Issue link: https://resources.mouser.com/i/1512203
27 Engineering a More Sustainable Future | ADI X ADIN1110.c is the driver used to allow the exchange of data and commands with the ADIN1110 over the SPI interface. It includes low-level communication functions for reading and writing data from device registers, and higher-level functions for sending and receiving Ethernet frames. It also includes the function used to establish communication between 10BASE- T1L transceivers. The pin that notifies if new frames are available is read on interrupt to minimize latency. X TMC5160.c implements all the functions needed to control the TMC5160 motion controller, configured to operate in full-featured motion controller mode. Both constant speed and position control modes are implemented, allowing smooth and precise positioning with six-point ramps. Communication with multiple motion controllers is achieved through a single SPI bus with independent chip select lines. A set of functions and typedefs is also provided to ease motion synchronization. X Devices.c is the interface between data received from the T1L link and physical devices connected to the controller. It includes similar structs to the ones defined in the host interface and functions to update them each time a new frame with valid data is received. This module is also used to determine which actions are executed each time a struct is updated—for example, which physical motion controller is related to commands received at a specific device address. System Highlights and Validations This project aims to demonstrate how the new 10BASE-T1L Ethernet physical layer standard can be integrated into automation and industrial scenarios to connect controllers and user interfaces with endpoints, such as multiple sensors and actuators. This application is targeted to the remote real-time control of multiple stepper motors, widely used in the industry for low power automation tasks, but also utilized in light robots and CNC machines, such as desktop 3D printers, desktop milling machines, and other types of cartesian plotters. However, its use cases can also be extended to other types of actuators and remote-controlled devices. Its main advantages over already existing interfaces used for similar purposes are: Figure 4: A firmware flowchart. 4 Adobe Stock / Xiaoliangge – stock.adobe.com