################################################################################ # 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 TMC2240(TMCIc): """ The TMC2240-A is a stepper motor controller and driver IC with serial communication interfaces. Supply voltage: 4.5-36V. """ def __init__(self): super().__init__("TMC2240", self.__doc__) class REG: """ Define all registers of the TMC2240. """ GCONF = 0x00 GSTAT = 0x01 IFCNT = 0x02 SLAVECONF = 0x03 IOIN = 0x04 DRV_CONF = 0x0A GLOBAL_SCALER = 0x0B IHOLD_IRUN = 0x10 TPOWERDOWN = 0x11 TSTEP = 0x12 TPWMTHRS = 0x13 TCOOLTHRS = 0x14 THIGH = 0x15 DIRECT_MODE = 0x2D ENCMODE = 0x38 X_ENC = 0x39 ENC_CONST = 0x3A ENC_STATUS = 0x3B ENC_LATCH = 0x3C ADC_VSUPPLY_AIN = 0x50 ADC_TEMP = 0x51 OTW_OV_VTH = 0x52 MSLUT_0 = 0x60 MSLUT_1 = 0x61 MSLUT_2 = 0x62 MSLUT_3 = 0x63 MSLUT_4 = 0x64 MSLUT_5 = 0x65 MSLUT_6 = 0x66 MSLUT_7 = 0x67 MSLUTSEL = 0x68 MSLUTSTART = 0x69 MSCNT = 0x6A MSCURACT = 0x6B CHOPCONF = 0x6C COOLCONF = 0x6D DCCTRL = 0x6E DRV_STATUS = 0x6F PWMCONF = 0x70 PWM_SCALE = 0x71 PWM_AUTO = 0x72 SG4_THRS = 0x74 SG4_RESULT = 0x75 SG4_IND = 0x76 class FIELD: """ Define all register bitfields of the TMC2240. 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. """ FAST_STANDSTILL = ( 0x00, 0x00000002, 1 ) EN_PWM_MODE = ( 0x00, 0x00000004, 2 ) MULTISTEP_FILT = ( 0x00, 0x00000008, 3 ) SHAFT = ( 0x00, 0x00000010, 4 ) DIAG0_ERROR = ( 0x00, 0x00000020, 5 ) DIAG0_OTPW = ( 0x00, 0x00000040, 6 ) DIAG0_STALL = ( 0x00, 0x00000080, 7 ) DIAG1_STALL = ( 0x00, 0x00000100, 8 ) DIAG1_INDEX = ( 0x00, 0x00000200, 9 ) DIAG1_ONSTATE = ( 0x00, 0x00000400, 10 ) DIAG0_PUSHPULL = ( 0x00, 0x00001000, 12 ) DIAG1_PUSHPULL = ( 0x00, 0x00002000, 13 ) SMALL_HYSTERESIS = ( 0x00, 0x00004000, 14 ) STOP_ENABLE = ( 0x00, 0x00008000, 15 ) DIRECT_MODE = ( 0x00, 0x00010000, 16 ) RESET = ( 0x01, 0x00000001, 0 ) DRV_ERR = ( 0x01, 0x00000002, 1 ) UV_CP = ( 0x01, 0x00000004, 2 ) REGISTER_RESET = ( 0x01, 0x00000008, 3 ) VM_UVLO = ( 0x01, 0x00000010, 4 ) IFCNT = ( 0x02, 0x000000FF, 0 ) SLAVEADDR = ( 0x03, 0x000000FF, 0 ) SENDDELAY = ( 0x03, 0x00000F00, 8 ) REFL_STEP = ( 0x04, 0x00000001, 0 ) REFR_DIR = ( 0x04, 0x00000002, 1 ) ENCB_CFG4 = ( 0x04, 0x00000004, 2 ) ENCA_CFG5 = ( 0x04, 0x00000008, 3 ) DRV_ENN = ( 0x04, 0x00000010, 4 ) ENCN_CFG6 = ( 0x04, 0x00000020, 5 ) UART_EN = ( 0x04, 0x00000040, 6 ) RESERVED = ( 0x04, 0x00000080, 7 ) COMP_A = ( 0x04, 0x00000100, 8 ) COMP_B = ( 0x04, 0x00000200, 9 ) COMP_A1_A2 = ( 0x04, 0x00000400, 10 ) COMP_B1_B2 = ( 0x04, 0x00000800, 11 ) OUTPUT = ( 0x04, 0x00001000, 12 ) EXT_RES_DET = ( 0x04, 0x00002000, 13 ) EXT_CLK = ( 0x04, 0x00004000, 14 ) ADC_ERR = ( 0x04, 0x00008000, 15 ) SILICON_RV = ( 0x04, 0x00070000, 16 ) VERSION = ( 0x04, 0xFF000000, 24 ) CURRENT_RANGE = ( 0x0A, 0x00000003, 0 ) SLOPE_CONTROL = ( 0x0A, 0x00000030, 4 ) GLOBALSCALER = ( 0x0B, 0x000000FF, 0 ) IHOLD = ( 0x10, 0x0000001F, 0 ) IRUN = ( 0x10, 0x00001F00, 8 ) IHOLDDELAY = ( 0x10, 0x000F0000, 16 ) IRUNDELAY = ( 0x10, 0x0F000000, 24 ) TPOWERDOWN = ( 0x11, 0x000000FF, 0 ) TSTEP = ( 0x12, 0x000FFFFF, 0 ) TPWMTHRS = ( 0x13, 0x000FFFFF, 0 ) TCOOLTHRS = ( 0x14, 0x000FFFFF, 0 ) THIGH = ( 0x15, 0x000FFFFF, 0 ) DIRECT_COIL_A = ( 0x2D, 0x000001FF, 0 ) DIRECT_COIL_B = ( 0x2D, 0x01FF0000, 16 ) POL_A = ( 0x38, 0x00000001, 0 ) POL_B = ( 0x38, 0x00000002, 1 ) POL_N = ( 0x38, 0x00000004, 2 ) IGNORE_AB = ( 0x38, 0x00000008, 3 ) CLR_CONT = ( 0x38, 0x00000010, 4 ) CLR_ONCE = ( 0x38, 0x00000020, 5 ) POS_NEG_EDGE = ( 0x38, 0x000000C0, 6 ) CLR_ENC_X = ( 0x38, 0x00000100, 8 ) LATCH_X_ACT = ( 0x38, 0x00000200, 9 ) ENC_SEL_DECIMAL = ( 0x38, 0x00000400, 10 ) X_ENC = ( 0x39, 0xFFFFFFFF, 0 ) ENC_CONST = ( 0x3A, 0xFFFFFFFF, 0 ) N_EVENT = ( 0x3B, 0x00000001, 0 ) DEVIATION_WARN = ( 0x3B, 0x00000002, 1 ) ENC_LATCH = ( 0x3C, 0xFFFFFFFF, 0 ) ADC_VSUPPLY = ( 0x50, 0x00001FFF, 0 ) ADC_AIN = ( 0x50, 0x1FFF0000, 16 ) ADC_TEMP = ( 0x51, 0x00001FFF, 0 ) #RESERVED = ( 0x51, 0x1FFF0000, 16 ) OVERVOLTAGE_VTH = ( 0x52, 0x00001FFF, 0 ) OVERTEMPPREWARNING_VTH = ( 0x52, 0x1FFF0000, 16 ) MSLUT__ = ( 0x60, 0xFFFFFFFF, 0 ) #MSLUT__ = ( 0x61, 0xFFFFFFFF, 0 ) #MSLUT__ = ( 0x62, 0xFFFFFFFF, 0 ) #MSLUT__ = ( 0x63, 0xFFFFFFFF, 0 ) #MSLUT__ = ( 0x64, 0xFFFFFFFF, 0 ) #MSLUT__ = ( 0x65, 0xFFFFFFFF, 0 ) #MSLUT__ = ( 0x66, 0xFFFFFFFF, 0 ) #MSLUT__ = ( 0x67, 0xFFFFFFFF, 0 ) 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 ) START_SIN = ( 0x69, 0x000000FF, 0 ) START_SIN90 = ( 0x69, 0x00FF0000, 16 ) OFFSET_SIN90 = ( 0x69, 0xFF000000, 24 ) MSCNT = ( 0x6A, 0x000003FF, 0 ) CUR_B = ( 0x6B, 0x000001FF, 0 ) CUR_A = ( 0x6B, 0x01FF0000, 16 ) TOFF = ( 0x6C, 0x0000000F, 0 ) HSTRT_TFD210 = ( 0x6C, 0x00000070, 4 ) HEND_OFFSET = ( 0x6C, 0x00000780, 7 ) FD3 = ( 0x6C, 0x00000800, 11 ) DISFDCC = ( 0x6C, 0x00001000, 12 ) CHM = ( 0x6C, 0x00004000, 14 ) TBL = ( 0x6C, 0x00018000, 15 ) VHIGHFS = ( 0x6C, 0x00040000, 18 ) VHIGHCHM = ( 0x6C, 0x00080000, 19 ) TPFD = ( 0x6C, 0x00F00000, 20 ) MRES = ( 0x6C, 0x0F000000, 24 ) INTPOL = ( 0x6C, 0x10000000, 28 ) DEDGE = ( 0x6C, 0x20000000, 29 ) DISS2G = ( 0x6C, 0x40000000, 30 ) DISS2VS = ( 0x6C, 0x80000000, 31 ) 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 ) DC_TIME = ( 0x6E, 0x000003FF, 0 ) DC_SG = ( 0x6E, 0x00FF0000, 16 ) SG_RESULT = ( 0x6F, 0x000003FF, 0 ) S2VSA = ( 0x6F, 0x00001000, 12 ) S2VSB = ( 0x6F, 0x00002000, 13 ) STEALTH = ( 0x6F, 0x00004000, 14 ) 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 ) PWM_OFS = ( 0x70, 0x000000FF, 0 ) PWM_GRAD = ( 0x70, 0x0000FF00, 8 ) PWM_FREQ = ( 0x70, 0x00030000, 16 ) PWM_AUTOSCALE = ( 0x70, 0x00040000, 18 ) PWM_AUTOGRAD = ( 0x70, 0x00080000, 19 ) FREEWHEEL = ( 0x70, 0x00300000, 20 ) PWM_MEAS_SD_ENABLE = ( 0x70, 0x00400000, 22 ) PWM_DIS_REG_STST = ( 0x70, 0x00800000, 23 ) PWM_REG = ( 0x70, 0x0F000000, 24 ) PWM_LIM = ( 0x70, 0xF0000000, 28 ) PWM_SCALE_SUM = ( 0x71, 0x000003FF, 0 ) PWM_SCALE_AUTO = ( 0x71, 0x01FF0000, 16 ) PWM_OFS_AUTO = ( 0x72, 0x000000FF, 0 ) PWM_GRAD_AUTO = ( 0x72, 0x00FF0000, 16 ) SG4_THRS = ( 0x74, 0x000000FF, 0 ) SG4_FILT_EN = ( 0x74, 0x00000100, 8 ) SG_ANGLE_OFFSET = ( 0x74, 0x00000200, 9 ) SG4_RESULT = ( 0x75, 0x000003FF, 0 ) SG4_IND_0 = ( 0x76, 0x000000FF, 0 ) SG4_IND_1 = ( 0x76, 0x0000FF00, 8 ) SG4_IND_2 = ( 0x76, 0x00FF0000, 16 ) SG4_IND_3 = ( 0x76, 0xFF000000, 24 )