################################################################################ # Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG # (now owned by Analog Devices Inc.), # # Copyright © 2023 Analog Devices Inc. All Rights Reserved. # This software is proprietary to Analog Devices, Inc. and its licensors. ################################################################################ from ..ic.tmc_ic import TMCIc from ..features.solenoid_ic import SolenoidIC from ..features.solenoid_control_ic import SolenoidControlIC class MAX22216(TMCIc): """ QUAD SERIAL PROGRAMMABLE 2A HALF BRIDGE DRIVER """ def __init__(self, parent_eval): """ Constructor for the TMC_IC instance. Parameters: handler: Handler object for register access operations. This object is expected to implement write_register and read_register functions to read/write registers via platform-specific communication. channel: Channel identifier for this IC. This will be handed to the write_register and read_register functions of the handler to differentiate between multiple ICs. """ super().__init__("MAX22216", self.__doc__) self._parent = parent_eval self.motors = [ self._MotorTypeA(parent_eval, self, 0), self._MotorTypeA(parent_eval, self, 1), self._MotorTypeA(parent_eval, self, 2), self._MotorTypeA(parent_eval, self, 3) ] class _MotorTypeA(SolenoidIC, SolenoidControlIC): """ Motor class for the generic motor. """ def __init__(self, parent_eval, ic, axis): SolenoidIC.__init__(self, parent_eval, ic, axis) SolenoidControlIC.__init__(self, parent_eval, ic, axis) class REG: """ Define all registers of the MAX22216. Each register is defined either as an integer or as a tuple of integers. Each integer represents a register address. Tuples of addresses are used to represent a register that exists multiple times for multiple motors. """ GLOBAL_CTRL = 0x00 GLOBAL_CFG = 0x01 STATUS = 0x02 STATUS_CFG = 0x03 DEMAG_VOLTAGE = 0x04 ADC_VM_MEASUREMENT = 0x05 VM_THRESHOLD = 0x06 F_AC = 0x07 U_AC_SCAN = 0x08 CFG_DC_L2H_0 = 0x09 CFG_DC_H_0 = 0x0A CFG_DC_L_0 = 0x0B CFG_L2H_TIME_0 = 0x0C CFG_CTRL0_0 = 0x0D CFG_CTRL1_0 = 0x0E CFG_DPM0_0 = 0x0F CFG_DPM1_0 = 0x10 CFG_DC_0 = 0x11 CFG_R_THLD_0 = 0x12 CFG_IND_0_0 = 0x13 CFG_IND_1_0 = 0x14 CFG_P_0 = 0x15 CFG_I_0 = 0x16 CFG_DC_L2H_1 = 0x17 CFG_DC_H_1 = 0x18 CFG_DC_L_1 = 0x19 CFG_L2H_TIME_1 = 0x1A CFG_CTRL0_1 = 0x1B CFG_CTRL1_1 = 0x1C CFG_DPM0_1 = 0x1D CFG_DPM1_1 = 0x1E CFG_DC_1 = 0x1F CFG_R_THLD_1 = 0x20 CFG_IND_0_1 = 0x21 CFG_IND_1_1 = 0x22 CFG_P_1 = 0x23 CFG_I_1 = 0x24 CFG_DC_L2H_2 = 0x25 CFG_DC_H_2 = 0x26 CFG_DC_L_2 = 0x27 CFG_L2H_TIME_2 = 0x28 CFG_CTRL0_2 = 0x29 CFG_CTRL1_2 = 0x2A CFG_DPM0_2 = 0x2B CFG_DPM1_2 = 0x2C CFG_DC_2 = 0x2D CFG_R_THLD_2 = 0x2E CFG_IND_0_2 = 0x2F CFG_IND_1_2 = 0x30 CFG_P_2 = 0x31 CFG_I_2 = 0x32 CFG_DC_L2H_3 = 0x33 CFG_DC_H_3 = 0x34 CFG_DC_L_3 = 0x35 CFG_L2H_TIME_3 = 0x36 CFG_CTRL0_3 = 0x37 CFG_CTRL1_3 = 0x38 CFG_DPM0_3 = 0x39 CFG_DPM1_3 = 0x3A CFG_DC_3 = 0x3B CFG_R_THLD_3 = 0x3C CFG_IND_0_3 = 0x3D CFG_IND_1_3 = 0x3E CFG_P_3 = 0x3F CFG_I_3 = 0x40 I_DPM_PEAK_0 = 0x41 I_DPM_VALLEY_0 = 0x42 TRAVEL_TIME_0 = 0x43 REACTION_TIME_0 = 0x44 I_ADC_0 = 0x45 I_DC_0 = 0x46 I_IND_AC_0 = 0x47 R_0 = 0x48 PWM_DUTY_0 = 0x49 I_DPM_PEAK_1 = 0x4A I_DPM_VALLEY_1 = 0x4B TRAVEL_TIME_1 = 0x4C REACTION_TIME_1 = 0x4D I_ADC_1 = 0x4E I_DC_1 = 0x4F I_IND_AC_1 = 0x50 R_1 = 0x51 PWM_DUTY_1 = 0x52 I_DPM_PEAK_2 = 0x53 I_DPM_VALLEY_2 = 0x54 TRAVEL_TIME_2 = 0x55 REACTION_TIME_2 = 0x56 I_ADC_2 = 0x57 I_DC_2 = 0x58 I_IND_AC_2 = 0x59 R_2 = 0x5A PWM_DUTY_2 = 0x5B I_DPM_PEAK_3 = 0x5C I_DPM_VALLEY_3 = 0x5D TRAVEL_TIME_3 = 0x5E REACTION_TIME_3 = 0x5F I_ADC_3 = 0x60 I_DC_3 = 0x61 I_IND_AC_3 = 0x62 R_3 = 0x63 PWM_DUTY_3 = 0x64 FAULT0 = 0x65 FAULT1 = 0x66 class FIELD: """ Define all register bitfields of the MAX22216. Each field is defined as a tuple consisting of ( Address, Mask, Shift ). The name of the register is written as a comment behind each tuple. This is intended for IDE users viewing the definition of a field by hovering over it. This allows the user to see the corresponding register name of a field without opening this file and searching for the definition. """ CNTL0 = ( 0x00, 0x00000001, 0 ) CNTL1 = ( 0x00, 0x00000002, 1 ) CNTL2 = ( 0x00, 0x00000004, 2 ) CNTL3 = ( 0x00, 0x00000008, 3 ) F_PWM_M = ( 0x00, 0x000000F0, 4 ) CHS = ( 0x01, 0x0000000F, 0 ) VDR_NDUTY = ( 0x01, 0x00000010, 4 ) STAT_POL = ( 0x01, 0x00000040, 6 ) CNTL_POL = ( 0x01, 0x00000080, 7 ) M_UVM = ( 0x01, 0x00000100, 8 ) M_COMF = ( 0x01, 0x00000200, 9 ) M_DPM = ( 0x01, 0x00000400, 10 ) M_HHF = ( 0x01, 0x00000800, 11 ) M_OLF = ( 0x01, 0x00001000, 12 ) M_OCP = ( 0x01, 0x00002000, 13 ) M_OVT = ( 0x01, 0x00004000, 14 ) ACTIVE = ( 0x01, 0x00008000, 15 ) RFU = ( 0x02, 0x00000001, 0 ) UVM = ( 0x02, 0x00000002, 1 ) COMER = ( 0x02, 0x00000004, 2 ) DPM = ( 0x02, 0x00000008, 3 ) HHF = ( 0x02, 0x00000010, 4 ) OLF = ( 0x02, 0x00000020, 5 ) OCP = ( 0x02, 0x00000040, 6 ) OVT = ( 0x02, 0x00000080, 7 ) IND = ( 0x02, 0x00000100, 8 ) RES = ( 0x02, 0x00000200, 9 ) MIN_T_ON = ( 0x02, 0x00000400, 10 ) STAT0 = ( 0x02, 0x00000800, 11 ) STAT1 = ( 0x02, 0x00001000, 12 ) STAT2 = ( 0x02, 0x00002000, 13 ) STAT3 = ( 0x02, 0x00004000, 14 ) STAT_FUN = ( 0x03, 0x00000007, 0 ) STAT_SEL0 = ( 0x03, 0x00000008, 3 ) STAT_SEL1 = ( 0x03, 0x00000010, 4 ) STRETCH_EN = ( 0x03, 0x00000060, 5 ) EN_LDO = ( 0x03, 0x00000080, 7 ) V5_NV3 = ( 0x03, 0x00000100, 8 ) M_UVM_CMP = ( 0x03, 0x00000200, 9 ) DC_H2L = ( 0x04, 0x0000FFFF, 0 ) ADC_VM_RAW = ( 0x05, 0x00001FFF, 0 ) VM_THLD_DOWN = ( 0x06, 0x0000000F, 0 ) VM_THLD_UP = ( 0x06, 0x000000F0, 4 ) DELTA_PHI = ( 0x07, 0x00000FFF, 0 ) U_AC = ( 0x08, 0x00007FFF, 0 ) DC_L2H_0 = ( 0x09, 0x0000FFFF, 0 ) DC_H_0 = ( 0x0A, 0x0000FFFF, 0 ) DC_L_0 = ( 0x0B, 0x0000FFFF, 0 ) TIME_L2H_0 = ( 0x0C, 0x0000FFFF, 0 ) RAMP_0 = ( 0x0D, 0x000000FF, 0 ) RUPE_0 = ( 0x0D, 0x00000100, 8 ) RMDE_0 = ( 0x0D, 0x00000200, 9 ) RDWE_0 = ( 0x0D, 0x00000400, 10 ) H2L_EN_0 = ( 0x0D, 0x00000800, 11 ) OL_EN_0 = ( 0x0D, 0x00001000, 12 ) HHF_EN_0 = ( 0x0D, 0x00002000, 13 ) CTRL_MODE_0 = ( 0x0D, 0x0000C000, 14 ) FSF_0 = ( 0x0E, 0x00000003, 0 ) SHUNT_SCALE_0 = ( 0x0E, 0x0000000C, 2 ) SLEW_RATE_0 = ( 0x0E, 0x00000030, 4 ) T_BLANKING_0 = ( 0x0E, 0x000000C0, 6 ) F_PWM_0 = ( 0x0E, 0x00000300, 8 ) HSNLS_0 = ( 0x0E, 0x00000400, 10 ) DPM_THLD_0 = ( 0x0F, 0x00000FFF, 0 ) DPM_MIN_CURRENT_0 = ( 0x10, 0x000000FF, 0 ) DPM_MIN_NBR_0 = ( 0x10, 0x00000F00, 8 ) END_HIT_AUTO_0 = ( 0x10, 0x00001000, 12 ) END_HIT_START_HIZ_AUTO_0 = ( 0x10, 0x00002000, 13 ) DPM_EN_0 = ( 0x10, 0x00004000, 14 ) IDC_THLD_0 = ( 0x11, 0x0000FFFF, 0 ) RES_THLD_0 = ( 0x12, 0x0000FFFF, 0 ) L_NBR_CALC_0 = ( 0x13, 0x0000000F, 0 ) L_MEAS_WCYCLES_0 = ( 0x13, 0x000000F0, 4 ) L_MEAS_H_0 = ( 0x13, 0x00000100, 8 ) L_MEAS_L2H_0 = ( 0x13, 0x00000200, 9 ) L_MEAS_EN_0 = ( 0x13, 0x00000400, 10 ) DITH_EN_0 = ( 0x13, 0x00000800, 11 ) IAC_THLD_0 = ( 0x14, 0x00000FFF, 0 ) CFG_P_0 = ( 0x15, 0x0000FFFF, 0 ) CFG_I_0 = ( 0x16, 0x0000FFFF, 0 ) DC_L2H_1 = ( 0x17, 0x0000FFFF, 0 ) DC_H_1 = ( 0x18, 0x0000FFFF, 0 ) DC_L_1 = ( 0x19, 0x0000FFFF, 0 ) TIME_L2H_1 = ( 0x1A, 0x0000FFFF, 0 ) RAMP_1 = ( 0x1B, 0x000000FF, 0 ) RUPE_1 = ( 0x1B, 0x00000100, 8 ) RMDE_1 = ( 0x1B, 0x00000200, 9 ) RDWE_1 = ( 0x1B, 0x00000400, 10 ) H2L_EN_1 = ( 0x1B, 0x00000800, 11 ) OL_EN_1 = ( 0x1B, 0x00001000, 12 ) HHF_EN_1 = ( 0x1B, 0x00002000, 13 ) CTRL_MODE_1 = ( 0x1B, 0x0000C000, 14 ) FSF_1 = ( 0x1C, 0x00000003, 0 ) SHUNT_SCALE_1 = ( 0x1C, 0x0000000C, 2 ) SLEW_RATE_1 = ( 0x1C, 0x00000030, 4 ) T_BLANKING_1 = ( 0x1C, 0x000000C0, 6 ) F_PWM_1 = ( 0x1C, 0x00000300, 8 ) HSNLS_1 = ( 0x1C, 0x00000400, 10 ) DPM_THLD_1 = ( 0x1D, 0x00000FFF, 0 ) DPM_MIN_CURRENT_1 = ( 0x1E, 0x000000FF, 0 ) DPM_MIN_NBR_1 = ( 0x1E, 0x00000F00, 8 ) END_HIT_AUTO_1 = ( 0x1E, 0x00001000, 12 ) END_HIT_START_HIZ_AUTO_1 = ( 0x1E, 0x00002000, 13 ) DPM_EN_1 = ( 0x1E, 0x00004000, 14 ) IDC_THLD_1 = ( 0x1F, 0x0000FFFF, 0 ) RES_THLD_1 = ( 0x20, 0x0000FFFF, 0 ) L_NBR_CALC_1 = ( 0x21, 0x0000000F, 0 ) L_MEAS_WCYCLES_1 = ( 0x21, 0x000000F0, 4 ) L_MEAS_H_1 = ( 0x21, 0x00000100, 8 ) L_MEAS_L2H_1 = ( 0x21, 0x00000200, 9 ) L_MEAS_EN_1 = ( 0x21, 0x00000400, 10 ) DITH_EN_1 = ( 0x21, 0x00000800, 11 ) IAC_THLD_1 = ( 0x22, 0x00000FFF, 0 ) CFG_P_1 = ( 0x23, 0x0000FFFF, 0 ) CFG_I_1 = ( 0x24, 0x0000FFFF, 0 ) DC_L2H_2 = ( 0x25, 0x0000FFFF, 0 ) DC_H_2 = ( 0x26, 0x0000FFFF, 0 ) DC_L_2 = ( 0x27, 0x0000FFFF, 0 ) TIME_L2H_2 = ( 0x28, 0x0000FFFF, 0 ) RAMP_2 = ( 0x29, 0x000000FF, 0 ) RUPE_2 = ( 0x29, 0x00000100, 8 ) RMDE_2 = ( 0x29, 0x00000200, 9 ) RDWE_2 = ( 0x29, 0x00000400, 10 ) H2L_EN_2 = ( 0x29, 0x00000800, 11 ) OL_EN_2 = ( 0x29, 0x00001000, 12 ) HHF_EN_2 = ( 0x29, 0x00002000, 13 ) CTRL_MODE_2 = ( 0x29, 0x0000C000, 14 ) FSF_2 = ( 0x2A, 0x00000003, 0 ) SHUNT_SCALE_2 = ( 0x2A, 0x0000000C, 2 ) SLEW_RATE_2 = ( 0x2A, 0x00000030, 4 ) T_BLANKING_2 = ( 0x2A, 0x000000C0, 6 ) F_PWM_2 = ( 0x2A, 0x00000300, 8 ) HSNLS_2 = ( 0x2A, 0x00000400, 10 ) DPM_THLD_2 = ( 0x2B, 0x00000FFF, 0 ) DPM_MIN_CURRENT_2 = ( 0x2C, 0x000000FF, 0 ) DPM_MIN_NBR_2 = ( 0x2C, 0x00000F00, 8 ) END_HIT_AUTO_2 = ( 0x2C, 0x00001000, 12 ) END_HIT_START_HIZ_AUTO_2 = ( 0x2C, 0x00002000, 13 ) DPM_EN_2 = ( 0x2C, 0x00004000, 14 ) IDC_THLD_2 = ( 0x2D, 0x0000FFFF, 0 ) RES_THLD_2 = ( 0x2E, 0x0000FFFF, 0 ) L_NBR_CALC_2 = ( 0x2F, 0x0000000F, 0 ) L_MEAS_WCYCLES_2 = ( 0x2F, 0x000000F0, 4 ) L_MEAS_H_2 = ( 0x2F, 0x00000100, 8 ) L_MEAS_L2H_2 = ( 0x2F, 0x00000200, 9 ) L_MEAS_EN_2 = ( 0x2F, 0x00000400, 10 ) DITH_EN_2 = ( 0x2F, 0x00000800, 11 ) IAC_THLD_2 = ( 0x30, 0x00000FFF, 0 ) CFG_P_2 = ( 0x31, 0x0000FFFF, 0 ) CFG_I_2 = ( 0x32, 0x0000FFFF, 0 ) DC_L2H_3 = ( 0x33, 0x0000FFFF, 0 ) DC_H_3 = ( 0x34, 0x0000FFFF, 0 ) DC_L_3 = ( 0x35, 0x0000FFFF, 0 ) TIME_L2H_3 = ( 0x36, 0x0000FFFF, 0 ) RAMP_3 = ( 0x37, 0x000000FF, 0 ) RUPE_3 = ( 0x37, 0x00000100, 8 ) RMDE_3 = ( 0x37, 0x00000200, 9 ) RDWE_3 = ( 0x37, 0x00000400, 10 ) H2L_EN_3 = ( 0x37, 0x00000800, 11 ) OL_EN_3 = ( 0x37, 0x00001000, 12 ) HHF_EN_3 = ( 0x37, 0x00002000, 13 ) CTRL_MODE_3 = ( 0x37, 0x0000C000, 14 ) FSF_3 = ( 0x38, 0x00000003, 0 ) SHUNT_SCALE_3 = ( 0x38, 0x0000000C, 2 ) SLEW_RATE_3 = ( 0x38, 0x00000030, 4 ) T_BLANKING_3 = ( 0x38, 0x000000C0, 6 ) F_PWM_3 = ( 0x38, 0x00000300, 8 ) HSNLS_3 = ( 0x38, 0x00000400, 10 ) DPM_THLD_3 = ( 0x39, 0x00000FFF, 0 ) DPM_MIN_CURRENT_3 = ( 0x3A, 0x000000FF, 0 ) DPM_MIN_NBR_3 = ( 0x3A, 0x00000F00, 8 ) END_HIT_AUTO_3 = ( 0x3A, 0x00001000, 12 ) END_HIT_START_HIZ_AUTO_3 = ( 0x3A, 0x00002000, 13 ) DPM_EN_3 = ( 0x3A, 0x00004000, 14 ) IDC_THLD_3 = ( 0x3B, 0x0000FFFF, 0 ) RES_THLD_3 = ( 0x3C, 0x0000FFFF, 0 ) L_NBR_CALC_3 = ( 0x3D, 0x0000000F, 0 ) L_MEAS_WCYCLES_3 = ( 0x3D, 0x000000F0, 4 ) L_MEAS_H_3 = ( 0x3D, 0x00000100, 8 ) L_MEAS_L2H_3 = ( 0x3D, 0x00000200, 9 ) L_MEAS_EN_3 = ( 0x3D, 0x00000400, 10 ) DITH_EN_3 = ( 0x3D, 0x00000800, 11 ) IAC_THLD_3 = ( 0x3E, 0x00000FFF, 0 ) CFG_P_3 = ( 0x3F, 0x0000FFFF, 0 ) CFG_I_3 = ( 0x40, 0x0000FFFF, 0 ) I_DPM_PEAK_0 = ( 0x41, 0x0000FFFF, 0 ) I_DPM_VALLEY_0 = ( 0x42, 0x0000FFFF, 0 ) REACTION_TIME_0 = ( 0x43, 0x0000FFFF, 0 ) #REACTION_TIME_0 = ( 0x44, 0x0000FFFF, 0 ) I_MONITOR_0 = ( 0x45, 0x0000FFFF, 0 ) I_DC_0 = ( 0x46, 0x0000FFFF, 0 ) I_AC_0 = ( 0x47, 0x0000FFFF, 0 ) R_0 = ( 0x48, 0x0000FFFF, 0 ) PWM_DUTYCYCLE_0 = ( 0x49, 0x0000FFFF, 0 ) I_DPM_PEAK_1 = ( 0x4A, 0x0000FFFF, 0 ) I_DPM_VALLEY_1 = ( 0x4B, 0x0000FFFF, 0 ) REACTION_TIME_1 = ( 0x4C, 0x0000FFFF, 0 ) #REACTION_TIME_1 = ( 0x4D, 0x0000FFFF, 0 ) I_MONITOR_1 = ( 0x4E, 0x0000FFFF, 0 ) I_DC_1 = ( 0x4F, 0x0000FFFF, 0 ) I_AC_1 = ( 0x50, 0x0000FFFF, 0 ) R_1 = ( 0x51, 0x0000FFFF, 0 ) PWM_DUTYCYCLE_1 = ( 0x52, 0x0000FFFF, 0 ) I_DPM_PEAK_2 = ( 0x53, 0x0000FFFF, 0 ) I_DPM_VALLEY_2 = ( 0x54, 0x0000FFFF, 0 ) REACTION_TIME_2 = ( 0x55, 0x0000FFFF, 0 ) #REACTION_TIME_2 = ( 0x56, 0x0000FFFF, 0 ) I_MONITOR_2 = ( 0x57, 0x0000FFFF, 0 ) I_DC_2 = ( 0x58, 0x0000FFFF, 0 ) I_AC_2 = ( 0x59, 0x0000FFFF, 0 ) R_2 = ( 0x5A, 0x0000FFFF, 0 ) PWM_DUTYCYCLE_2 = ( 0x5B, 0x0000FFFF, 0 ) I_DPM_PEAK_3 = ( 0x5C, 0x0000FFFF, 0 ) I_DPM_VALLEY_3 = ( 0x5D, 0x0000FFFF, 0 ) REACTION_TIME_3 = ( 0x5E, 0x0000FFFF, 0 ) #REACTION_TIME_3 = ( 0x5F, 0x0000FFFF, 0 ) I_MONITOR_3 = ( 0x60, 0x0000FFFF, 0 ) I_DC_3 = ( 0x61, 0x0000FFFF, 0 ) I_AC_3 = ( 0x62, 0x0000FFFF, 0 ) R_3 = ( 0x63, 0x0000FFFF, 0 ) PWM_DUTYCYCLE_3 = ( 0x64, 0x0000FFFF, 0 ) OCP0 = ( 0x65, 0x00000001, 0 ) OCP1 = ( 0x65, 0x00000002, 1 ) OCP2 = ( 0x65, 0x00000004, 2 ) OCP3 = ( 0x65, 0x00000008, 3 ) HHF0 = ( 0x65, 0x00000010, 4 ) HHF1 = ( 0x65, 0x00000020, 5 ) HHF2 = ( 0x65, 0x00000040, 6 ) HHF3 = ( 0x65, 0x00000080, 7 ) OLF0 = ( 0x65, 0x00000100, 8 ) OLF1 = ( 0x65, 0x00000200, 9 ) OLF2 = ( 0x65, 0x00000400, 10 ) OLF3 = ( 0x65, 0x00000800, 11 ) DPM0 = ( 0x65, 0x00001000, 12 ) DPM1 = ( 0x65, 0x00002000, 13 ) DPM2 = ( 0x65, 0x00004000, 14 ) DPM3 = ( 0x65, 0x00008000, 15 ) IND0 = ( 0x66, 0x00000001, 0 ) IND1 = ( 0x66, 0x00000002, 1 ) IND2 = ( 0x66, 0x00000004, 2 ) IND3 = ( 0x66, 0x00000008, 3 ) #UVM = ( 0x66, 0x00000010, 4 ) #COMER = ( 0x66, 0x00000020, 5 ) #OVT = ( 0x66, 0x00000040, 6 ) RES0 = ( 0x66, 0x00000080, 7 ) RES1 = ( 0x66, 0x00000100, 8 ) RES2 = ( 0x66, 0x00000200, 9 ) RES3 = ( 0x66, 0x00000400, 10 ) DC_H = [ DC_H_0, DC_H_1, DC_H_2, DC_H_3 ] DC_L = [ DC_L_0, DC_L_1, DC_L_2, DC_L_3 ] DC_L2H = [ DC_L2H_0, DC_L2H_1, DC_L2H_2, DC_L2H_3 ] FSF = [ FSF_0, FSF_1, FSF_2, FSF_3 ] CTRL_MODE = [ CTRL_MODE_0, CTRL_MODE_1, CTRL_MODE_2, CTRL_MODE_3 ] CNTL = [ CNTL0, CNTL1, CNTL2, CNTL3 ]