################################################################################ # 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 TMC4361(TMCIc): """ The TMC4361 is a miniaturized high-performance motion controller for stepper motor drivers. """ def __init__(self): super().__init__("TMC4361", self.__doc__) class REG: """ Define all registers of the TMC4361. """ GENERAL_CONF = 0x00 REFERENCE_CONF = 0x01 START_CONF = 0x02 INPUT_FILT_CONF = 0x03 SPI_OUT_CONF = 0x04 CURRENT_CONF = 0x05 SCALE_VALUES = 0x06 ENC_IN_CONF = 0x07 ENC_IN_DATA = 0x08 ENC_OUT_DATA = 0x09 STEP_CONF = 0x0A SPI_STATUS_SELECTION = 0x0B EVENT_CLEAR_CONF = 0x0C INTR_CONF = 0x0D EVENTS = 0x0E STATUS = 0x0F STP_LENGTH_ADD___DIR_SETUP_TIME = 0x10 START_OUT_ADD = 0x11 GEAR_RATIO = 0x12 START_DELAY = 0x13 CLK_GATING_DELAY = 0x14 STDBY_DELAY = 0x15 FREEWHEEL_DELAY = 0x16 VDRV_SCALE_LIMIT___PWM_VMAX = 0x17 UP_SCALE_DELAY___CL_UPSCALE_DELAY = 0x18 HOLD_SCALE_DELAY___CL_DNSCALE_DELAY = 0x19 DRV_SCALE_DELAY = 0x1A BOOST_TIME = 0x1B CL_ANGLES = 0x1C SPI_SWITCH_VEL___DAC_ADDR = 0x1D HOME_SAFETY_MARGIN = 0x1E PWM_FREQ___CHOPSYNC_DIV = 0x1F RAMPMODE = 0x20 XACTUAL = 0x21 VACTUAL = 0x22 AACTUAL = 0x23 VMAX = 0x24 VSTART = 0x25 VSTOP = 0x26 VBREAK = 0x27 AMAX = 0x28 DMAX = 0x29 ASTART = 0x2A DFINAL = 0x2B DSTOP = 0x2C BOW1 = 0x2D BOW2 = 0x2E BOW3 = 0x2F BOW4 = 0x30 CLK_FREQ = 0x31 POS_COMP = 0x32 VIRT_STOP_LEFT = 0x33 VIRT_STOP_RIGHT = 0x34 X_HOME = 0x35 X_LATCH___REV_CNT___X_RANGE = 0x36 XTARGET = 0x37 X_PIPE0 = 0x38 X_PIPE1 = 0x39 X_PIPE2 = 0x3A X_PIPE3 = 0x3B X_PIPE4 = 0x3C X_PIPE5 = 0x3D X_PIPE6 = 0x3E X_PIPE7 = 0x3F SH_REG0 = 0x40 SH_REG1 = 0x41 SH_REG2 = 0x42 SH_REG3 = 0x43 SH_REG4 = 0x44 SH_REG5 = 0x45 SH_REG6 = 0x46 SH_REG7 = 0x47 SH_REG8 = 0x48 SH_REG9 = 0x49 SH_REG10 = 0x4A SH_REG11 = 0x4B SH_REG12 = 0x4C SH_REG13 = 0x4D Freeze_Registers = 0x4E ENC_POS = 0x50 ENC_LATCH___ENC_RESET_VAL = 0x51 ENC_POS_DEV___CL_TR_TOLERANCE = 0x52 ENC_POS_DEV_TOL = 0x53 ENC_IN_RES___ENC_CONST = 0x54 ENC_OUT_RES = 0x55 SER_CLK_IN_HIGH_LOW = 0x56 SSI_IN_CLK_DELAY___SSI_IN_WTIME = 0x57 SER_PTIME = 0x58 CL_OFFSET = 0x59 PID_VEL___PID_P___CL_VMAX_CALC_P = 0x5A PID_ISUM_RD___PID_I___CL_VMAX_CALC_I = 0x5B PID_D___CL_DELTA_P = 0x5C PID_E___PID_I_CLIP___PID_D_CLKDIV = 0x5D PID_DV_CLIP = 0x5E PID_TOLERANCE___CL_TOLERANCE = 0x5F FS_VEL___DC_VEL___CL_VMIN_EMF = 0x60 DC_TIME___DC_SG___DC_BLKTIME___CL_VADD_EMF = 0x61 DC_LSPTM___ENC_VEL_ZERO = 0x62 ENC_VMEAN_______SER_ENC_VARIATION___CL_CYCLE = 0x63 V_ENC = 0x65 V_ENC_MEAN = 0x66 VSTALL_LIMIT = 0x67 ADDR_TO_ENC = 0x68 DATA_TO_ENC = 0x69 ADDR_FROM_ENC = 0x6A DATA_FROM_ENC = 0x6B COVER_LOW = 0x6C COVER_HIGH___POLLING_REG = 0x6D COVER_DRV_LOW = 0x6E COVER_DRV_HIGH = 0x6F MSLUT__ = 0x70 MSLUTSEL = 0x78 MSCNT = 0x79 CURRENTA_B = 0x7A CURRENTA_B_SPI = 0x7B SCALE_PARAM___CIRCULAR_DEC = 0x7C ENC_COMP____ = 0x7D START_SIN______DAC_OFFSET = 0x7E VERSION_NO = 0x7F class FIELD: """ Define all register bitfields of the TMC4361. 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. """ # GENERAL_CONF USE_ASTART_AND_VSTART = (0x00, 0x00000001, 0) DIRECT_ACC_VAL_EN = (0x00, 0x00000002, 1) DIRECT_BOW_VAL_EN = (0x00, 0x00000004, 2) STEP_INACTIVE_POL = (0x00, 0x00000008, 3) TOGGLE_STEP = (0x00, 0x00000010, 4) POL_DIR_OUT = (0x00, 0x00000020, 5) SDIN_MODE = (0x00, 0x000000c0, 6) POL_DIR_IN = (0x00, 0x00000100, 8) SD_INDIRECT_CONTROL = (0x00, 0x00000200, 9) SERIAL_ENC_IN_MODE = (0x00, 0x00000c00, 10) DIFF_ENC_IN_DISABLE = (0x00, 0x00001000, 12) STDBY_CLK_PIN_ASSIGNMENT = (0x00, 0x00006000, 13) INTR_POL = (0x00, 0x00008000, 15) INVERT_POL_TARGET_REACHED = (0x00, 0x00010000, 16) FS_EN = (0x00, 0x00080000, 19) FS_SDOUT = (0x00, 0x00100000, 20) DCSTEP_MODE = (0x00, 0x00600000, 21) PWM_OUT_EN = (0x00, 0x00800000, 23) SERIAL_ENC_OUT_ENABLE = (0x00, 0x01000000, 24) SERIAL_ENC_OUT_DIFF_DISABLE = (0x00, 0x02000000, 25) AUTOMATIC_DIRECT_SDIN_SWITCH_OFF = (0x00, 0x04000000, 26) CIRCULAR_CNT_AS_XLATCH = (0x00, 0x08000000, 27) REVERSE_MOTOR_DIR = (0x00, 0x10000000, 28) INTR_TR_PU_PD_EN = (0x00, 0x20000000, 29) INTR_AS_WIRED_AND = (0x00, 0x40000000, 30) TR_AS_WIRED_AND = (0x00, 0x80000000, 31) # REFERENCE_CONF STOP_LEFT_EN = (0x01, 0x00000001, 0) STOP_RIGHT_EN = (0x01, 0x00000002, 1) POL_STOP_LEFT = (0x01, 0x00000004, 2) POL_STOP_RIGHT = (0x01, 0x00000008, 3) INVERT_STOP_DIRECTION = (0x01, 0x00000010, 4) SOFT_STOP_EN = (0x01, 0x00000020, 5) VIRTUAL_LEFT_LIMIT_EN = (0x01, 0x00000040, 6) VIRTUAL_RIGHT_LIMIT_EN = (0x01, 0x00000080, 7) VIRT_STOP_MODE = (0x01, 0x00000300, 8) LATCH_X_ON_INACTIVE_L = (0x01, 0x00000400, 10) LATCH_X_ON_ACTIVE_L = (0x01, 0x00000800, 11) LATCH_X_ON_INACTIVE_R = (0x01, 0x00001000, 12) LATCH_X_ON_ACTIVE_R = (0x01, 0x00002000, 13) STOP_LEFT_IS_HOME = (0x01, 0x00004000, 14) STOP_RIGHT_IS_HOME = (0x01, 0x00008000, 15) HOME_EVENT = (0x01, 0x000f0000, 16) START_HOME_TRACKING = (0x01, 0x00100000, 20) CLR_POS_AT_TARGET = (0x01, 0x00200000, 21) CIRCULAR_MOVEMENT_EN = (0x01, 0x00400000, 22) POS_COMP_OUTPUT = (0x01, 0x01800000, 23) POS_COMP_SOURCE = (0x01, 0x02000000, 25) STOP_ON_STALL = (0x01, 0x04000000, 26) DRV_AFTER_STALL = (0x01, 0x08000000, 27) MODIFIED_POS_COPARE = (0x01, 0x30000000, 28) AUTOMATIC_COVER = (0x01, 0x40000000, 30) CIRCULAR_ENC_EN = (0x01, 0x80000000, 31) # START_CONF START_EN_0_ = (0x02, 0x00000001, 0) START_EN_1_ = (0x02, 0x00000002, 1) START_EN_2_ = (0x02, 0x00000004, 2) START_EN_3_ = (0x02, 0x00000008, 3) START_EN_4_ = (0x02, 0x00000010, 4) TRIGGER_EVENTS_0_ = (0x02, 0x00000020, 5) TRIGGER_EVENTS_1_ = (0x02, 0x00000040, 6) TRIGGER_EVENTS_2_ = (0x02, 0x00000080, 7) TRIGGER_EVENTS_3_ = (0x02, 0x00000100, 8) POL_START_SIGNAL = (0x02, 0x00000200, 9) IMMEDIATE_START_IN = (0x02, 0x00000400, 10) BUSY_STATE_EN = (0x02, 0x00000800, 11) PIPELINE_EN_0_ = (0x02, 0x00001000, 12) PIPELINE_EN_1_ = (0x02, 0x00002000, 13) PIPELINE_EN_2_ = (0x02, 0x00004000, 14) PIPELINE_EN_3_ = (0x02, 0x00008000, 15) SHADOW_OPTION = (0x02, 0x00030000, 16) CYCLIC_SHADOW_REGS = (0x02, 0x00040000, 18) SHADOW_MISS_CNT = (0x02, 0x00f00000, 20) XPIPE_REWRITE_REG_0_ = (0x02, 0x01000000, 24) XPIPE_REWRITE_REG_1_ = (0x02, 0x02000000, 25) XPIPE_REWRITE_REG_2_ = (0x02, 0x04000000, 26) XPIPE_REWRITE_REG_3_ = (0x02, 0x08000000, 27) XPIPE_REWRITE_REG_4_ = (0x02, 0x10000000, 28) XPIPE_REWRITE_REG_5_ = (0x02, 0x20000000, 29) XPIPE_REWRITE_REG_6_ = (0x02, 0x40000000, 30) XPIPE_REWRITE_REG_7_ = (0x02, 0x80000000, 31) # INPUT_FILT_CONF SR_ENC_IN = (0x03, 0x00000007, 0) FILT_L_ENC_IN = (0x03, 0x00000070, 4) SD_FILT0 = (0x03, 0x00000080, 7) SR_REF = (0x03, 0x00000700, 8) FILT_L_REF = (0x03, 0x00007000, 12) SD_FILT1 = (0x03, 0x00008000, 15) SR_S = (0x03, 0x00070000, 16) FILT_L_S = (0x03, 0x00700000, 20) SD_FILT2 = (0x03, 0x00800000, 23) SR_ENC_OUT = (0x03, 0x07000000, 24) FILT_L_ENC_OUT = (0x03, 0x70000000, 28) SD_FILT3 = (0x03, 0x80000000, 31) # SPI_OUT_CONF SPI_OUTPUT_FORMAT = (0x04, 0x0000000f, 0) SSI_OUT_MTIME = (0x04, 0x00fffff0, 4) MIXED_DECAY = (0x04, 0x00000030, 4) AUTO_DOUBLE_CHOPSYNC = (0x04, 0x00001000, 12) STDBY_ON_STALL_FOR_24X = (0x04, 0x00000040, 6) STALL_FLAG_INSTEAD_OF_UV_EN = (0x04, 0x00000080, 7) STALL_LOAD_LIMIT = (0x04, 0x00000700, 8) PWM_PHASE_SHFT_EN = (0x04, 0x00000800, 11) THREE_PHASE_STEPPER_EN = (0x04, 0x00000010, 4) SCALE_VAL_TRANSFER_EN = (0x04, 0x00000020, 5) DISABLE_POLLING = (0x04, 0x00000040, 6) POLL_BLOCK_MULT = (0x04, 0x00001f80, 7) SCALE_VALE_TRANSFER_EN = (0x04, 0x00000020, 5) SCK_LOW_BEFORE_CSN = (0x04, 0x00000010, 4) NEW_OUT_BIT_AT_RISE = (0x04, 0x00000020, 5) DAC_CMD_LENGTH = (0x04, 0x0000f800, 7) COVER_DATA_LENGTH = (0x04, 0x000fe000, 13) SPI_OUT_LOW_TIME = (0x04, 0x00f00000, 20) SPI_OUT_HIGH_TIME = (0x04, 0x0f000000, 24) SPI_OUT_IDLE_TIME = (0x04, 0xf0000000, 28) # CURRENT_CONF HOLD_CURRENT_SCALE_EN = (0x05, 0x00000001, 0) DRIVE_CURRENT_SCALE_EN = (0x05, 0x00000002, 1) BOOST_CURRENT_ON_ACC_EN = (0x05, 0x00000004, 2) BOOST_CURRENT_ON_DEC_EN = (0x05, 0x00000008, 3) BOOST_CURRENT_AFTER_START_EN = (0x05, 0x00000010, 4) SEC_DRIVE_CURRENT_SCALE_EN = (0x05, 0x00000020, 5) FREEWHEELING_EN = (0x05, 0x00000040, 6) CLOSED_LOOP_SCALE_EN = (0x05, 0x00000080, 7) PWM_SCALE_EN = (0x05, 0x00000100, 8) PWM_AMPL = (0x05, 0xffff0000, 16) # SCALE_VALUES BOOST_SCALE_VAL = (0x06, 0x000000ff, 0) DRV1_SCALE_VAL = (0x06, 0x0000ff00, 8) DRV2_SCALE_VAL = (0x06, 0x00ff0000, 16) HOLD_SCALE_VAL = (0x06, 0xff000000, 24) CL_IMIN = (0x06, 0x000000ff, 0) CL_IMAX = (0x06, 0x0000ff00, 8) CL_START_UP = (0x06, 0x00ff0000, 16) CL_START_DN = (0x06, 0xff000000, 24) # ENC_IN_CONF ENC_SEL_DECIMAL = (0x07, 0x00000001, 0) CLEAR_ON_N = (0x07, 0x00000002, 1) CLR_LATCH_CONT_ON_N = (0x07, 0x00000004, 2) CLR_LATCH_ONCE_ON_N = (0x07, 0x00000008, 3) POL_N = (0x07, 0x00000010, 4) N_CHAN_SENSITIVITY = (0x07, 0x00000060, 5) POL_A_FOR_N = (0x07, 0x00000080, 7) POL_B_FOR_N = (0x07, 0x00000100, 8) IGNORE_AB = (0x07, 0x00000200, 9) LATCH_ENC_ON_N = (0x07, 0x00000400, 10) LATCH_X_ON_N = (0x07, 0x00000800, 11) MULTI_TURN_IN_EN = (0x07, 0x00001000, 12) MULTI_TURN_IN_SIGNED = (0x07, 0x00002000, 13) MULTI_TURN_OUT_EN = (0x07, 0x00004000, 14) USE_USTEPS_INSTEAD_OF_XRANGE = (0x07, 0x00008000, 15) CALC_MULTI_TURN_BEHAV = (0x07, 0x00010000, 16) SSI_MULTI_CYCLE_DATA = (0x07, 0x00020000, 17) SSI_GRAY_CODE_EN = (0x07, 0x00040000, 18) LEFT_ALIGNED_DATA = (0x07, 0x00080000, 19) SPI_DATA_ON_CS = (0x07, 0x00100000, 20) SPI_LOW_BEFORE_CS = (0x07, 0x00200000, 21) REGULATION_MODUS = (0x07, 0x00c00000, 22) CL_CALIBRATION_EN = (0x07, 0x01000000, 24) CL_EMF_EN = (0x07, 0x02000000, 25) CL_CLR_XACT = (0x07, 0x04000000, 26) CL_VLIMIT_EN = (0x07, 0x08000000, 27) CL_VELOCITY_MODE_EN = (0x07, 0x10000000, 28) INVERT_ENC_DIR = (0x07, 0x20000000, 29) ENC_OUT_GRAY = (0x07, 0x40000000, 30) NO_ENC_VEL_PREPROC = (0x07, 0x80000000, 31) SERIAL_ENC_VARIATION_LIMIT = (0x07, 0x80000000, 31) # ENC_IN_DATA SINGLE_TURN_RES = (0x08, 0x0000001f, 0) MULTI_TURN_RES = (0x08, 0x000003e0, 5) STATUS_BIT_CNT = (0x08, 0x00000c00, 10) SERIAL_ADDR_BITS = (0x08, 0x00ff0000, 16) SERIAL_DATA_BITS = (0x08, 0xff000000, 24) # ENC_OUT_DATA SINGLE_TURN_RES_OUT = (0x09, 0x0000001f, 0) MULTI_TURN_RES_OUT = (0x09, 0x000003e0, 5) # STEP_CONF MSTEP_PER_FS = (0x0A, 0x0000000f, 0) FS_PER_REV = (0x0A, 0x0000fff0, 4) SG = (0x0A, 0x00010000, 16) OT = (0x0A, 0x00020000, 17) OTPW = (0x0A, 0x00040000, 18) S2GA = (0x0A, 0x00080000, 19) S2GB = (0x0A, 0x00100000, 20) OLA = (0x0A, 0x00200000, 21) OLB = (0x0A, 0x00400000, 22) STST = (0x0A, 0x00800000, 23) UV_SF = (0x0A, 0x00010000, 16) OCA = (0x0A, 0x00080000, 19) OCB = (0x0A, 0x00100000, 20) OCHS = (0x0A, 0x00800000, 23) # SPI_STATUS_SELECTION TARGET_REACHED = (0x0B, 0x00000001, 0) POS_COMP_REACHED = (0x0B, 0x00000002, 1) VEL_REACHED = (0x0B, 0x00000004, 2) VEL_STATE_00 = (0x0B, 0x00000008, 3) VEL_STATE_01 = (0x0B, 0x00000010, 4) VEL_STATE_10 = (0x0B, 0x00000020, 5) RAMP_STATE_00 = (0x0B, 0x00000040, 6) RAMP_STATE_01 = (0x0B, 0x00000080, 7) RAMP_STATE_10 = (0x0B, 0x00000100, 8) MAX_PHASE_TRAP = (0x0B, 0x00000200, 9) FROZEN = (0x0B, 0x00000400, 10) STOPL_EVENT = (0x0B, 0x00000800, 11) STOPR_EVENT = (0x0B, 0x00001000, 12) VSTOPL_ACTIVE = (0x0B, 0x00002000, 13) VSTOPR_ACTIVE = (0x0B, 0x00004000, 14) HOME_ERROR = (0x0B, 0x00008000, 15) XLATCH_DONE = (0x0B, 0x00010000, 16) FS_ACTIVE = (0x0B, 0x00020000, 17) ENC_FAIL = (0x0B, 0x00040000, 18) N_ACTIVE = (0x0B, 0x00080000, 19) ENC_DONE = (0x0B, 0x00100000, 20) SER_ENC_DATA_FAIL = (0x0B, 0x00200000, 21) SER_DATA_DONE = (0x0B, 0x00800000, 23) SERIAL_ENC_FLAGS = (0x0B, 0x01000000, 24) COVER_DONE = (0x0B, 0x02000000, 25) ENC_VEL0 = (0x0B, 0x04000000, 26) CL_MAX = (0x0B, 0x08000000, 27) CL_FIT = (0x0B, 0x10000000, 28) STOP_ON_STALL_STATE = (0x0B, 0x20000000, 29) MOTOR_EV = (0x0B, 0x40000000, 30) RST_EV = (0x0B, 0x80000000, 31) # STATUS TARGET_REACHED_F = (0x0F, 0x00000001, 0) POS_COMP_REACHED_F = (0x0F, 0x00000002, 1) VEL_REACHED_F = (0x0F, 0x00000004, 2) VEL_STATE_F = (0x0F, 0x00000018, 3) RAMP_STATE_F = (0x0F, 0x00000060, 5) STOPL_ACTIVE_F = (0x0F, 0x00000080, 7) STOPR_ACTIVE_F = (0x0F, 0x00000100, 8) VSTOPL_ACTIVE_F = (0x0F, 0x00000200, 9) VSTOPR_ACTIVE_F = (0x0F, 0x00000400, 10) ACTIVE_STALL_F = (0x0F, 0x00000800, 11) HOME_ERROR_F = (0x0F, 0x00001000, 12) FS_ACTIVE_F = (0x0F, 0x00002000, 13) ENC_FAIL_F = (0x0F, 0x00004000, 14) N_ACTIVE_F = (0x0F, 0x00008000, 15) ENC_LATCH_F = (0x0F, 0x00010000, 16) MULTI_CYCLE_FAIL_F___SER_ENC_VAR_F = (0x0F, 0x00020000, 17) SERIAL_ENC_FLAG_0 = (0x0F, 0x00100000, 20) SERIAL_ENC_FLAG_1 = (0x0F, 0x00200000, 21) SERIAL_ENC_FLAG_2 = (0x0F, 0x00400000, 22) SERIAL_ENC_FLAG_3 = (0x0F, 0x00800000, 23) # STP_LENGTH_ADD / DIR_SETUP_TIME STP_LENGTH_ADD = (0x10, 0x0000FFFF, 0) DIR_SETUP_TIME = (0x10, 0xFFFF0000, 16) # START_OUT_ADD START_OUT_ADD = (0x11, 0xFFFFFFFF, 0) # GEAR_RATIO GEAR_RATIO = (0x12, 0xFFFFFFFF, 0) # START_DELAY START_DELAY = (0x13, 0xFFFFFFFF, 0) # CLK_GATING_DELAY CLK_GATING_DELAY = (0x14, 0xFFFFFFFF, 0) # STDBY_DELAY STDBY_DELAY = (0x15, 0xFFFFFFFF, 0) # FREEWHEEL_DELAY FREEWHEEL_DELAY = (0x16, 0xFFFFFFFF, 0) # VDRV_SCALE_LIMIT / PWM_VMAX VDRV_SCALE_LIMIT = (0x17, 0x00FFFFFF, 0) PWM_VMAX = (0x17, 0x00FFFFFF, 0) # UP_SCALE_DELAY / CL_UPSCALE_DELAY UP_SCALE_DELAY = (0x18, 0x00FFFFFF, 0) CL_UPSCALE_DELAY = (0x18, 0x00FFFFFF, 0) # HOLD_SCALE_DELAY / CL_DNSCALE_DELAY HOLD_SCALE_DELAY = (0x19, 0x00FFFFFF, 0) CL_DNSCALE_DELAY = (0x19, 0x00FFFFFF, 0) # DRV_SCALE_DELAY DRV_SCALE_DELAY = (0x1A, 0x00FFFFFF, 0) # BOOST_TIME BOOST_TIME = (0x1B, 0x00FFFFFF, 0) # CL ANGLES CL_BETA = (0x1C, 0x000001FF, 0) CL_GAMMA = (0x1C, 0x00FF0000, 16) # SPI_SWITCH_VEL / DAC ADDR SPI_SWITCH_VEL = (0x1D, 0x00FFFFFF, 0) DAC_ADDR_A = (0x1D, 0x0000FFFF, 0) DAC_ADDR_B = (0x1D, 0xFFFF0000, 16) # HOME_SAFETY_MARGIN HOME_SAFETY_MARGIN = (0x1E, 0x0000FFFF, 0) # PWM_FREQ / CHOPSYNC_DIV PWM_FREQ = (0x1F, 0x0000FFFF, 0) CHOPSYNC_DIV = (0x1F, 0x00000FFF, 0) # RAMPMODE OPERATION_MODE = (0x20, 0x00000004, 2) RAMP_PROFILE = (0x20, 0x00000003, 0) # XACTUAL XACTUAL = (0x21, 0xFFFFFFFF, 0) # VACTUAL VACTUAL = (0x22, 0xFFFFFFFF, 0) # AACTUAL AACTUAL = (0x23, 0xFFFFFFFF, 0) # VMAX VMAX = (0x24, 0xFFFFFFFF, 0) # VSTART VSTART = (0x25, 0x7FFFFFFF, 0) # VSTOP VSTOP = (0x26, 0x7FFFFFFF, 0) # VBREAK VBREAK = (0x27, 0x7FFFFFFF, 0) # AMAX AMAX = (0x28, 0x00FFFFFF, 0) # DMAX DMAX = (0x29, 0x00FFFFFF, 0) # ASTART ASTART = (0x2A, 0x00FFFFFF, 0) SIGN_AACT = (0x2A, 0x80000000, 31) # DFINAL DFINAL = (0x2B, 0x00FFFFFF, 0) # DSTOP DSTOP = (0x2C, 0x00FFFFFF, 0) # BOW1 BOW1 = (0x2D, 0x00FFFFFF, 0) # BOW2 BOW2 = (0x2E, 0x00FFFFFF, 0) # BOW3 BOW3 = (0x2F, 0x00FFFFFF, 0) # BOW4 BOW4 = (0x30, 0x00FFFFFF, 0) # CLK_FREQ CLK_FREQ = (0x31, 0x01FFFFFF, 0) # POS_COMP POS_COMP = (0x32, 0xFFFFFFFF, 0) # VIRT_STOP_LEFT VIRT_STOP_LEFT = (0x33, 0xFFFFFFFF, 0) # VIRT_STOP_RIGHT VIRT_STOP_RIGHT = (0x34, 0xFFFFFFFF, 0) # X_HOME X_HOME = (0x35, 0xFFFFFFFF, 0) # X_LATCH / REV_CNT / X_RANGE X_LATCH = (0x36, 0xFFFFFFFF, 0) X_RANGE = (0x36, 0xFFFFFFFF, 0) # XTARGET XTARGET = (0x37, 0xFFFFFFFF, 0) # X_PIPE0 X_PIPE0 = (0x38, 0xFFFFFFFF, 0) # X_PIPE1 X_PIPE1 = (0x39, 0xFFFFFFFF, 0) # X_PIPE2 X_PIPE2 = (0x3A, 0xFFFFFFFF, 0) # X_PIPE3 X_PIPE3 = (0x3B, 0xFFFFFFFF, 0) # X_PIPE4 X_PIPE4 = (0x3C, 0xFFFFFFFF, 0) # X_PIPE5 X_PIPE5 = (0x3D, 0xFFFFFFFF, 0) # X_PIPE6 X_PIPE6 = (0x3E, 0xFFFFFFFF, 0) # X_PIPE7 X_PIPE7 = (0x3F, 0xFFFFFFFF, 0) # SH_REG0 SH_REG0_VMAX = (0x40, 0xFFFFFFFF, 0) # SH_REG1 SH_REG1_AMAX = (0x41, 0x00FFFFFF, 0) # SH_REG2 SH_REG2_DMAX = (0x42, 0x00FFFFFF, 0) # SH_REG3 SH_REG3_ASTART = (0x43, 0x00FFFFFF, 0) SH_REG3_BOW1 = (0x43, 0x00FFFFFF, 0) # SH_REG4 SH_REG4_DFINAL = (0x44, 0x00FFFFFF, 0) SH_REG4_BOW2 = (0x44, 0x00FFFFFF, 0) # SH_REG5 SH_REG5_VBREAK = (0x45, 0x7FFFFFFF, 0) SH_REG5_BOW3 = (0x45, 0x00FFFFFF, 0) # SH_REG6 SH_REG6_VSTART = (0x46, 0x7FFFFFFF, 0) SH_REG6_BOW4 = (0x46, 0x00FFFFFF, 0) SH_REG6_VSTOP = (0x46, 0x7FFFFFFF, 0) # SH_REG7 SH_REG7_VSTOP = (0x47, 0xFFFFFFFF, 0) SH_REG7_VMAX = (0x47, 0xFFFFFFFF, 0) # SH_REG8 SH_REG8_BOW1 = (0x48, 0x00FFFFFF, 0) SH_REG8_AMAX = (0x48, 0x00FFFFFF, 0) # SH_REG9 SH_REG9_BOW2 = (0x49, 0x00FFFFFF, 0) SH_REG9_DMAX = (0x49, 0x00FFFFFF, 0) # SH_REG10 SH_REG10_BOW3 = (0x4A, 0x00FFFFFF, 0) SH_REG10_BOW1 = (0x4A, 0x00FFFFFF, 0) SH_REG10_ASTART = (0x4A, 0x00FFFFFF, 0) # SH_REG11 SH_REG11_BOW4 = (0x4B, 0x00FFFFFF, 0) SH_REG11_BOW2 = (0x4B, 0x00FFFFFF, 0) SH_REG11_DFINAL = (0x4B, 0x00FFFFFF, 0) # SH_REG12 SH_REG12_BOW3 = (0x4C, 0x00FFFFFF, 0) SH_REG12_VBREAK = (0x4C, 0x7FFFFFFF, 0) # SH_REG13 SH_REG13_BOW4 = (0x4D, 0x00FFFFFF, 0) SH_REG13_VSTART = (0x4D, 0x7FFFFFFF, 0) SH_REG13_VSTOP = (0x4D, 0x7FFFFFFF, 0) # Freeze Registers DFREEZE = (0x4E, 0x00FFFFFF, 0) IFREEZE = (0x4E, 0xFF000000, 24) # ENC_POS ENC_POS = (0x50, 0xFFFFFFFF, 0) # ENC_LATCH / ENC_RESET_VAL ENC_LATCH = (0x51, 0xFFFFFFFF, 0) ENC_RESET_VAL = (0x51, 0xFFFFFFFF, 0) # ENC_POS_DEV / CL_TR_TOLERANCE ENC_POS_DEV = (0x52, 0xFFFFFFFF, 0) CL_TR_TOLERANCE = (0x52, 0x7FFFFFFF, 0) # ENC_POS_DEV_TOL ENC_POS_DEV_TOL = (0x53, 0x7FFFFFFF, 0) # ENC_IN_RES / ENC_CONST ENC_CONST = (0x54, 0x7FFFFFFF, 0) ENC_IN_RES = (0x54, 0x7FFFFFFF, 0) MANUAL_ENC_CONST = (0x54, 0x80000000, 31) # ENC_OUT_RES ENC_OUT_RES = (0x55, 0x7FFFFFFF, 0) # SER_CLK_IN_HIGH/LOW SER_CLK_IN_HIGH = (0x56, 0x0000FFFF, 0) SER_CLK_IN_LOW = (0x56, 0xFFFF0000, 16) # SSI_IN_CLK_DELAY / SSI_IN_WTIME SSI_IN_CLK_DELAY = (0x57, 0x0000FFFF, 0) SSI_IN_WTIME = (0x57, 0xFFFF0000, 16) # SER_PTIME SER_PTIME = (0x58, 0x000FFFFF, 0) # CL_OFFSET CL_OFFSET = (0x59, 0xFFFFFFFF, 0) # PID_VEL / PID_P / CL_VMAX_CALC_P PID_VEL = (0x5A, 0xFFFFFFFF, 0) CL_VMAX_CALC_P = (0x5A, 0x00FFFFFF, 0) PID_P = (0x5A, 0x00FFFFFF, 0) # PID_ISUM_RD / PID_I / CL_VMAX_CALC_I PID_ISUM_RD = (0x5B, 0xFFFFFFFF, 0) CL_VMAX_CALC_I = (0x5B, 0x00FFFFFF, 0) PID_I = (0x5B, 0x00FFFFFF, 0) # PID_D / CL_DELTA_P CL_DELTA_P = (0x5C, 0x00FFFFFF, 0) PID_D = (0x5C, 0x00FFFFFF, 0) # PID_E / PID_I_CLIP / PID_D_CLKDIV PID_E = (0x5D, 0xFFFFFFFF, 0) PID_I_CLIP = (0x5D, 0x00007FFF, 0) PID_D_CLKDIV = (0x5D, 0x00FF0000, 16) # PID_DV_CLIP PID_DV_CLIP = (0x5E, 0x7FFFFFFF, 0) # PID_TOLERANCE / CL_TOLERANCE CL_TOLERANCE = (0x5F, 0x000000FF, 0) PID_TOLERANCE = (0x5F, 0x000FFFFF, 0) # FS_VEL / DC_VEL / CL_VMIN_EMF FS_VEL = (0x60, 0x00FFFFFF, 0) DC_VEL = (0x60, 0x00FFFFFF, 0) CL_VMIN_EMF = (0x60, 0x00FFFFFF, 0) # DC_TIME / DC_SG / DC_BLKTIME / CL_VADD_EMF DC_TIME = (0x61, 0x000000FF, 0) DC_SG = (0x61, 0x0000FF00, 8) DC_BLKTIME = (0x61, 0xFFFF0000, 16) CL_VADD_EMF = (0x61, 0x00FFFFFF, 0) # DC_LSPTM / ENC_VEL_ZERO DC_LSPTM = (0x62, 0xFFFFFFFF, 0) ENC_VEL_ZERO = (0x62, 0x00FFFFFF, 0) # ENC_VMEAN_... / SER_ENC_VARIATION / CL_CYCLE ENC_VMEAN_WAIT = (0x63, 0x000000FF, 0) ENC_VMEAN_FILTER = (0x63, 0x00000F00, 8) ENC_VMEAN_INT = (0x63, 0xFFFF0000, 16) SER_ENC_VARIATION = (0x63, 0x000000FF, 0) CL_CYCLE = (0x63, 0xFFFF0000, 16) # V_ENC V_ENC = (0x65, 0xFFFFFFFF, 0) # V_ENC_MEAN V_ENC_MEAN = (0x66, 0xFFFFFFFF, 0) # VSTALL_LIMIT VSTALL_LIMIT = (0x67, 0x00FFFFFF, 0) # ADDR_TO_ENC ADDR_TO_ENC = (0x68, 0xFFFFFFFF, 0) # DATA_TO_ENC DATA_TO_ENC = (0x69, 0xFFFFFFFF, 0) # ADDR_FROM_ENC ADDR_FROM_ENC = (0x6A, 0xFFFFFFFF, 0) # DATA_FROM_ENC DATA_FROM_ENC = (0x6B, 0xFFFFFFFF, 0) # COVER_LOW COVER_LOW = (0x6C, 0xFFFFFFFF, 0) # COVER_HIGH / POLLING_REG COVER_HIGH = (0x6D, 0xFFFFFFFF, 0) # COVER_DRV_LOW COVER_DRV_LOW = (0x6E, 0xFFFFFFFF, 0) # COVER_DRV_HIGH COVER_DRV_HIGH = (0x6F, 0xFFFFFFFF, 0) # MSLUT[0] MSLUT__ = (0x70, 0xFFFFFFFF, 0) # MSLUTSEL MSLUTSEL = (0x78, 0xFFFFFFFF, 0) # MSCNT MSCNT = (0x79, 0x000003FF, 0) MSOFFSET = (0x79, 0x000003FF, 0) # CURRENTA/B CURRENTA = (0x7A, 0x000001FF, 0) CURRENTB = (0x7A, 0x01FF0000, 16) # CURRENTA/B_SPI CURRENTA_SPI = (0x7B, 0x000001FF, 0) CURRENTB_SPI = (0x7B, 0x01FF0000, 16) TZEROWAIT = (0x7B, 0xFFFFFFFF, 0) # SCALE_PARAM / CIRCULAR_DEC SCALE_PARAM = (0x7C, 0x000001FF, 0) CIRCULAR_DEC = (0x7C, 0xFFFFFFFF, 0) # ENC_COMP_... ENC_COMP_XOFFSET = (0x7D, 0x0000FFFF, 0) ENC_COMP_YOFFSET = (0x7D, 0x00FF0000, 16) # START_SIN... / DAC_OFFSET START_SIN = (0x7E, 0x000000FF, 0) START_SIN90_120 = (0x7E, 0x00FF0000, 16) DAC_OFFSET = (0x7E, 0xFF000000, 24) # VERSION_NO VERSION_NO = (0x7F, 0x0000000F, 0)