################################################################################ # 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 class TMC2130(TMCIc): """ The TMC2130 is a high-performance driver IC for two phase stepper motors. Standard SPI and STEP/DIR simply communication. Supply voltage: 4.75-46V. """ def __init__(self): super().__init__("TMC2130", self.__doc__) class REG: """ Define all registers of the TMC2130. """ GCONF = 0x00 GSTAT = 0x01 IOIN = 0x04 IHOLD_IRUN = 0x10 TPOWERDOWN = 0x11 TSTEP = 0x12 TPWMTHRS = 0x13 TCOOLTHRS = 0x14 THIGH = 0x15 XDIRECT = 0x2D VDCMIN = 0x33 MSLUT__ = 0x60 MSLUTSEL = 0x68 MSLUTSTART = 0x69 MSCNT = 0x6A MSCURACT = 0x6B CHOPCONF = 0x6C COOLCONF = 0x6D DCCTRL = 0x6E DRV_STATUS = 0x6F PWM_CONF = 0x70 PWM_SCALE = 0x71 ENCM_CTRL = 0x72 LOST_STEPS = 0x73 class FIELD: """ Define all register bitfields of the TMC2130. 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. """ # GCONF I_SCALE_ANALOG = (0x00, 0x00000001, 0) INTERNAL_RSENSE = (0x00, 0x00000002, 1) EN_PWM_MODE = (0x00, 0x00000004, 2) ENC_COMMUTATION = (0x00, 0x00000008, 3) SHAFT = (0x00, 0x00000010, 4) DIAG0_ERROR__ONLY_WITH_SD_MODE_1_ = (0x00, 0x00000020, 5) DIAG0_OTPW__ONLY_WITH_SD_MODE_1_ = (0x00, 0x00000040, 6) DIAG0_STALL = (0x00, 0x00000080, 7) DIAG1_STALL = (0x00, 0x00000100, 8) DIAG1_INDEX = (0x00, 0x00000200, 9) DIAG1_ONSTATE = (0x00, 0x00000400, 10) DIAG1_STEPS_SKIPPED = (0x00, 0x00000800, 11) DIAG0_INT_PUSHPULL = (0x00, 0x00001000, 12) DIAG1_POSCOMP_PUSHPULL = (0x00, 0x00002000, 13) SMALL_HYSTERESIS = (0x00, 0x00004000, 14) STOP_ENABLE = (0x00, 0x00008000, 15) DIRECT_MODE = (0x00, 0x00010000, 16) TEST_MODE = (0x00, 0x00020000, 17) # GSTAT RESET = (0x01, 0x00000001, 0) DRV_ERR = (0x01, 0x00000002, 1) UV_CP = (0x01, 0x00000004, 2) # IOIN REFL_STEP = (0x04, 0x00000001, 0) REFR_DIR = (0x04, 0x00000002, 1) ENCB_DCEN_CFG4 = (0x04, 0x00000004, 2) ENCA_DCIN_CFG5 = (0x04, 0x00000008, 3) DRV_ENN_CFG6 = (0x04, 0x00000010, 4) ENC_N_DCO = (0x04, 0x00000020, 5) VERSION = (0x04, 0xFF000000, 24) # IHOLD_IRUN IHOLD = (0x10, 0x0000001F, 0) IRUN = (0x10, 0x00001F00, 8) IHOLDDELAY = (0x10, 0x000F0000, 16) # TPOWERDOWN TPOWERDOWN = (0x11, 0x000000FF, 0) # TSTEP TSTEP = (0x12, 0x000FFFFF, 0) # TPWMTHRS TPWMTHRS = (0x13, 0x000FFFFF, 0) # TCOOLTHRS TCOOLTHRS = (0x14, 0x000FFFFF, 0) # THIGH THIGH = (0x15, 0x000FFFFF, 0) # XDIRECT XDIRECT_MODE = (0x2D, 0x00FFFFFF, 0) # VDCMIN VDCMIN = (0x33, 0x07FFFFFF, 0) # MSLUTSEL W0 = (0x68, 0x00000003, 0) W1 = (0x68, 0x0000000C, 2) W2 = (0x68, 0x00000030, 4) W3 = (0x68, 0x000000C0, 6) X1 = (0x68, 0x0000FF00, 8) X2 = (0x68, 0x00FF0000, 16) X3 = (0x68, 0xFF000000, 24) # MSLUTSTART START_SIN = (0x69, 0x000000FF, 0) START_SIN90 = (0x69, 0x00FF0000, 16) # MSCNT MSCNT = (0x6A, 0x000003FF, 0) # MSCURACT CUR_A = (0x6B, 0x000001FF, 0) CUR_B = (0x6B, 0x01FF0000, 16) # CHOPCONF TOFF = (0x6C, 0x0000000F, 0) TFD_2__0_ = (0x6C, 0x00000070, 4) OFFSET = (0x6C, 0x00000780, 7) HSTRT = (0x6C, 0x00000070, 4) HEND = (0x6C, 0x00000780, 7) TFD__ = (0x6C, 0x00000800, 11) DISFDCC = (0x6C, 0x00001000, 12) RNDTF = (0x6C, 0x00002000, 13) CHM = (0x6C, 0x00004000, 14) TBL = (0x6C, 0x00018000, 15) VSENSE = (0x6C, 0x00020000, 17) VHIGHFS = (0x6C, 0x00040000, 18) VHIGHCHM = (0x6C, 0x00080000, 19) SYNC = (0x6C, 0x00F00000, 20) MRES = (0x6C, 0x0F000000, 24) INTPOL = (0x6C, 0x10000000, 28) DEDGE = (0x6C, 0x20000000, 29) DISS2G = (0x6C, 0x40000000, 30) # COOLCONF SEMIN = (0x6D, 0x0000000F, 0) SEUP = (0x6D, 0x00000060, 5) SEMAX = (0x6D, 0x00000F00, 8) SEDN = (0x6D, 0x00006000, 13) SEIMIN = (0x6D, 0x00008000, 15) SGT = (0x6D, 0x007F0000, 16) SFILT = (0x6D, 0x01000000, 24) # DCCTRL DC_TIME = (0x6E, 0x000003FF, 0) DC_SG = (0x6E, 0x00FF0000, 16) # DRV_STATUS SG_RESULT = (0x6F, 0x000003FF, 0) FSACTIVE = (0x6F, 0x00008000, 15) CS_ACTUAL = (0x6F, 0x001F0000, 16) STALLGUARD = (0x6F, 0x01000000, 24) OT = (0x6F, 0x02000000, 25) OTPW = (0x6F, 0x04000000, 26) S2GA = (0x6F, 0x08000000, 27) S2GB = (0x6F, 0x10000000, 28) OLA = (0x6F, 0x20000000, 29) OLB = (0x6F, 0x40000000, 30) STST = (0x6F, 0x80000000, 31) # PWMCONF PWM_AMPL = (0x70, 0x000000FF, 0) PWM_GRAD = (0x70, 0x0000FF00, 8) PWM_FREQ = (0x70, 0x00030000, 16) PWM_AUTOSCALE = (0x70, 0x00040000, 18) PWM_SYMMETRIC = (0x70, 0x00080000, 19) FREEWHEEL = (0x70, 0x00300000, 20) # PWM_SCALE PWM_SCALE = (0x71, 0x000000FF, 0) # ENCM_CTRL INV = (0x72, 0x00000001, 0) MAXSPEED = (0x72, 0x00000002, 1) # LOST_STEPS LOST_STEPS = (0x73, 0x000FFFFF, 0)