*
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* Macros.h
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*
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* Created on: 04.01.2018
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* Author: LH
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*/
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#ifndef TMC_MACROS_H_
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#define TMC_MACROS_H_
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/* Cast a n bit signed int to a 32 bit signed int
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* This is done by checking the MSB of the signed int (Bit n).
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* If it is 1, the value is negative and the Bits 32 to n+1 are set to 1
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* If it is 0, the value remains unchanged
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*/
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#define CAST_Sn_TO_S32(value, n) ((value) | (((value) & ((uint32_t)1<<((n)-1)))? ~(((uint32_t)1<<(n))-1) : 0 ))
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// Min/Max macros
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#ifndef MIN
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#define MIN(a,b) (((a)<(b)) ? (a) : (b))
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#endif
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#ifndef MAX
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#define MAX(a,b) (((a)>(b)) ? (a) : (b))
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#endif
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// Static Array length
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#define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0]))
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// Generic mask/shift macros
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#define FIELD_GET(data, mask, shift) \
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(((data) & (mask)) >> (shift))
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#define FIELD_SET(data, mask, shift, value) \
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(((data) & (~(mask))) | (((value) << (shift)) & (mask)))
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// Register read/write/update macros using Mask/Shift:
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#define FIELD_READ(read, motor, address, mask, shift) \
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FIELD_GET(read(motor, address), mask, shift)
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#define FIELD_WRITE(write, motor, address, mask, shift, value) \
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(write(motor, address, ((value)<<(shift)) & (mask)))
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#define FIELD_UPDATE(read, write, motor, address, mask, shift, value) \
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(write(motor, address, FIELD_SET(read(motor, address), mask, shift, value)))
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// Macro to surpress unused parameter warnings
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// Memory access helpers
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// Force the compiler to access a location exactly once
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#define ACCESS_ONCE(x) *((volatile typeof(x) *) (&x))
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// Macro to remove write bit for shadow register array access
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#define TMC_ADDRESS(x) ((x) & (TMC_ADDRESS_MASK))
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#endif /* TMC_MACROS_H_ */
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