tmc9660_bootloader.hpp

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#pragma once
#include "bootloader_config.hpp"
#include "bootloader_protocol.hpp"
#include "../tmc9660_comm_interface.hpp"
#include <cstdint>
#include <type_traits>
 
namespace tmc9660 {
 
template <typename CommType>
class TMC9660Bootloader {
public:
  explicit TMC9660Bootloader(CommType& comm) noexcept;
 
  //==================================================
  // BASIC MEMORY OPERATIONS
  //==================================================
 
  bool setBank(uint8_t bank) noexcept;
 
  bool setBank(MemoryBank bank) noexcept {
    return setBank(static_cast<uint8_t>(bank));
  }
 
  bool setAddress(uint32_t addr) noexcept;
 
  bool write8(uint8_t v) noexcept;
 
  bool write16(uint16_t v) noexcept;
 
  bool write32(uint32_t v) noexcept;
 
  bool write8Inc(uint8_t v) noexcept;
 
  bool write16Inc(uint16_t v) noexcept;
 
  bool write32Inc(uint32_t v) noexcept;
 
  bool write32IncMultiple(const uint32_t* values, size_t count) noexcept;
 
  //==================================================
  // READ OPERATIONS
  //==================================================
 
  bool read8(uint8_t* value) noexcept;
 
  bool read16(uint16_t* value) noexcept;
 
  bool read32(uint32_t* value) noexcept;
 
  bool read8Inc(uint8_t* value) noexcept;
 
  bool read16Inc(uint16_t* value) noexcept;
 
  bool read32Inc(uint32_t* value) noexcept;
 
  bool getBank(uint8_t* bank) noexcept;
 
  bool getAddress(uint32_t* address) noexcept;
 
  bool noOp(uint32_t* reply = nullptr) noexcept;
 
  //==================================================
  // VERIFICATION OPERATIONS
  //==================================================
 
  bool readAndVerify8(uint8_t expected, const char* config_name) noexcept;
 
  bool readAndVerify16(uint16_t expected, const char* config_name) noexcept;
 
  bool readAndVerify32(uint32_t expected, const char* config_name) noexcept;
 
  //==================================================
  // OTP OPERATIONS
  //==================================================
 
  bool otpLoad(uint8_t page, OtpLoadResult* result) noexcept;
 
  bool otpLoad(uint8_t page, uint8_t* error_count = nullptr, uint8_t* page_tag = nullptr) noexcept;
 
  bool otpBurn(uint8_t page, uint8_t page_addr, OtpBurnResult* result) noexcept;
 
  bool otpBurn(uint8_t page, uint8_t page_addr = 0) noexcept;
 
  bool otpBurnWithWorkaround(uint8_t page, uint8_t page_addr, OtpBurnResult* result,
                             uint32_t vdrv_wait_ms = 1000) noexcept;
 
  bool checkOtpBurnStatus(bool* result) noexcept;
 
  //==================================================
  // EXTERNAL MEMORY OPERATIONS
  //==================================================
 
  bool memIsConfigured(MemoryBank bank, bool* is_configured) noexcept;
 
  bool memIsConnected(MemoryBank bank, bool* is_connected) noexcept;
 
  bool memIsBusy(MemoryBank bank, bool* is_busy) noexcept;
 
  //==================================================
  // SPI FLASH OPERATIONS
  //==================================================
 
  bool flashLoadBuffer(uint8_t offset, uint32_t data) noexcept;
 
  bool flashReadBuffer(uint8_t offset, uint32_t* data) noexcept;
 
  bool flashSendDatagram(uint8_t num_bytes) noexcept;
 
  bool flashEraseSector(uint32_t address) noexcept;
 
  bool flashReadJedecId(uint8_t* manufacturer_id) noexcept;
 
  //==================================================
  // RS485 CONFIGURATION
  //==================================================
 
  bool bootstrapRS485(uint8_t tx_en_pin, uint8_t pre_delay, uint8_t host_addr,
                      uint8_t device_addr) noexcept;
 
  //==================================================
  // INFORMATION QUERIES
  //==================================================
 
  bool getInfo(InfoQuery query, uint32_t* value) noexcept;
 
  //==================================================
  // CONVENIENCE INFO METHODS
  //==================================================
 
  bool getChipType(uint32_t* chip_type) noexcept {
    return getInfo(InfoQuery::CHIP_TYPE, chip_type);
  }
 
  bool getBootloaderVersion(BootloaderVersion* version) noexcept;
 
  bool getFeatures(BootloaderFeatures* features) noexcept;
 
  bool getGitInfo(GitInfo* git_info) noexcept;
 
  bool getChipVersion(uint32_t* version) noexcept {
    return getInfo(InfoQuery::CHIP_VERSION, version);
  }
 
  bool getChipFrequency(uint32_t* frequency) noexcept {
    return getInfo(InfoQuery::CHIP_FREQUENCY, frequency);
  }
 
  bool getConfigMemStart(uint32_t* address) noexcept {
    return getInfo(InfoQuery::CONFIG_MEM_START, address);
  }
 
  bool getConfigMemSize(uint32_t* size) noexcept {
    return getInfo(InfoQuery::CONFIG_MEM_SIZE, size);
  }
 
  bool getOtpMemSize(uint32_t* size) noexcept {
    return getInfo(InfoQuery::OTP_MEM_SIZE, size);
  }
 
  bool getI2cMemSize(uint32_t* size) noexcept {
    return getInfo(InfoQuery::I2C_MEM_SIZE, size);
  }
 
  bool getSpiMemSize(uint32_t* size) noexcept {
    return getInfo(InfoQuery::SPI_MEM_SIZE, size);
  }
 
  bool getPartitionVersion(PartitionVersion* version) noexcept;
 
  bool getSpiMemPartitions(uint32_t* count) noexcept {
    return getInfo(InfoQuery::SPI_MEM_PARTITIONS, count);
  }
 
  bool getI2cMemPartitions(uint32_t* count) noexcept {
    return getInfo(InfoQuery::I2C_MEM_PARTITIONS, count);
  }
 
  bool getChipVariant(uint32_t* variant) noexcept {
    return getInfo(InfoQuery::CHIP_VARIANT, variant);
  }
 
  bool getAllBootloaderInfo() noexcept;
 
  //==================================================
  // HIGH-LEVEL CONFIGURATION
  //==================================================
 
  bool applyConfiguration(const BootloaderConfig& cfg, bool fail_on_verify_error = true) noexcept;
 
  //==================================================
  // MOTOR CONTROL STARTUP
  //==================================================
 
  bool startMotorControl(bootcfg::BootMode boot_mode = bootcfg::BootMode::Parameter) noexcept;
 
private:
  bool sendCommand(uint8_t cmd, uint32_t value, uint32_t* reply = nullptr) noexcept;
  bool sendCommandSPI(uint8_t cmd, uint32_t value, uint32_t* reply) noexcept;
  bool sendCommandUART(uint8_t cmd, uint32_t value, uint32_t* reply) noexcept;
 
  CommType& comm_;
  uint8_t deviceAddr_; 
  uint8_t hostAddr_;   
};
 
} // namespace tmc9660
 
// Include template implementation
#define TMC9660_BOOTLOADER_HEADER_INCLUDED
#include "../../src/bootloader/tmc9660_bootloader.cpp"
#undef TMC9660_BOOTLOADER_HEADER_INCLUDED