Add UART support for TMC51xx series

drivers/stepper/adi_tmc/CMakeLists.txt

@@ -4,7 +4,8 @@
 zephyr_library()
 zephyr_library_property(ALLOW_EMPTY TRUE)
 
-zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC_SPI adi_tmc_spi.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC2209 tmc22xx.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC50XX tmc50xx.c)
-zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC51XX tmc51xx.c)
+add_subdirectory_ifdef(CONFIG_STEPPER_ADI_TMC51XX tmc51xx)
+
+add_subdirectory_ifdef(CONFIG_STEPPER_ADI_TMC bus)

drivers/stepper/adi_tmc/Kconfig

@@ -17,6 +17,13 @@ config STEPPER_ADI_TMC_SPI
 	help
 	  A Trinamic Stepper Controller with SPI is enabled
 
+config STEPPER_ADI_TMC_UART
+	bool "Use Trinamic Stepper Controller with single wire UART"
+	depends on STEPPER_ADI_TMC
+	select UART
+	help
+	  A Trinamic Stepper Controller with single wire UART is enabled
+
 comment "Trinamic Stepper Drivers"
 
 rsource "Kconfig.tmc22xx"

drivers/stepper/adi_tmc/Kconfig.tmc51xx

@@ -4,7 +4,8 @@
 config STEPPER_ADI_TMC51XX
 	bool "Activate trinamic tmc51xx stepper driver"
 	depends on DT_HAS_ADI_TMC51XX_ENABLED && STEPPER_ADI_TMC
-	select STEPPER_ADI_TMC_SPI
+	select STEPPER_ADI_TMC_UART if $(dt_compat_on_bus,$(DT_COMPAT_ADI_TMC51XX),uart)
+	select STEPPER_ADI_TMC_SPI if $(dt_compat_on_bus,$(DT_COMPAT_ADI_TMC51XX),spi)
 	default y
 
 module = TMC51XX

drivers/stepper/adi_tmc/adi_tmc_reg.h

@@ -1,5 +1,5 @@
 /**
- * @file drivers/stepper/adi/tmc_reg.h
+ * @file drivers/stepper/adi_tmc/adi_tmc_reg.h
  *
  * @brief TMC Registers
  *
@@ -56,13 +56,19 @@ extern "C" {
 #define TMC5XXX_CHOPCONF_MRES_MASK       GENMASK(27, 24)
 #define TMC5XXX_CHOPCONF_MRES_SHIFT      24
 
-#define TMC5XXX_RAMPSTAT_INT_MASK  GENMASK(7, 4)
+#define TMC5XXX_RAMPSTAT_INT_MASK  GENMASK(9, 4)
 #define TMC5XXX_RAMPSTAT_INT_SHIFT 4
 
+#define TMC5XXX_RAMPSTAT_POS_REACHED_MASK BIT(9)
+#define TMC5XXX_POS_REACHED									   \
+	(TMC5XXX_RAMPSTAT_POS_REACHED_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)
+
 #define TMC5XXX_RAMPSTAT_POS_REACHED_EVENT_MASK BIT(7)
 #define TMC5XXX_POS_REACHED_EVENT                                                                  \
 	(TMC5XXX_RAMPSTAT_POS_REACHED_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)
 
+#define TMC5XXX_POS_REACHED_AND_EVENT (TMC5XXX_POS_REACHED | TMC5XXX_POS_REACHED_EVENT)
+
 #define TMC5XXX_RAMPSTAT_STOP_SG_EVENT_MASK BIT(6)
 #define TMC5XXX_STOP_SG_EVENT                                                                      \
 	(TMC5XXX_RAMPSTAT_STOP_SG_EVENT_MASK >> TMC5XXX_RAMPSTAT_INT_SHIFT)

drivers/stepper/adi_tmc/bus/CMakeLists.txt

@@ -0,0 +1,7 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 Dipak Shetty
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library_include_directories(include)
+
+zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC_SPI adi_tmc_spi.c)
+zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC_UART adi_tmc_uart.c)

drivers/stepper/adi_tmc/adi_tmc_spi.c → drivers/stepper/adi_tmc/bus/adi_tmc_spi.c

@@ -4,7 +4,7 @@
  */
 
 #include <zephyr/sys/util.h>
-#include "adi_tmc_spi.h"
+#include <adi_tmc_spi.h>
 
 #define BUFFER_SIZE 5U
 

drivers/stepper/adi_tmc/bus/adi_tmc_uart.c

@@ -0,0 +1,163 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2025 Dipak Shetty
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/sys/util.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/byteorder.h>
+#include <adi_tmc_uart.h>
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(tmc_uart, CONFIG_STEPPER_LOG_LEVEL);
+
+/* TMC UART standard datagram size */
+#define ADI_TMC_UART_DATAGRAM_SIZE          8
+/* TMC UART read request datagram size */
+#define ADI_TMC_UART_READ_REQ_DATAGRAM_SIZE 4
+/* TMC UART protocol constants */
+#define ADI_TMC_UART_SYNC_BYTE              0x05
+#define ADI_TMC_UART_WRITE_BIT              0x80
+
+uint8_t tmc_uart_calc_crc(const uint8_t *datagram, uint8_t len)
+{
+	uint8_t crc = 0;
+
+	for (uint8_t i = 0; i < len; i++) {
+		uint8_t current_byte = datagram[i];
+
+		for (uint8_t j = 0; j < 8; j++) {
+			if ((crc >> 7) ^ (current_byte & 0x01)) {
+				crc = (crc << 1) ^ 0x07;
+			} else {
+				crc = (crc << 1) & 0xFF;
+			}
+			current_byte = current_byte >> 1;
+		}
+	}
+
+	return crc;
+}
+
+static int tmc_uart_send_byte_with_echo(const struct device *uart, uint8_t byte)
+{
+	uint8_t echo_byte;
+	int err;
+
+	uart_poll_out(uart, byte);
+
+	/* Wait for echo with timeout */
+	k_timepoint_t end = sys_timepoint_calc(K_MSEC(5)); /* 5ms timeout for echo */
+
+	do {
+		err = uart_poll_in(uart, &echo_byte);
+		if (err >= 0 && echo_byte == byte) {
+			/* Received matching echo */
+			return 0;
+		}
+	} while (err == -1 && !sys_timepoint_expired(end));
+
+	LOG_ERR("Echo mismatch or timeout: sent 0x%02X", byte);
+	return -EIO;
+}
+
+int tmc_uart_write_register(const struct device *uart, uint8_t device_addr,
+			    uint8_t register_address, uint32_t data)
+{
+	uint8_t buffer[ADI_TMC_UART_DATAGRAM_SIZE];
+	int err = 0;
+
+	/* Format the UART TMC datagram */
+	buffer[0] = ADI_TMC_UART_SYNC_BYTE;                    /* Sync byte */
+	buffer[1] = device_addr;                               /* Device address */
+	buffer[2] = register_address | ADI_TMC_UART_WRITE_BIT; /* Register address with write bit */
+	sys_put_be32(data, &buffer[3]);                        /* Write data */
+	buffer[7] = tmc_uart_calc_crc(buffer, ADI_TMC_UART_DATAGRAM_SIZE - 1U); /* CRC */
+
+	/* Send datagram byte by byte using polling */
+	for (size_t i = 0; i < ADI_TMC_UART_DATAGRAM_SIZE; i++) {
+		err = tmc_uart_send_byte_with_echo(uart, buffer[i]);
+		if (err) {
+			LOG_ERR("Failed to send byte %d: 0x%02X", i, buffer[i]);
+			return err;
+		}
+	}
+
+	return 0;
+}
+
+int tmc_uart_read_register(const struct device *uart, uint8_t device_addr, uint8_t register_address,
+			   uint32_t *data)
+{
+	uint8_t write_buffer[ADI_TMC_UART_READ_REQ_DATAGRAM_SIZE];
+	uint8_t read_buffer[ADI_TMC_UART_DATAGRAM_SIZE];
+	struct uart_config uart_cfg;
+
+	int err = 0;
+
+	/* Get current UART configuration */
+	err = uart_config_get(uart, &uart_cfg);
+	if (err) {
+		LOG_ERR("Failed to get UART configuration: %d", err);
+		return -EIO;
+	}
+
+	/* Calculate delay based on UART baudrate (SENDDELAY: default=8 bit times))*/
+	uint32_t delay_us = (8 * 1000000) / uart_cfg.baudrate;
+
+	/* Format the UART TMC datagram for read */
+	write_buffer[0] = ADI_TMC_UART_SYNC_BYTE; /* Sync byte */
+	write_buffer[1] = device_addr;            /* Device address */
+	write_buffer[2] = register_address;       /* Register address */
+	write_buffer[3] = tmc_uart_calc_crc(write_buffer, 3);
+
+	/* Send read request byte by byte and wait for each echo */
+	for (size_t i = 0; i < ADI_TMC_UART_READ_REQ_DATAGRAM_SIZE; i++) {
+		err = tmc_uart_send_byte_with_echo(uart, write_buffer[i]);
+		if (err) {
+			LOG_ERR("Failed to send byte %d: 0x%02X", i, write_buffer[i]);
+			return -EIO;
+		}
+	}
+
+	/* Small delay to allow device to prepare response */
+	k_busy_wait(delay_us);
+
+	/* Receive response with timeout */
+	for (size_t i = 0; i < sizeof(read_buffer) && (err == 0); i++) {
+		k_timepoint_t end = sys_timepoint_calc(K_MSEC(1000));
+
+		do {
+			err = uart_poll_in(uart, &read_buffer[i]);
+		} while (err == -1 && !sys_timepoint_expired(end));
+
+		if (err == -1) {
+			LOG_ERR("Timeout waiting for byte %d for register 0x%x", i,
+				register_address);
+			return -EAGAIN;
+		}
+		if (err < 0) {
+			LOG_ERR("Error %d receiving byte %d for register 0x%x", err, i,
+				register_address);
+			return -EIO;
+		}
+	}
+
+	/* Print the received bytes */
+	LOG_HEXDUMP_DBG(read_buffer, ADI_TMC_UART_DATAGRAM_SIZE, "Received bytes:");
+
+	/* Validate CRC */
+	uint8_t crc = tmc_uart_calc_crc(read_buffer, ADI_TMC_UART_DATAGRAM_SIZE - 1U);
+
+	if (crc != read_buffer[7]) {
+		LOG_ERR("CRC mismatch for register 0x%x: got 0x%x, expected 0x%x", register_address,
+			read_buffer[7], crc);
+		return -EIO;
+	}
+
+	/* Construct a 32-bit register value from received bytes */
+	*data = sys_get_be32(&read_buffer[3]);
+
+	return 0;
+}

drivers/stepper/adi_tmc/bus/include/adi_tmc_bus.h

@@ -0,0 +1,59 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2025 Dipak Shetty
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_H_
+#define ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_H_
+
+#include <zephyr/types.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/spi.h>
+
+/* Communication interface types */
+#define TMC_COMM_SPI  0
+#define TMC_COMM_UART 1
+
+union tmc_bus {
+	struct spi_dt_spec spi;
+	const struct device *uart;
+};
+
+/**
+ * @brief Function pointer type for bus check function.
+ * @param bus Pointer to the bus structure.
+ * @param comm_type Communication type (SPI or UART).
+ * @return 0 if bus is ready, negative error code otherwise.
+ */
+typedef int (*tmc_bus_check_fn)(const union tmc_bus *bus, uint8_t comm_type);
+
+/**
+ * @brief Function pointer type for register read function.
+ * @param dev Pointer to the device structure.
+ * @param reg Register address to read.
+ * @param val Pointer to store the read value.
+ * @return 0 on success, negative error code otherwise.
+ */
+typedef int (*tmc_reg_read_fn)(const struct device *dev, uint8_t reg, uint32_t *val);
+
+/**
+ * @brief Function pointer type for register write function.
+ * @param dev Pointer to the device structure.
+ * @param reg Register address to write.
+ * @param val Value to write to the register.
+ * @return 0 on success, negative error code otherwise.
+ */
+typedef int (*tmc_reg_write_fn)(const struct device *dev, uint8_t reg, uint32_t val);
+
+/**
+ * @brief Structure for bus I/O operations.
+ * Contains function pointers for bus check, register read, and register write.
+ */
+struct tmc_bus_io {
+	tmc_bus_check_fn check; /* Function to check if the bus is ready */
+	tmc_reg_read_fn read;   /* Function to read a register */
+	tmc_reg_write_fn write; /* Function to write to a register */
+};
+
+#endif /* ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_H_ */

drivers/stepper/adi_tmc/adi_tmc_spi.h → drivers/stepper/adi_tmc/bus/include/adi_tmc_spi.h

@@ -1,5 +1,5 @@
 /**
- * @file drivers/stepper/adi/stepper.h
+ * @file drivers/stepper/adi_tmc/bus/include/adi_tmc_spi.h
  *
  * @brief Private API for Trinamic SPI bus
  *
@@ -10,8 +10,8 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#ifndef ZEPHYR_DRIVERS_STEPPER_ADI_TMC_SPI_H_
-#define ZEPHYR_DRIVERS_STEPPER_ADI_TMC_SPI_H_
+#ifndef ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_SPI_H_
+#define ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_SPI_H_
 
 #ifdef __cplusplus
 extern "C" {
@@ -60,4 +60,4 @@ int tmc_spi_write_register(const struct spi_dt_spec *bus, const uint8_t write_bi
 }
 #endif
 
-#endif /* ZEPHYR_DRIVERS_STEPPER_ADI_TMC_SPI_H_ */
+#endif /* ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_SPI_H_ */

drivers/stepper/adi_tmc/bus/include/adi_tmc_uart.h

@@ -0,0 +1,45 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2025 Dipak Shetty
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_UART_H_
+#define ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_UART_H_
+
+#include <zephyr/drivers/uart.h>
+
+/**
+ * @brief Calculate CRC for TMC UART datagram
+ *
+ * @param datagram Pointer to datagram buffer
+ * @param len Length of datagram
+ * @return uint8_t CRC value
+ */
+uint8_t tmc_uart_calc_crc(const uint8_t *datagram, uint8_t len);
+
+/**
+ * @brief Read register via UART single-wire interface
+ *
+ * @param uart Pointer to UART device specification
+ * @param device_addr Secondary address of TMC device
+ * @param register_address Register address to read
+ * @param data Pointer to store read data
+ * @return int 0 on success, negative errno on failure
+ */
+int tmc_uart_read_register(const struct device *uart, uint8_t device_addr, uint8_t register_address,
+			   uint32_t *data);
+
+/**
+ * @brief Write register via UART single-wire interface
+ *
+ * @param uart Pointer to UART device specification
+ * @param device_addr Secondary address of the TMC device
+ * @param register_address Register address to write
+ * @param data Data to write to register
+ * @return int 0 on success, negative errno on failure
+ */
+int tmc_uart_write_register(const struct device *uart, uint8_t device_addr,
+			    uint8_t register_address, uint32_t data);
+
+#endif /* ZEPHYR_DRIVERS_STEPPER_ADI_TMC_BUS_UART_H_ */

drivers/stepper/adi_tmc/tmc50xx.c

@@ -11,7 +11,7 @@
 #include <zephyr/drivers/stepper.h>
 #include <zephyr/drivers/stepper/stepper_trinamic.h>
 
-#include "adi_tmc_spi.h"
+#include <adi_tmc_spi.h>
 #include "adi_tmc5xxx_common.h"
 
 #include <zephyr/logging/log.h>
@@ -276,6 +276,8 @@ static void rampstat_work_handler(struct k_work *work)
 			break;
 
 		case TMC5XXX_POS_REACHED_EVENT:
+		case TMC5XXX_POS_REACHED:
+		case TMC5XXX_POS_REACHED_AND_EVENT:
 			LOG_DBG("RAMPSTAT %s:Position reached", stepper_data->stepper->name);
 			execute_callback(stepper_data->stepper, STEPPER_EVENT_STEPS_COMPLETED);
 			break;

drivers/stepper/adi_tmc/tmc51xx/CMakeLists.txt

@@ -0,0 +1,4 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 Dipak Shetty
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC51XX tmc51xx.c tmc51xx_spi.c tmc51xx_uart.c)