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drivers: stepper: adi_tmc: Add tmc51xx support

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Add tmc51xx support based on tmc50xx implementation.

Signed-off-by: Anders Nielsen <anders.nielsen@prevas.dk>
This commit is contained in:
Anders Nielsen 2025-04-15 15:28:05 +02:00 • committed by Benjamin Cabé
commit b98bd7c145
6 changed files with 967 additions and 2 deletions
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100
tests/drivers/build_all/stepper/spi.dtsi
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@ -8,19 +8,115 @@
adi_tmc50xx: adi_tmc50xx@0 {
compatible = "adi,tmc50xx";
status = "okay";
reg = <0x0>;
spi-max-frequency = <0>;
spi-max-frequency = <8000000>;
label = "tmc5041_0";
#address-cells = <1>;
#size-cells = <0>;
clock-frequency = <1>;
poscmp-enable; test-mode; lock-gconf; /* ADI TMC Global configuration flags */
clock-frequency = <16000000>; /* Internal/External Clock frequency */
tmc50xx_0: tmc50xx_0@0 {
status = "okay";
reg = <0>;
/* common stepper controller settings */
invert-direction;
micro-step-res = <256>;
/* ADI TMC stallguard settings specific to TMC50XX */
activate-stallguard2;
stallguard-velocity-check-interval-ms=<100>;
stallguard2-threshold=<9>;
stallguard-threshold-velocity=<500000>;
/* ADI TMC ramp generator as well as current settings */
vstart = <10>;
a1 = <20>;
v1 = <30>;
d1 = <40>;
vmax = <50>;
amax = <60>;
dmax = <70>;
tzerowait = <80>;
vhigh = <90>;
vcoolthrs = <100>;
ihold = <1>;
irun = <2>;
iholddelay = <3>;
};
tmc50xx_1: tmc50xx_1@1 {
status = "okay";
reg = <1>;
/* common stepper controller settings */
invert-direction;
micro-step-res = <256>;
/* ADI TMC stallguard settings specific to TMC50XX */
activate-stallguard2;
stallguard-velocity-check-interval-ms=<100>;
stallguard2-threshold=<9>;
stallguard-threshold-velocity=<500000>;
/* ADI TMC ramp generator as well as current settings */
vstart = <10>;
a1 = <20>;
v1 = <30>;
d1 = <40>;
vmax = <50>;
amax = <60>;
dmax = <70>;
tzerowait = <80>;
vhigh = <90>;
vcoolthrs = <100>;
ihold = <1>;
irun = <2>;
iholddelay = <3>;
};
};
adi_tmc51xx: adi_tmc51xx@1 {
compatible = "adi,tmc51xx";
status = "okay";
reg = <0x01>;
spi-max-frequency = <8000000>;
label = "tmc5160_1";
#address-cells = <1>;
#size-cells = <0>;
en-pwm-mode; test-mode; /* ADI TMC Global configuration flags */
clock-frequency = <16000000>; /* Internal/External Clock frequency */
/* common stepper controller settings */
invert-direction;
micro-step-res = <256>;
/* ADI TMC stallguard settings specific to TMC5160 */
activate-stallguard2;
stallguard-velocity-check-interval-ms=<100>;
stallguard2-threshold=<9>;
stallguard-threshold-velocity=<50000>;
/* ADI TMC ramp generator as well as current settings */
vstart = <10>;
a1 = <20>;
v1 = <30>;
d1 = <40>;
vmax = <50>;
amax = <60>;
dmax = <70>;
tzerowait = <80>;
thigh = <90>;
tcoolthrs = <100>;
tpwmthrs = <110>;
tpowerdown = <120>;
ihold = <1>;
irun = <2>;
iholddelay = <3>;
};