1/* $NetBSD: scmdreg.h,v 1.3 2023/04/05 21:53:56 andvar Exp $ */
2
3/*
4 * Copyright (c) 2021 Brad Spencer <brad@anduin.eldar.org>
5 *
6 * Permission to use, copy, modify, and distribute this software for any
7 * purpose with or without fee is hereby granted, provided that the above
8 * copyright notice and this permission notice appear in all copies.
9 *
10 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
11 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
12 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
13 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
14 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
15 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
16 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
17 */
18
19#ifndef _DEV_SCMDREG_H_
20#define _DEV_SCMDREG_H_
21
22/* The device can occupy a large number of I2C addresses */
23
24#define SCMD_LOW_I2C_ADDR 0x58
25#define SCMD_HIGH_I2C_ADDR 0x61
26
27/* The register address space for each module */
28
29/* Some config and info registers */
30#define SCMD_REG_FID 0x00 /* Firmware version */
31#define SCMD_REG_ID 0x01 /* ID.. always 0xA9 */
32#define SCMD_EXPECTED_ID 0xA9 /* What is always expected from the ID register */
33#define SCMD_REG_SLAVE_ADDR 0x02 /* If a slave module, the I2C address */
34#define SCMD_REG_CONFIG_BITS 0x03 /* Bit pattern of the jumpters on the board */
35/* Diagnostics and debug registers */
36#define SCMD_REG_U_I2C_RD_ERR 0x04 /* RD_ERR bits on USER port */
37#define SCMD_REG_U_I2C_WR_ERR 0x05 /* WR_ERR bits on USER port */
38#define SCMD_REG_U_BUF_DUMPED 0x06 /* Count of dumped buffers */
39#define SCMD_REG_E_I2C_RD_ERR 0x07 /* Slave I2C read errors */
40#define SCMD_REG_E_I2C_WR_ERR 0x08 /* Slave I2C write errors */
41#define SCMD_REG_LOOP_TIME 0x09 /* Reports time in 100us of main loop */
42#define SCMD_REG_SLV_POLL_CNT 0x0A /* Polls looking for slave modules */
43#define SCMD_REG_SLV_TOP_ADDR 0x0B /* Highest slave I2C address */
44#define SCMD_REG_MST_E_ERR 0x0C /* Number of expansion port I2C errors seen
45 * by the master module
46 */
47#define SCMD_REG_MST_E_STATUS 0x0D /* Status of master controller board, expansion
48 * port I2C (write status)
49 */
50#define SCMD_REG_FSAFE_FAULTS 0x0E /* Number of failsafe conditions seen */
51#define SCMD_REG_REG_OOR_CNT 0x0F /* Register access attempts outside of range */
52#define SCMD_REG_REG_RO_WRITE_CNT 0x10 /* Write lock write attempts */
53#define SCMD_REG_GEN_TEST_WORD 0x11 /* Write causes data to be applied to
54 * REM_DATA_RD.
55 * 0x01: Read config bit pins
56 */
57/* Local configuration registers */
58#define SCMD_REG_MOTOR_A_INVERT 0x12 /* Invert direction of motor A on local module,
59 * or both if in bridged mode
60 */
61#define SCMD_REG_MOTOR_B_INVERT 0x13 /* Invert direction of motor B on local module */
62#define SCMD_REG_BRIDGE 0x14 /* Bridge motor A and B on local module */
63#define SCMD_REG_LOCAL_MASTER_LOCK 0x15 /* Unlocked when set to 0x9B. Allows writes to
64 * nearly any and every register.
65 */
66#define SCMD_REG_LOCAL_USER_LOCK 0x16 /* Unlocked when set to 0x5C. Allows writes to
67 * registers that are marked as user lockable
68 */
69#define SCMD_REG_MST_E_IN_FN 0x17 /* Set action when master module config-in pin
70 * goes high.
71 * B1-0: Restarts
72 * 0x00 - do nothing
73 * 0x01 - reboot module
74 * 0x02 - re-enumerate
75 * B2: User port behavior
76 * 0x00 - do nothing
77 * 0x01 - reinitialize user port
78 * B3: Expansion port behavior
79 * 0x00 - do nothing
80 * 0x01 - reinitialize expansion port
81 */
82#define SCMD_REG_U_PORT_CLKDIV_U 0x18 /* Clock divisor for the user port */
83#define SCMD_REG_U_PORT_CLKDIV_L 0x19 /* See data sheet for more details */
84#define SCMD_REG_U_PORT_CLKDIV_CTRL 0x1A /* See data sheet for more details */
85#define SCMD_REG_E_PORT_CLKDIV_U 0x1B /* Clock divisor for the expansion port */
86#define SCMD_REG_E_PORT_CLKDIV_L 0x1C /* See data sheet for more details */
87#define SCMD_REG_E_PORT_CLKDIV_CTRL 0x1D /* See data sheet for more details */
88#define SCMD_REG_U_BUS_UART_BAUD 0x1E /* Current baud rate when the module is
89 * communicating as a UART. This register
90 * can only be read and never set directly.
91 * Use the 'U' command when communicating as
92 * an UART.
93 */
94#define SCMD_REG_FSAFE_CTRL 0x1F /* Configure what happens when a failsafe
95 * condition happens:
96 * B0: output behavior
97 * 0x00 - maintain last motor drive levels
98 * 0x01 - set output level to 0 drive
99 * B2-1: Restart operation on master module
100 * 0x00 - do nothing
101 * 0x01 - reboot
102 * 0x02 - re-enumerate
103 * B3 - user port behavior
104 * 0x00 - do nothing
105 * 0x01 - reinitialize user port
106 * B4 - expansion port behavior
107 * 0x00 - do nothing
108 * 0x01 - reinitialize expansion port
109 */
110/* Motor drive levels, local and remote */
111#define SCMD_REG_MA_DRIVE 0x20 /* Drive level on master module motor A */
112#define SCMD_REG_MB_DRIVE 0x21 /* Drive level on master module motor B */
113#define SCMD_REG_S1A_DRIVE 0x22 /* Drive level on slave 1 module motor A */
114#define SCMD_REG_S1B_DRIVE 0x23 /* Drive level on slave 1 module motor B */
115#define SCMD_REG_S2A_DRIVE 0x24 /* Drive level on slave 2 module motor A */
116#define SCMD_REG_S2B_DRIVE 0x25 /* Drive level on slave 2 module motor B */
117#define SCMD_REG_S3A_DRIVE 0x26 /* Drive level on slave 3 module motor A */
118#define SCMD_REG_S3B_DRIVE 0x27 /* Drive level on slave 3 module motor B */
119#define SCMD_REG_S4A_DRIVE 0x28 /* Drive level on slave 4 module motor A */
120#define SCMD_REG_S4B_DRIVE 0x29 /* Drive level on slave 4 module motor B */
121#define SCMD_REG_S5A_DRIVE 0x2A /* Drive level on slave 5 module motor A */
122#define SCMD_REG_S5B_DRIVE 0x2B /* Drive level on slave 5 module motor B */
123#define SCMD_REG_S6A_DRIVE 0x2C /* Drive level on slave 6 module motor A */
124#define SCMD_REG_S6B_DRIVE 0x2D /* Drive level on slave 6 module motor B */
125#define SCMD_REG_S7A_DRIVE 0x2E /* Drive level on slave 7 module motor A */
126#define SCMD_REG_S7B_DRIVE 0x2F /* Drive level on slave 7 module motor B */
127#define SCMD_REG_S8A_DRIVE 0x30 /* Drive level on slave 8 module motor A */
128#define SCMD_REG_S8B_DRIVE 0x31 /* Drive level on slave 8 module motor B */
129#define SCMD_REG_S9A_DRIVE 0x32 /* Drive level on slave 9 module motor A */
130#define SCMD_REG_S9B_DRIVE 0x33 /* Drive level on slave 9 module motor B */
131#define SCMD_REG_S10A_DRIVE 0x34 /* Drive level on slave 10 module motor A */
132#define SCMD_REG_S10B_DRIVE 0x35 /* Drive level on slave 10 module motor B */
133#define SCMD_REG_S11A_DRIVE 0x36 /* Drive level on slave 11 module motor A */
134#define SCMD_REG_S11B_DRIVE 0x37 /* Drive level on slave 11 module motor B */
135#define SCMD_REG_S12A_DRIVE 0x38 /* Drive level on slave 12 module motor A */
136#define SCMD_REG_S12B_DRIVE 0x39 /* Drive level on slave 12 module motor B */
137#define SCMD_REG_S13A_DRIVE 0x3A /* Drive level on slave 13 module motor A */
138#define SCMD_REG_S13B_DRIVE 0x3B /* Drive level on slave 13 module motor B */
139#define SCMD_REG_S14A_DRIVE 0x3C /* Drive level on slave 14 module motor A */
140#define SCMD_REG_S14B_DRIVE 0x3D /* Drive level on slave 14 module motor B */
141#define SCMD_REG_S15A_DRIVE 0x3E /* Drive level on slave 15 module motor A */
142#define SCMD_REG_S15B_DRIVE 0x3F /* Drive level on slave 15 module motor B */
143#define SCMD_REG_S16A_DRIVE 0x40 /* Drive level on slave 16 module motor A */
144#define SCMD_REG_S16B_DRIVE 0x41 /* Drive level on slave 16 module motor B */
145/* A hole in the register space */
146#define SCMD_REG_HOLE_1_LOW 0x42 /* A hole in the register space */
147#define SCMD_REG_HOLE_1_HIGH 0x4F
148/* Remote inversion and bridging */
149#define SCMD_REG_INV_2_9 0x50 /* Invert the motors on the slave modules.
150 * Each bit is a motor. Bit 0 is slave 1
151 * module, motor A. Bit 8 is slave 4 module,
152 * motor B.
153 */
154#define SCMD_REG_INV_10_17 0x51 /* Invert motors 10 - 17 */
155#define SCMD_REG_INV_18_25 0x52 /* Invert motors 18 - 25 */
156#define SCMD_REG_INV_26_33 0x53 /* Invert motors 26 - 33 */
157#define SCMD_REG_BRIDGE_SLV_L 0x54 /* Bridge slave module outputs. Bit 0 is slave 1
158 * module. Bit 8 is slave 8 module.
159 */
160#define SCMD_REG_BRIDGE_SLV_H 0x55 /* Brige slave module outputs. Slave module 9 to
161 * 16
162 */
163/* Another hole in the register space */
164#define SCMD_REG_HOLE_2_LOW 0x56 /* Another hole in the register space */
165#define SCMD_REG_PAGE_SELECT 0x6F /* Usused function to select the register space
166 * for use
167 */
168#define SCMD_REG_HOLE_2_HIGH 0x6F /* End of the second hole */
169/* System configuration registers.
170 * Most are passed to the slave modules.
171 */
172#define SCMD_REG_DRIVER_ENABLE 0x70 /* Enable / disable all motor drivers.
173 * Set to 0x01 to enable, 0x00 to disable.
174 */
175#define SCMD_DRIVER_ENABLE 0x01 /* Enable all motors */
176#define SCMD_DRIVER_DISABLE 0x00 /* Disable all motors */
177#define SCMD_REG_UPDATE_RATE 0x71 /* Update motors every UPDATE_RATE ms.
178 * Use 0x00 to require FORCE_UPDATE.
179 */
180#define SCMD_REG_FORCE_UPDATE 0x72 /* Set to 0x01 to force a update of the motors.
181 * Auto resets to 0x00.
182 */
183#define SCMD_REG_E_BUS_SPEED 0x73 /* Expansion bus speed:
184 * 0x00 - 50kHz
185 * 0x01 - 100kHz
186 * 0x02 - 400kHz
187 */
188#define SCMD_REG_MASTER_LOCK 0x74 /* Unlocked when set to 0x9B. Unlocks local and
189 * remote modules.
190 */
191#define SCMD_REG_USER_LOCK 0x75 /* Unlocked when set to 0x5C. Unlocks the user lock
192 on the local and remote modules.
193 */
194#define SCMD_REG_FSAFE_TIME 0x76 /* Program status, if set:
195 * B0 - Enumeration complete
196 * B1 - Device busy
197 * B2 - Remote module read in progress
198 * B3 - Remote module write in progress
199 * B4 - The state of enable pin U2.5
200 */
201#define SCMD_REG_STATUS_1 0x77 /* Another way to get basic program status, if set:
202 * B0 - Enumeration complete
203 * B1 - Device busy
204 */
205#define SCMD_REG_CONTROL_1 0x78 /* Restart and re-enumeration control. If set:
206 * B0 - Restart module
207 * B1 - Re-enumerate, look for modules (self clears)
208 */
209#define SCMD_CONTROL_1_RESTART 0x01 /* Mask to perform a restart using CONTROL_1 */
210#define SCMD_CONTROL_1_REENUMERATE 0x02 /* Mask to perform a re-enumeration using
211 * CONTROL_1
212 */
213/* Remote module I2C bus write / read window */
214#define SCMD_REG_REM_ADDR 0x79 /* The slave module I2C address. This starts at 0x50 */
215#define SCMD_REG_REM_OFFSET 0x7A /* Remote module I2C register for write / read */
216#define SCMD_REG_REM_DATA_WR 0x7B /* Data staged for write to remote module */
217#define SCMD_REG_REM_DATA_RD 0x7C /* Data returned from remote module */
218#define SCMD_REG_REM_WRITE 0x7D /* Write REM_DATA_WR to REM_OFFSET on remote module */
219#define SCMD_REG_REM_READ 0x7E /* Read from REM_OFFSET into REM_DATA_RD on remote
220 * module
221 */
222
223#define SCMD_LAST_REG SCMD_REG_REM_READ /* The last register address on a module */
224#define SCMD_REG_SIZE 0x7F /* Size of the register space including the holes */
225#define SCMD_REMOTE_ADDR_LOW 0x50 /* The first remote I2C address */
226#define SCMD_REMOTE_ADDR_HIGH 0x5F /* The last remote I2C address */
227#define SCMD_HOLE_VALUE 0x55 /* Artificial value on read for a hole register */
228#define SCMD_IS_HOLE(r) \
229((r >= SCMD_REG_HOLE_1_LOW && r <= SCMD_REG_HOLE_1_HIGH) || \
230 (r >= SCMD_REG_HOLE_2_LOW && r <= SCMD_REG_HOLE_2_HIGH))
231
232#define SCMD_MASTER_LOCK_UNLOCKED 0x9B
233#define SCMD_USER_LOCK_UNLOCKED 0x5C
234#define SCMD_ANY_LOCK_LOCKED 0x00
235
236#endif