From 15dc8ec2ad5398c9f0becc6336285f061f5f6da8 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 21 Mar 2024 22:04:46 +0800
Subject: [PATCH] add gstate and dev status to tmc5130

---
 components/tmc/ic/ztmc5130.cpp | 34 +++++++++++++++++++++++++---------
 components/tmc/ic/ztmc5130.hpp | 28 +++++++++++++++++++++++++++-
 2 files changed, 52 insertions(+), 10 deletions(-)

diff --git a/components/tmc/ic/ztmc5130.cpp b/components/tmc/ic/ztmc5130.cpp
index e149e56..9614d4a 100644
--- a/components/tmc/ic/ztmc5130.cpp
+++ b/components/tmc/ic/ztmc5130.cpp
@@ -38,37 +38,53 @@ void TMC5130::initialize(cfg_t *cfg) {
     ZASSERT(m_ennpin);
   }
   m_hspi = cfg->hspi;
+  reInitialize();
+}
 
+void TMC5130::reInitialize() {
   enableIC(false);
-  // tmc5130_init(&m_TMC5130, channel, &m_tmc_api_config, &tmc5130_defaultRegisterResetState[0]);
-  // tmc5130_setCallback(&m_TMC5130, pri_tmc4361A_callback);
-
   reset();
-
   writeInt(TMC5130_PWMCONF, 0x000500C8);
-  // writeInt( TMC5130_GCONF, 0x00000004);
   writeInt(TMC5130_CHOPCONF, 0x000100c3);
   writeInt(TMC5130_IHOLD_IRUN, 0x00051A00);
   writeInt(TMC5130_PWMCONF, 0x000401c8);
-
   writeInt(TMC5130_XTARGET, 0);
   writeInt(TMC5130_XACTUAL, 0x00000000);
   writeInt(TMC5130_VACTUAL, 0x00000000);
-
   writeInt(TMC5130_VSTART, 5);
   writeInt(TMC5130_A1, 1000);
   writeInt(TMC5130_V1, 0);
-
   writeInt(TMC5130_D1, 1000);
   writeInt(TMC5130_VSTOP, 10);
   writeInt(TMC5130_TZEROWAIT, 1000);
-
   setAcceleration(100000);
   setDeceleration(100000);
   setIHOLD_IRUN(2, 10, 1);
   enableIC(true);
 }
 
+DevStatusReg_t TMC5130::getDevStatus() {
+  static_assert(sizeof(DevStatusReg_t) == 4);
+  uint32_t value = readInt(TMC5130_DRVSTATUS);
+  return *(DevStatusReg_t *)&value;
+}
+
+GState_t TMC5130::getGState() {
+  static_assert(sizeof(GState_t) == 4);
+  uint32_t value = readInt(TMC5130_GSTAT);
+  return *(GState_t *)&value;
+}
+
+// TMC5130_GSTAT
+bool TMC5130::ping() {
+  uint32_t chipID = readChipVERSION();
+  if (0x11 == chipID) {
+    return true;
+  } else {
+    return false;
+  }
+}
+
 void TMC5130::enableIC(bool enable) {
   //  m_port->TMC5130Port_setENNPinState(m_channel, !enable);
   SET_PIN(m_ennpin, !enable);
diff --git a/components/tmc/ic/ztmc5130.hpp b/components/tmc/ic/ztmc5130.hpp
index 41a1d50..206af8e 100644
--- a/components/tmc/ic/ztmc5130.hpp
+++ b/components/tmc/ic/ztmc5130.hpp
@@ -58,6 +58,28 @@ class Tmc5130RampStat {
   bool isSetted(ramp_stat_bit_t bit) { return (m_state & bit) != 0; }
 };
 
+typedef struct {
+  uint32_t sg_result : 10;
+  uint32_t reserved0 : 5;
+  uint32_t fsactive : 1;
+  uint32_t cs_actual : 5;
+  uint32_t reserved1 : 3;
+  uint32_t stallguard : 1;
+  uint32_t ot : 1;
+  uint32_t otpw : 1;
+  uint32_t s2ga : 1;
+  uint32_t s2gb : 1;
+  uint32_t ola : 1;
+  uint32_t olb : 1;
+  uint32_t stst : 1;
+} DevStatusReg_t;
+
+typedef struct {
+  uint32_t reset : 1;
+  uint32_t drv_err : 1;
+  uint32_t uv_cp : 1;
+} GState_t;
+
 class TMC5130 : public IStepperMotor {
  public:
   typedef struct {
@@ -88,6 +110,7 @@ class TMC5130 : public IStepperMotor {
 
   // static void createDeafultTMC5130Config(TMC5130Config_t *config, TMC5130Port *m_port);
   void initialize(cfg_t *cfg);
+  void reInitialize();
 
   void    enableIC(bool enable);
   uint8_t reset();
@@ -127,6 +150,9 @@ class TMC5130 : public IStepperMotor {
   virtual bool isReachTarget();  // 是否到达目标位置
   virtual bool isStoped() { return isReachTarget(); }
 
+  bool           ping();
+  DevStatusReg_t getDevStatus();
+  GState_t       getGState();
   /*******************************************************************************
    *                             驱动器寄存器读写方法                              *
    *******************************************************************************/
@@ -140,4 +166,4 @@ class TMC5130 : public IStepperMotor {
   uint32_t haspassedms(uint32_t now, uint32_t last);
 };
 }  // namespace iflytop
-#endif
\ No newline at end of file
+#endif