52 lines
1.1 KiB
C
52 lines
1.1 KiB
C
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/**
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* @file drivers/stepper/adi_tmc/adi_tmc5xxx_common.h
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*
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* @brief Common TMC5xxx stepper controller driver definitions
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*/
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/**
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* SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_
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#define ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_
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#include "adi_tmc_reg.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name TMC5xxx module functions
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* @anchor TMC5XXX_FUNCTIONS
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*
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* @{
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*/
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/**
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* @brief Calculate the velocity in full clock cycles from the velocity in Hz
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*
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* @param velocity_hz Velocity in Hz
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* @param clock_frequency Clock frequency in Hz
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*
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* @return Calculated velocity in full clock cycles
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*/
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static inline uint32_t tmc5xxx_calculate_velocity_from_hz_to_fclk(uint64_t velocity_hz,
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uint32_t clock_frequency)
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{
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__ASSERT_NO_MSG(clock_frequency);
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return (velocity_hz << TMC5XXX_CLOCK_FREQ_SHIFT) / clock_frequency;
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}
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/**
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* @}
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*/
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#ifdef __cplusplus
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}
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#endif
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#endif /* ZEPHYR_DRIVERS_STEPPER_ADI_TMC_ADI_TMC5XXX_COMMON_H_ */
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