################################################################################ # 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. ################################################################################ import struct from ..ic.tmc_ic import TMCIc from ..helpers import BitField, to_signed_32 DATAGRAM_FORMAT = ">BI" DATAGRAM_LENGTH = 5 class TMC4671(TMCIc): """ The TMC4671 is a fully integrated servo controller, providing Field Oriented Control for BLDC/PMSM and 2-phase Stepper motors as well as DC motor support. """ def __init__(self, connection=None): super().__init__("TMC4671", self.__doc__) self._connection = connection # Only used for direct UART access without EvalSystem def write_register(self, register_address, value): datagram = struct.pack(DATAGRAM_FORMAT, register_address | 0x80, value & 0xFFFFFFFF) self._connection.send_datagram(datagram, DATAGRAM_LENGTH) # Only used for direct UART access without EvalSystem def read_register(self, register_address, signed=False): datagram = struct.pack(DATAGRAM_FORMAT, register_address, 0) reply = self._connection.send_datagram(datagram, DATAGRAM_LENGTH) values = struct.unpack(DATAGRAM_FORMAT, reply) value = values[1] return to_signed_32(value) if signed else value def write_register_field(self, field, value): return self.write_register(field[0], BitField.field_set(self.read_register(field[0]), field[1], field[2], value)) def read_register_field(self, field): return BitField.field_get(self.read_register(field[0]), field[1], field[2]) class REG: """ Define all register of the TMC4671. """ CHIPINFO_DATA = 0x00 CHIPINFO_ADDR = 0x01 ADC_RAW_DATA = 0x02 ADC_RAW_ADDR = 0x03 dsADC_MCFG_B_MCFG_A = 0x04 dsADC_MCLK_A = 0x05 dsADC_MCLK_B = 0x06 dsADC_MDEC_B_MDEC_A = 0x07 ADC_I1_SCALE_OFFSET = 0x08 ADC_I0_SCALE_OFFSET = 0x09 ADC_I_SELECT = 0x0A ADC_I1_I0_EXT = 0x0B DS_ANALOG_INPUT_STAGE_CFG = 0x0C AENC_0_SCALE_OFFSET = 0x0D AENC_1_SCALE_OFFSET = 0x0E AENC_2_SCALE_OFFSET = 0x0F AENC_SELECT = 0x11 ADC_IWY_IUX = 0x12 ADC_IV = 0x13 AENC_WY_UX = 0x15 AENC_VN = 0x16 PWM_POLARITIES = 0x17 PWM_MAXCNT = 0x18 PWM_BBM_H_BBM_L = 0x19 PWM_SV_CHOP = 0x1A MOTOR_TYPE_N_POLE_PAIRS = 0x1B PHI_E_EXT = 0x1C PHI_M_EXT = 0x1D POSITION_EXT = 0x1E OPENLOOP_MODE = 0x1F OPENLOOP_ACCELERATION = 0x20 OPENLOOP_VELOCITY_TARGET = 0x21 OPENLOOP_VELOCITY_ACTUAL = 0x22 OPENLOOP_PHI = 0x23 UQ_UD_EXT = 0x24 ABN_DECODER_MODE = 0x25 ABN_DECODER_PPR = 0x26 ABN_DECODER_COUNT = 0x27 ABN_DECODER_COUNT_N = 0x28 ABN_DECODER_PHI_E_PHI_M_OFFSET = 0x29 ABN_DECODER_PHI_E_PHI_M = 0x2A ABN_2_DECODER_MODE = 0x2C ABN_2_DECODER_PPR = 0x2D ABN_2_DECODER_COUNT = 0x2E ABN_2_DECODER_COUNT_N = 0x2F ABN_2_DECODER_PHI_M_OFFSET = 0x30 ABN_2_DECODER_PHI_M = 0x31 HALL_MODE = 0x33 HALL_POSITION_060_000 = 0x34 HALL_POSITION_180_120 = 0x35 HALL_POSITION_300_240 = 0x36 HALL_PHI_E_PHI_M_OFFSET = 0x37 HALL_DPHI_MAX = 0x38 HALL_PHI_E_INTERPOLATED_PHI_E = 0x39 HALL_PHI_M = 0x3A AENC_DECODER_MODE = 0x3B AENC_DECODER_N_MASK_N_THRESHOLD = 0x3C AENC_DECODER_PHI_A_RAW = 0x3D AENC_DECODER_PHI_A_OFFSET = 0x3E AENC_DECODER_PHI_A = 0x3F AENC_DECODER_PPR = 0x40 AENC_DECODER_COUNT = 0x41 AENC_DECODER_COUNT_N = 0x42 AENC_DECODER_PHI_E_PHI_M_OFFSET = 0x45 AENC_DECODER_PHI_E_PHI_M = 0x46 AENC_DECODER_POSITION = 0x47 PIDIN_TORQUE_TARGET_FLUX_TARGET = 0x4A PIDIN_VELOCITY_TARGET = 0x4B PIDIN_POSITION_TARGET = 0x4C CONFIG_DATA = 0x4D CONFIG_ADDR = 0x4E VELOCITY_SELECTION = 0x50 POSITION_SELECTION = 0x51 PHI_E_SELECTION = 0x52 PHI_E = 0x53 PID_FLUX_P_FLUX_I = 0x54 PID_TORQUE_P_TORQUE_I = 0x56 PID_VELOCITY_P_VELOCITY_I = 0x58 PID_POSITION_P_POSITION_I = 0x5A PID_TORQUE_FLUX_TARGET_DDT_LIMITS = 0x5C PIDOUT_UQ_UD_LIMITS = 0x5D PID_TORQUE_FLUX_LIMITS = 0x5E PID_ACCELERATION_LIMIT = 0x5F PID_VELOCITY_LIMIT = 0x60 PID_POSITION_LIMIT_LOW = 0x61 POSITION_LIMIT_HIGH = 0x62 MODE_RAMP_MODE_MOTION = 0x63 PID_TORQUE_FLUX_TARGET = 0x64 PID_TORQUE_FLUX_OFFSET = 0x65 PID_VELOCITY_TARGET = 0x66 PID_VELOCITY_OFFSET = 0x67 PID_POSITION_TARGET = 0x68 PID_TORQUE_FLUX_ACTUAL = 0x69 PID_VELOCITY_ACTUAL = 0x6A PID_POSITION_ACTUAL = 0x6B PID_ERROR_DATA = 0x6C PID_ERROR_ADDR = 0x6D INTERIM_DATA = 0x6E INTERIM_ADDR = 0x6F WATCHDOG_CFG = 0x74 ADC_VM_LIMITS = 0x75 INPUTS_RAW = 0x76 OUTPUTS_RAW = 0x77 STEP_WIDTH = 0x78 UART_BPS = 0x79 UART_ADDRS = 0x7A GPIO_dsADCI_CONFIG = 0x7B STATUS_FLAGS = 0x7C STATUS_MASK = 0x7D class FIELD: """ Defines all register bitfields of the TMC4671. 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. """ # CHIPINFO_DATA SI_TYPE = (0x00, 0xFFFFFFFF, 0) SI_VERSION = (0x00, 0xFFFFFFFF, 0) SI_DATE = (0x00, 0xFFFFFFFF, 0) SI_TIME = (0x00, 0xFFFFFFFF, 0) SI_VARIANT = (0x00, 0xFFFFFFFF, 0) SI_BUILD = (0x00, 0xFFFFFFFF, 0) # CHIPINFO_ADDR CHIP_INFO_ADDRESS = (0x01, 0x000000FF, 0) # ADC_RAW_DATA ADC_I0_RAW = (0x02, 0x0000FFFF, 0) ADC_I1_RAW = (0x02, 0xFFFF0000, 16) ADC_VM_RAW = (0x02, 0x0000FFFF, 0) ADC_AGPI_A_RAW = (0x02, 0xFFFF0000, 16) ADC_AGPI_B_RAW = (0x02, 0x0000FFFF, 0) ADC_AENC_UX_RAW = (0x02, 0xFFFF0000, 16) ADC_AENC_VN_RAW = (0x02, 0x0000FFFF, 0) ADC_AENC_WY_RAW = (0x02, 0xFFFF0000, 16) # ADC_RAW_ADDR ADC_RAW_ADDR = (0x03, 0x000000FF, 0) # dsADC_MCFG_B_MCFG_A CFG_DSMODULATOR_A = (0x04, 0x00000003, 0) MCLK_POLARITY_A = (0x04, 0x00000004, 2) MDAT_POLARITY_A = (0x04, 0x00000008, 3) SEL_NCLK_MCLK_I_A = (0x04, 0x00000010, 4) BLANKING_A = (0x04, 0x0000FF00, 8) CFG_DSMODULATOR_B = (0x04, 0x00030000, 16) MCLK_POLARITY_B = (0x04, 0x00040000, 18) MDAT_POLARITY_B = (0x04, 0x00080000, 19) SEL_NCLK_MCLK_I_B = (0x04, 0x00100000, 20) BLANKING_B = (0x04, 0xFF000000, 24) # dsADC_MCLK_A DSADC_MCLK_A = (0x05, 0xFFFFFFFF, 0) # dsADC_MCLK_B DSADC_MCLK_B = (0x06, 0xFFFFFFFF, 0) # dsADC_MDEC_B_MDEC_A DSADC_MDEC_A = (0x07, 0x0000FFFF, 0) DSADC_MDEC_B = (0x07, 0xFFFF0000, 16) # ADC_I1_SCALE_OFFSET ADC_I1_OFFSET = (0x08, 0x0000FFFF, 0) ADC_I1_SCALE = (0x08, 0xFFFF0000, 16) # ADC_I0_SCALE_OFFSET ADC_I0_OFFSET = (0x09, 0x0000FFFF, 0) ADC_I0_SCALE = (0x09, 0xFFFF0000, 16) # ADC_I_SELECT ADC_I0_SELECT = (0x0a, 0x000000FF, 0) ADC_I1_SELECT = (0x0a, 0x0000FF00, 8) ADC_I_UX_SELECT = (0x0a, 0x03000000, 24) ADC_I_V_SELECT = (0x0a, 0x0C000000, 26) ADC_I_WY_SELECT = (0x0a, 0x30000000, 28) # ADC_I1_I0_EXT ADC_I0_EXT = (0x0b, 0x0000FFFF, 0) ADC_I1_EXT = (0x0b, 0xFFFF0000, 16) # DS_ANALOG_INPUT_STAGE_CFG ADC_I0 = (0x0c, 0x0000000F, 0) ADC_I1 = (0x0c, 0x000000F0, 4) ADC_VM = (0x0c, 0x00000F00, 8) ADC_AGPI_A = (0x0c, 0x0000F000, 12) ADC_AGPI_B = (0x0c, 0x000F0000, 16) ADC_AENC_UX = (0x0c, 0x00F00000, 20) ADC_AENC_VN = (0x0c, 0x0F000000, 24) ADC_AENC_WY = (0x0c, 0xF0000000, 28) # AENC_0_SCALE_OFFSET AENC_0_OFFSET = (0x0d, 0x0000FFFF, 0) AENC_0_SCALE = (0x0d, 0xFFFF0000, 16) # AENC_1_SCALE_OFFSET AENC_1_OFFSET = (0x0e, 0x0000FFFF, 0) AENC_1_SCALE = (0x0e, 0xFFFF0000, 16) # AENC_2_SCALE_OFFSET AENC_2_OFFSET = (0x0f, 0x0000FFFF, 0) AENC_2_SCALE = (0x0f, 0xFFFF0000, 16) # AENC_SELECT AENC_0_SELECT = (0x11, 0x000000FF, 0) AENC_1_SELECT = (0x11, 0x0000FF00, 8) AENC_2_SELECT = (0x11, 0x00FF0000, 16) # ADC_IWY_IUX ADC_IUX = (0x12, 0x0000FFFF, 0) ADC_IWY = (0x12, 0xFFFF0000, 16) # ADC_IV ADC_IV = (0x13, 0x0000FFFF, 0) # AENC_WY_UX AENC_UX = (0x15, 0x0000FFFF, 0) AENC_WY = (0x15, 0xFFFF0000, 16) # AENC_VN AENC_VN = (0x16, 0x0000FFFF, 0) # PWM_POLARITIES PWM_POLARITIES_LOW_SIDE = (0x17, 0x00000001, 0) PWM_POLARITIES_HIGH_SIDE = (0x17, 0x00000002, 1) # PWM_MAXCNT PWM_MAXCNT = (0x18, 0x0000FFFF, 0) # PWM_BBM_H_BBM_L PWM_BBM_L = (0x19, 0x000000FF, 0) PWM_BBM_H = (0x19, 0x0000FF00, 8) # PWM_SV_CHOP PWM_CHOP = (0x1a, 0x000000FF, 0) PWM_SV = (0x1a, 0x00000100, 8) # MOTOR_TYPE_N_POLE_PAIRS N_POLE_PAIRS = (0x1b, 0x0000FFFF, 0) MOTOR_TYPE = (0x1b, 0x00FF0000, 16) # PHI_E_EXT PHI_E_EXT = (0x1c, 0x0000FFFF, 0) # PHI_M_EXT PHI_M_EXT = (0x1d, 0x0000FFFF, 0) # POSITION_EXT POSITION_EXT = (0x1e, 0xFFFFFFFF, 0) # OPENLOOP_MODE OPENLOOP_PHI_DIRECTION = (0x1f, 0x00001000, 12) # OPENLOOP_ACCELERATION OPENLOOP_ACCELERATION = (0x20, 0xFFFFFFFF, 0) # OPENLOOP_VELOCITY_TARGET OPENLOOP_VELOCITY_TARGET = (0x21, 0xFFFFFFFF, 0) # OPENLOOP_VELOCITY_ACTUAL OPENLOOP_VELOCITY_ACTUAL = (0x22, 0xFFFFFFFF, 0) # OPENLOOP_PHI OPENLOOP_PHI = (0x23, 0x0000FFFF, 0) # UQ_UD_EXT UD_EXT = (0x24, 0x0000FFFF, 0) UQ_EXT = (0x24, 0xFFFF0000, 16) # ABN_DECODER_MODE ABN_APOL = (0x25, 0x00000001, 0) ABN_BPOL = (0x25, 0x00000002, 1) ABN_NPOL = (0x25, 0x00000004, 2) ABN_USE_ABN_AS_N = (0x25, 0x00000008, 3) ABN_CLN = (0x25, 0x00000100, 8) ABN_DIRECTION = (0x25, 0x00001000, 12) # ABN_DECODER_PPR ABN_DECODER_PPR = (0x26, 0x00FFFFFF, 0) # ABN_DECODER_COUNT ABN_DECODER_COUNT = (0x27, 0x00FFFFFF, 0) # ABN_DECODER_COUNT_N ABN_DECODER_COUNT_N = (0x28, 0x00FFFFFF, 0) # ABN_DECODER_PHI_E_PHI_M_OFFSET ABN_DECODER_PHI_M_OFFSET = (0x29, 0x0000FFFF, 0) ABN_DECODER_PHI_E_OFFSET = (0x29, 0xFFFF0000, 16) # ABN_DECODER_PHI_E_PHI_M ABN_DECODER_PHI_M = (0x2a, 0x0000FFFF, 0) ABN_DECODER_PHI_E = (0x2a, 0xFFFF0000, 16) # ABN_2_DECODER_MODE ABN_2_APOL = (0x2c, 0x00000001, 0) ABN_2_BPOL = (0x2c, 0x00000002, 1) ABN_2_NPOL = (0x2c, 0x00000004, 2) ABN_2_USE_ABN_AS_N = (0x2c, 0x00000008, 3) ABN_2_CLN = (0x2c, 0x00000100, 8) ABN_2_DIRECTION = (0x2c, 0x00001000, 12) # ABN_2_DECODER_PPR ABN_2_DECODER_PPR = (0x2d, 0x00FFFFFF, 0) # ABN_2_DECODER_COUNT ABN_2_DECODER_COUNT = (0x2e, 0x00FFFFFF, 0) # ABN_2_DECODER_COUNT_N ABN_2_DECODER_COUNT_N = (0x2f, 0x00FFFFFF, 0) # ABN_2_DECODER_PHI_M_OFFSET ABN_2_DECODER_PHI_M_OFFSET = (0x30, 0x0000FFFF, 0) # ABN_2_DECODER_PHI_M ABN_2_DECODER_PHI_M = (0x31, 0x0000FFFF, 0) # HALL_MODE HALL_POLARITY = (0x33, 0x00000001, 0) HALL_INTERPOLATION = (0x33, 0x00000100, 8) HALL_DIRECTION = (0x33, 0x00001000, 12) HALL_HALL_BLANK = (0x33, 0x0FFF0000, 16) # HALL_POSITION_060_000 HALL_POSITION_000 = (0x34, 0x0000FFFF, 0) HALL_POSITION_060 = (0x34, 0xFFFF0000, 16) # HALL_POSITION_180_120 HALL_POSITION_120 = (0x35, 0x0000FFFF, 0) HALL_POSITION_180 = (0x35, 0xFFFF0000, 16) # HALL_POSITION_300_240 HALL_POSITION_240 = (0x36, 0x0000FFFF, 0) HALL_POSITION_300 = (0x36, 0xFFFF0000, 16) # HALL_PHI_E_PHI_M_OFFSET HALL_PHI_M_OFFSET = (0x37, 0x0000FFFF, 0) HALL_PHI_E_OFFSET = (0x37, 0xFFFF0000, 16) # HALL_DPHI_MAX HALL_DPHI_MAX = (0x38, 0x0000FFFF, 0) # HALL_PHI_E_INTERPOLATED_PHI_E HALL_PHI_E = (0x39, 0x0000FFFF, 0) HALL_PHI_E_INTERPOLATED = (0x39, 0xFFFF0000, 16) # HALL_PHI_M HALL_PHI_M = (0x3a, 0x0000FFFF, 0) # AENC_DECODER_MODE AENC_DECODER_MODE_120DEG_N90DEG = (0x3b, 0x00000001, 0) AENC_DECODER_MODE_DECODER_COUNT_DIR = (0x3b, 0x00001000, 12) # AENC_DECODER_N_THRESHOLD AENC_DECODER_N_THRESHOLD = (0x3c, 0x0000FFFF, 0) AENC_DECODER_N_MASK = (0x3c, 0xFFFF0000, 16) # AENC_DECODER_PHI_A_RAW AENC_DECODER_PHI_A_RAW = (0x3d, 0x0000FFFF, 0) # AENC_DECODER_PHI_A_OFFSET AENC_DECODER_PHI_A_OFFSET = (0x3e, 0x0000FFFF, 0) # AENC_DECODER_PHI_A AENC_DECODER_PHI_A = (0x3f, 0x0000FFFF, 0) # AENC_DECODER_PPR AENC_DECODER_PPR = (0x40, 0x0000FFFF, 0) # AENC_DECODER_COUNT AENC_DECODER_COUNT = (0x41, 0xFFFFFFFF, 0) # AENC_DECODER_COUNT_N AENC_DECODER_COUNT_N = (0x42, 0xFFFFFFFF, 0) # AENC_DECODER_PHI_E_PHI_M_OFFSET AENC_DECODER_PHI_M_OFFSET = (0x45, 0x0000FFFF, 0) AENC_DECODER_PHI_E_OFFSET = (0x45, 0xFFFF0000, 16) # AENC_DECODER_PHI_E_PHI_M AENC_DECODER_PHI_M = (0x46, 0x0000FFFF, 0) AENC_DECODER_PHI_E = (0x46, 0xFFFF0000, 16) # AENC_DECODER_POSITION AENC_DECODER_POSITION = (0x47, 0xFFFFFFFF, 0) # PIDIN_VELOCITY_TARGET PIDIN_VELOCITY_TARGET = (0x4b, 0xFFFFFFFF, 0) # PIDIN_POSITION_TARGET PIDIN_POSITION_TARGET = (0x4c, 0xFFFFFFFF, 0) # CONFIG_DATA BIQUAD_X_A_1 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_X_A_2 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_X_B_0 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_X_B_1 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_X_B_2 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_X_ENABLE = (0x4d, 0xFFFFFFFF, 0) BIQUAD_V_A_1 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_V_A_2 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_V_B_0 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_V_B_1 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_V_B_2 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_V_ENABLE = (0x4d, 0xFFFFFFFF, 0) BIQUAD_T_A_1 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_T_A_2 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_T_B_0 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_T_B_1 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_T_B_2 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_T_ENABLE = (0x4d, 0xFFFFFFFF, 0) BIQUAD_F_A_1 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_F_A_2 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_F_B_0 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_F_B_1 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_F_B_2 = (0x4d, 0xFFFFFFFF, 0) BIQUAD_F_ENABLE = (0x4d, 0xFFFFFFFF, 0) PRBS_AMPLITUDE = (0x4d, 0xFFFFFFFF, 0) PRBS_DOWN_SAMPLING_RATIO = (0x4d, 0xFFFFFFFF, 0) FEED_FORWARD_VELOCITY_GAIN = (0x4d, 0xFFFFFFFF, 0) FEED_FORWARD_VELICITY_FILTER_CONSTANT = (0x4d, 0xFFFFFFFF, 0) FEED_FORWARD_TORQUE_GAIN = (0x4d, 0xFFFFFFFF, 0) FEED_FORWARD_TORGUE_FILTER_CONSTANT = (0x4d, 0xFFFFFFFF, 0) VELOCITY_METER_PPTM_MIN_POS_DEV = (0x4d, 0x0000FFFF, 0) REF_SWITCH_CONFIG = (0x4d, 0x0000FFFF, 0) ENCODER_INIT_HALL_ENABLE = (0x4d, 0x00000001, 0) SINGLE_PIN_IF_CFG = (0x4d, 0x000000FF, 0) SINGLE_PIN_IF_STATUS = (0x4d, 0xFFFF0000, 16) SINGLE_PIN_IF_OFFSET = (0x4d, 0x0000FFFF, 0) SINGLE_PIN_IF_SCALE = (0x4d, 0xFFFF0000, 16) # CONFIG_ADDR CONFIG_ADDR = (0x4e, 0xFFFFFFFF, 0) # VELOCITY_SELECTION VELOCITY_SELECTION = (0x50, 0x000000FF, 0) VELOCITY_METER_SELECTION = (0x50, 0x0000FF00, 8) # POSITION_SELECTION POSITION_SELECTION = (0x51, 0x000000FF, 0) # PHI_E_SELECTION PHI_E_SELECTION = (0x52, 0x000000FF, 0) # PHI_E PHI_E = (0x53, 0x0000FFFF, 0) # PID_FLUX_P_FLUX_I PID_FLUX_I = (0x54, 0x0000FFFF, 0) PID_FLUX_P = (0x54, 0xFFFF0000, 16) # PID_TORQUE_P_TORQUE_I PID_TORQUE_I = (0x56, 0x0000FFFF, 0) PID_TORQUE_P = (0x56, 0xFFFF0000, 16) # PID_VELOCITY_P_VELOCITY_I PID_VELOCITY_I = (0x58, 0x0000FFFF, 0) PID_VELOCITY_P = (0x58, 0xFFFF0000, 16) # PID_POSITION_P_POSITION_I PID_POSITION_I = (0x5a, 0x0000FFFF, 0) PID_POSITION_P = (0x5a, 0xFFFF0000, 16) # PID_TORQUE_FLUX_TARGET_DDT_LIMITS PID_TORQUE_FLUX_TARGET_DDT_LIMITS = (0x5c, 0xFFFFFFFF, 0) # PIDOUT_UQ_UD_LIMITS PIDOUT_UQ_UD_LIMITS = (0x5d, 0x0000FFFF, 0) # PID_TORQUE_FLUX_LIMITS PID_TORQUE_FLUX_LIMITS = (0x5e, 0x0000FFFF, 0) # PID_ACCELERATION_LIMIT PID_ACCELERATION_LIMIT = (0x5f, 0xFFFFFFFF, 0) # PID_VELOCITY_LIMIT PID_VELOCITY_LIMIT = (0x60, 0xFFFFFFFF, 0) # PID_POSITION_LIMIT_LOW PID_POSITION_LIMIT_LOW = (0x61, 0xFFFFFFFF, 0) # PID_POSITION_LIMIT_HIGH PID_POSITION_LIMIT_HIGH = (0x62, 0xFFFFFFFF, 0) # MODE_RAMP_MODE_MOTION MODE_MOTION = (0x63, 0x000000FF, 0) MODE_RAMP = (0x63, 0x0000FF00, 8) MODE_FF = (0x63, 0x00FF0000, 16) MODE_PID_SMPL = (0x63, 0x7F000000, 24) MODE_PID_TYPE = (0x63, 0x80000000, 31) # PID_TORQUE_FLUX_TARGET PID_FLUX_TARGET = (0x64, 0x0000FFFF, 0) PID_TORQUE_TARGET = (0x64, 0xFFFF0000, 16) # PID_TORQUE_FLUX_OFFSET PID_FLUX_OFFSET = (0x65, 0x0000FFFF, 0) PID_TORQUE_OFFSET = (0x65, 0xFFFF0000, 16) # PID_VELOCITY_TARGET PID_VELOCITY_TARGET = (0x66, 0xFFFFFFFF, 0) # PID_VELOCITY_OFFSET PID_VELOCITY_OFFSET = (0x67, 0xFFFFFFFF, 0) # PID_POSITION_TARGET PID_POSITION_TARGET = (0x68, 0xFFFFFFFF, 0) # PID_TORQUE_FLUX_ACTUAL PID_FLUX_ACTUAL = (0x69, 0x0000FFFF, 0) PID_TORQUE_ACTUAL = (0x69, 0xFFFF0000, 16) # PID_VELOCITY_ACTUAL PID_VELOCITY_ACTUAL = (0x6a, 0xFFFFFFFF, 0) # PID_POSITION_ACTUAL PID_POSITION_ACTUAL = (0x6b, 0xFFFFFFFF, 0) # PID_ERROR_DATA PID_TORQUE_ERROR = (0x6c, 0xFFFFFFFF, 0) PID_FLUX_ERROR = (0x6c, 0xFFFFFFFF, 0) PID_VELOCITY_ERROR = (0x6c, 0xFFFFFFFF, 0) PID_POSITION_ERROR = (0x6c, 0xFFFFFFFF, 0) PID_TORQUE_ERROR_SUM = (0x6c, 0xFFFFFFFF, 0) PID_FLUX_ERROR_SUM = (0x6c, 0xFFFFFFFF, 0) PID_VELOCITY_ERROR_SUM = (0x6c, 0xFFFFFFFF, 0) PID_POSITION_ERROR_SUM = (0x6c, 0xFFFFFFFF, 0) # PID_ERROR_ADDR PID_ERROR_ADDR = (0x6d, 0x000000FF, 0) # INTERIM_DATA PIDIN_TARGET_TORQUE = (0x6e, 0xFFFFFFFF, 0) PIDIN_TARGET_FLUX = (0x6e, 0xFFFFFFFF, 0) PIDIN_TARGET_VELOCITY = (0x6e, 0xFFFFFFFF, 0) PIDIN_TARGET_POSITION = (0x6e, 0xFFFFFFFF, 0) PIDOUT_TARGET_TORQUE = (0x6e, 0xFFFFFFFF, 0) PIDOUT_TARGET_FLUX = (0x6e, 0xFFFFFFFF, 0) PIDOUT_TARGET_VELOCITY = (0x6e, 0xFFFFFFFF, 0) PIDOUT_TARGET_POSITION = (0x6e, 0xFFFFFFFF, 0) FOC_IUX = (0x6e, 0x0000FFFF, 0) FOC_IWY = (0x6e, 0xFFFF0000, 16) FOC_IV = (0x6e, 0x0000FFFF, 0) FOC_IA = (0x6e, 0x0000FFFF, 0) FOC_IB = (0x6e, 0xFFFF0000, 16) FOC_ID = (0x6e, 0x0000FFFF, 0) FOC_IQ = (0x6e, 0xFFFF0000, 16) FOC_UD = (0x6e, 0x0000FFFF, 0) FOC_UQ = (0x6e, 0xFFFF0000, 16) FOC_UD_LIMITED = (0x6e, 0x0000FFFF, 0) FOC_UQ_LIMITED = (0x6e, 0xFFFF0000, 16) FOC_UA = (0x6e, 0x0000FFFF, 0) FOC_UB = (0x6e, 0xFFFF0000, 16) FOC_UUX = (0x6e, 0x0000FFFF, 0) FOC_UWY = (0x6e, 0xFFFF0000, 16) FOC_UV = (0x6e, 0x0000FFFF, 0) PWM_UX = (0x6e, 0x0000FFFF, 0) PWM_WY = (0x6e, 0xFFFF0000, 16) PWM_V = (0x6e, 0x0000FFFF, 0) ADC_I_0 = (0x6e, 0x0000FFFF, 0) ADC_I_1 = (0x6e, 0xFFFF0000, 16) PID_FLUX_ACTUAL_DIV256 = (0x6e, 0x000000FF, 0) PID_TORQUE_ACTUAL_DIV256 = (0x6e, 0x0000FF00, 8) PID_FLUX_TARGET_DIV256 = (0x6e, 0x00FF0000, 16) PID_TORQUE_TARGET_DIV256 = (0x6e, 0xFF000000, 24) PID_TORQUE_ACTUAL_INTERIM = (0x6e, 0x0000FFFF, 0) PID_TORQUE_TARGET_INTERIM = (0x6e, 0xFFFF0000, 16) PID_FLUX_ACTUAL_INTERIM = (0x6e, 0x0000FFFF, 0) PID_FLUX_TARGET_INTERIM = (0x6e, 0xFFFF0000, 16) PID_VELOCITY_ACTUAL_DIV256 = (0x6e, 0x0000FFFF, 0) PID_VELOCITY_TARGET_DIV256 = (0x6e, 0xFFFF0000, 16) PID_VELOCITY_ACTUAL_LSB = (0x6e, 0x0000FFFF, 0) PID_VELOCITY_TARGET_LSB = (0x6e, 0xFFFF0000, 16) PID_POSITION_ACTUAL_DIV256 = (0x6e, 0x0000FFFF, 0) PID_POSITION_TARGET_DIV256 = (0x6e, 0xFFFF0000, 16) PID_POSITION_ACTUAL_LSB = (0x6e, 0x0000FFFF, 0) PID_POSITION_TARGET_LSB = (0x6e, 0xFFFF0000, 16) FF_VELOCITY = (0x6e, 0xFFFFFFFF, 0) FF_TORQUE = (0x6e, 0x0000FFFF, 0) ACTUAL_VELOCITY_PPTM = (0x6e, 0xFFFFFFFF, 0) REF_SWITCH_STATUS = (0x6e, 0x0000FFFF, 0) HOME_POSITION = (0x6e, 0xFFFFFFFF, 0) LEFT_POSITION = (0x6e, 0xFFFFFFFF, 0) RIGHT_POSITION = (0x6e, 0xFFFFFFFF, 0) ENC_INIT_HALL_STATUS = (0x6e, 0x0000FFFF, 0) ENC_INIT_HALL_PHI_E_ABN_OFFSET = (0x6e, 0x0000FFFF, 0) ENC_INIT_HALL_PHI_E_AENC_OFFSET = (0x6e, 0x0000FFFF, 0) ENC_INIT_HALL_PHI_A_AENC_OFFSET = (0x6e, 0x0000FFFF, 0) ENC_INIT_MINI_MOVE_STATUS = (0x6e, 0x0000FFFF, 0) ENC_INIT_MINI_MOVE_U_D = (0x6e, 0xFFFF0000, 16) ENC_INIT_MINI_MOVE_PHI_E_OFFSET = (0x6e, 0x0000FFFF, 0) ENC_INIT_MINI_MOVE_PHI_E = (0x6e, 0xFFFF0000, 16) SINGLE_PIN_IF_TARGET_TORQUE = (0x6e, 0x0000FFFF, 0) SINGLE_PIN_IF_PWM_DUTY_CYCLE = (0x6e, 0xFFFF0000, 16) SINGLE_PIN_IF_TARGET_VELOCITY = (0x6e, 0xFFFFFFFF, 0) SINGLE_PIN_IF_TARGET_POSITION = (0x6e, 0xFFFFFFFF, 0) DEBUG_VALUE_0 = (0x6e, 0x0000FFFF, 0) DEBUG_VALUE_1 = (0x6e, 0xFFFF0000, 16) DEBUG_VALUE_2 = (0x6e, 0x0000FFFF, 0) DEBUG_VALUE_3 = (0x6e, 0xFFFF0000, 16) DEBUG_VALUE_4 = (0x6e, 0x0000FFFF, 0) DEBUG_VALUE_5 = (0x6e, 0xFFFF0000, 16) DEBUG_VALUE_6 = (0x6e, 0x0000FFFF, 0) DEBUG_VALUE_7 = (0x6e, 0xFFFF0000, 16) DEBUG_VALUE_8 = (0x6e, 0x0000FFFF, 0) DEBUG_VALUE_9 = (0x6e, 0xFFFF0000, 16) DEBUG_VALUE_10 = (0x6e, 0x0000FFFF, 0) DEBUG_VALUE_11 = (0x6e, 0xFFFF0000, 16) DEBUG_VALUE_12 = (0x6e, 0x0000FFFF, 0) DEBUG_VALUE_13 = (0x6e, 0xFFFF0000, 16) DEBUG_VALUE_14 = (0x6e, 0x0000FFFF, 0) DEBUG_VALUE_15 = (0x6e, 0xFFFF0000, 16) DEBUG_VALUE_16 = (0x6e, 0xFFFFFFFF, 0) DEBUG_VALUE_17 = (0x6e, 0xFFFFFFFF, 0) DEBUG_VALUE_18 = (0x6e, 0xFFFFFFFF, 0) DEBUG_VALUE_19 = (0x6e, 0xFFFFFFFF, 0) CONFIG_REG_0 = (0x6e, 0xFFFFFFFF, 0) CONFIG_REG_1 = (0x6e, 0xFFFFFFFF, 0) CTRL_PARAM_0 = (0x6e, 0x0000FFFF, 0) CTRL_PARAM_1 = (0x6e, 0xFFFF0000, 16) CTRL_PARAM_2 = (0x6e, 0x0000FFFF, 0) CTRL_PARAM_3 = (0x6e, 0xFFFF0000, 16) STATUS_REG_0 = (0x6e, 0xFFFFFFFF, 0) STATUS_REG_1 = (0x6e, 0xFFFFFFFF, 0) STATUS_PARAM_0 = (0x6e, 0x0000FFFF, 0) STATUS_PARAM_1 = (0x6e, 0xFFFF0000, 16) STATUS_PARAM_2 = (0x6e, 0x0000FFFF, 0) STATUS_PARAM_3 = (0x6e, 0xFFFF0000, 16) # INTERIM_ADDR INTERIM_ADDR = (0x6f, 0x000000FF, 0) # WATCHDOG_CFG WATCHDOG_CFG = (0x74, 0x00000003, 0) # ADC_VM_LIMITS ADC_VM_LIMIT_LOW = (0x75, 0x0000FFFF, 0) ADC_VM_LIMIT_HIGH = (0x75, 0xFFFF0000, 16) # TMC4671_INPUTS_RAW A_OF_ABN_RAW = (0x76, 0x00000001, 0) B_OF_ABN_RAW = (0x76, 0x00000002, 1) N_OF_ABN_RAW = (0x76, 0x00000004, 2) A_OF_ABN_2_RAW = (0x76, 0x00000010, 4) B_OF_ABN_2_RAW = (0x76, 0x00000020, 5) N_OF_ABN_2_RAW = (0x76, 0x00000040, 6) HALL_UX_OF_HALL_RAW = (0x76, 0x00000100, 8) HALL_V_OF_HALL_RAW = (0x76, 0x00000200, 9) HALL_WY_OF_HALL_RAW = (0x76, 0x00000400, 10) REF_SW_R_RAW = (0x76, 0x00001000, 12) REF_SW_H_RAW = (0x76, 0x00002000, 13) REF_SW_L_RAW = (0x76, 0x00004000, 14) ENABLE_IN_RAW = (0x76, 0x00008000, 15) STP_OF_DIRSTP_RAW = (0x76, 0x00010000, 16) DIR_OF_DIRSTP_RAW = (0x76, 0x00020000, 17) PWM_IN_RAW = (0x76, 0x00040000, 18) HALL_UX_FILT = (0x76, 0x00100000, 20) HALL_V_FILT = (0x76, 0x00200000, 21) HALL_WY_FILT = (0x76, 0x00400000, 22) PWM_IDLE_L_RAW = (0x76, 0x10000000, 28) PWM_IDLE_H_RAW = (0x76, 0x20000000, 29) # TMC4671_OUTPUTS_RAW TMC4671_OUTPUTS_RAW_PWM_UX1_L = (0x77, 0x00000001, 0) TMC4671_OUTPUTS_RAW_PWM_UX1_H = (0x77, 0x00000002, 1) TMC4671_OUTPUTS_RAW_PWM_VX2_L = (0x77, 0x00000004, 2) TMC4671_OUTPUTS_RAW_PWM_VX2_H = (0x77, 0x00000008, 3) TMC4671_OUTPUTS_RAW_PWM_WY1_L = (0x77, 0x00000010, 4) TMC4671_OUTPUTS_RAW_PWM_WY1_H = (0x77, 0x00000020, 5) TMC4671_OUTPUTS_RAW_PWM_Y2_L = (0x77, 0x00000040, 6) TMC4671_OUTPUTS_RAW_PWM_Y2_H = (0x77, 0x00000080, 7) # STEP_WIDTH STEP_WIDTH = (0x78, 0xFFFFFFFF, 0) # UART_BPS UART_BPS = (0x79, 0x00FFFFFF, 0) # UART_ADDRS ADDR_A = (0x7A, 0x000000FF, 0) ADDR_B = (0x7A, 0x0000FF00, 8) ADDR_C = (0x7A, 0x00FF0000, 16) ADDR_D = (0x7A, 0xFF000000, 24) # GPIO_dsADCI_CONFIG GPIO_DSADCI_CONFIG_0 = (0x7B, 0x00000001, 0) GPIO_DSADCI_CONFIG_1 = (0x7B, 0x00000002, 1) GPIO_DSADCI_CONFIG_2 = (0x7B, 0x00000004, 2) GPIO_DSADCI_CONFIG_3 = (0x7B, 0x00000008, 3) GPIO_DSADCI_CONFIG_4 = (0x7B, 0x00000010, 4) GPIO_DSADCI_CONFIG_5 = (0x7B, 0x00000020, 5) GPIO_DSADCI_CONFIG_6 = (0x7B, 0x00000040, 6) GPO = (0x7B, 0x00FF0000, 16) GPI = (0x7B, 0xFF000000, 24) # STATUS_FLAGS STATUS_FLAG_PID_X_TARGET_LIMIT = (0x7c, 0x00000001, 0) STATUS_FLAG_PID_X_TARGET_DDT_LIMIT = (0x7c, 0x00000002, 1) STATUS_FLAG_PID_X_ERRSUM_LIMIT = (0x7c, 0x00000004, 2) STATUS_FLAG_PID_X_OUTPUT_LIMIT = (0x7c, 0x00000008, 3) STATUS_FLAG_PID_V_TARGET_LIMIT = (0x7c, 0x00000010, 4) STATUS_FLAG_PID_V_TARGET_DDT_LIMIT = (0x7c, 0x00000020, 5) STATUS_FLAG_PID_V_ERRSUM_LIMIT = (0x7c, 0x00000040, 6) STATUS_FLAG_PID_V_OUTPUT_LIMIT = (0x7c, 0x00000080, 7) STATUS_FLAG_PID_ID_TARGET_LIMIT = (0x7c, 0x00000100, 8) STATUS_FLAG_PID_ID_TARGET_DDT_LIMIT = (0x7c, 0x00000200, 9) STATUS_FLAG_PID_ID_ERRSUM_LIMIT = (0x7c, 0x00000400, 10) STATUS_FLAG_PID_ID_OUTPUT_LIMIT = (0x7c, 0x00000800, 11) STATUS_FLAG_PID_IQ_TARGET_LIMIT = (0x7c, 0x00001000, 12) STATUS_FLAG_PID_IQ_TARGET_DDT_LIMIT = (0x7c, 0x00002000, 13) STATUS_FLAG_PID_IQ_ERRSUM_LIMIT = (0x7c, 0x00004000, 14) STATUS_FLAG_PID_IQ_OUTPUT_LIMIT = (0x7c, 0x00008000, 15) STATUS_FLAG_IPARK_CIRLIM_LIMIT_U_D = (0x7c, 0x00010000, 16) STATUS_FLAG_IPARK_CIRLIM_LIMIT_U_Q = (0x7c, 0x00020000, 17) STATUS_FLAG_IPARK_CIRLIM_LIMIT_U_R = (0x7c, 0x00040000, 18) STATUS_FLAG_NOT_PLL_LOCKED = (0x7c, 0x00080000, 19) STATUS_FLAG_REF_SW_R = (0x7c, 0x00100000, 20) STATUS_FLAG_REF_SW_H = (0x7c, 0x00200000, 21) STATUS_FLAG_REF_SW_L = (0x7c, 0x00400000, 22) STATUS_FLAG___ = (0x7c, 0x00800000, 23) STATUS_FLAG_PWM_MIN = (0x7c, 0x01000000, 24) STATUS_FLAG_PWM_MAX = (0x7c, 0x02000000, 25) STATUS_FLAG_ADC_I_CLIPPED = (0x7c, 0x04000000, 26) STATUS_FLAG_AENC_CLIPPED = (0x7c, 0x08000000, 27) STATUS_FLAG_ENC_N = (0x7c, 0x10000000, 28) STATUS_FLAG_ENC_2_N = (0x7c, 0x20000000, 29) STATUS_FLAG_AENC_N = (0x7c, 0x40000000, 30) STATUS_FLAG_WD_ERROR = (0x7c, 0x80000000, 31) # STATUS_MASK WARNING_MASK = (0x7d, 0xFFFFFFFF, 0) class VARIANT: """ TMC4671 register variants. """ CHIPINFO_ADDR_SI_TYPE = 0 CHIPINFO_ADDR_SI_VERSION = 1 CHIPINFO_ADDR_SI_DATE = 2 CHIPINFO_ADDR_SI_TIME = 3 CHIPINFO_ADDR_SI_VARIANT = 4 CHIPINFO_ADDR_SI_BUILD = 5 ADC_RAW_ADDR_ADC_I1_RAW_ADC_I0_RAW = 0 ADC_RAW_ADDR_ADC_AGPI_A_RAW_ADC_VM_RAW = 1 ADC_RAW_ADDR_ADC_AENC_UX_RAW_ADC_AGPI_B_RAW = 2 ADC_RAW_ADDR_ADC_AENC_WY_RAW_ADC_AENC_VN_RAW = 3 CONFIG_ADDR_biquad_x_a_1 = 1 CONFIG_ADDR_biquad_x_a_2 = 2 CONFIG_ADDR_biquad_x_b_0 = 4 CONFIG_ADDR_biquad_x_b_1 = 5 CONFIG_ADDR_biquad_x_b_2 = 6 CONFIG_ADDR_biquad_x_enable = 7 CONFIG_ADDR_biquad_v_a_1 = 9 CONFIG_ADDR_biquad_v_a_2 = 10 CONFIG_ADDR_biquad_v_b_0 = 12 CONFIG_ADDR_biquad_v_b_1 = 13 CONFIG_ADDR_biquad_v_b_2 = 14 CONFIG_ADDR_biquad_v_enable = 15 CONFIG_ADDR_biquad_t_a_1 = 17 CONFIG_ADDR_biquad_t_a_2 = 18 CONFIG_ADDR_biquad_t_b_0 = 20 CONFIG_ADDR_biquad_t_b_1 = 21 CONFIG_ADDR_biquad_t_b_2 = 22 CONFIG_ADDR_biquad_t_enable = 23 CONFIG_ADDR_biquad_f_a_1 = 25 CONFIG_ADDR_biquad_f_a_2 = 26 CONFIG_ADDR_biquad_f_b_0 = 28 CONFIG_ADDR_biquad_f_b_1 = 29 CONFIG_ADDR_biquad_f_b_2 = 30 CONFIG_ADDR_biquad_f_enable = 31 CONFIG_ADDR_prbs_amplitude = 32 CONFIG_ADDR_prbs_down_sampling_ratio = 33 CONFIG_ADDR_feed_forward_velocity_gain = 40 CONFIG_ADDR_feed_forward_velicity_filter_constant = 41 CONFIG_ADDR_feed_forward_torque_gain = 42 CONFIG_ADDR_feed_forward_torgue_filter_constant = 43 CONFIG_ADDR_VELOCITY_METER_PPTM_MIN_POS_DEV = 50 CONFIG_ADDR_ref_switch_config = 51 CONFIG_ADDR_Encoder_Init_hall_Enable = 52 CONFIG_ADDR_SINGLE_PIN_IF_STATUS_CFG = 60 CONFIG_ADDR_SINGLE_PIN_IF_SCALE_OFFSET = 61 PID_ERROR_ADDR_PID_TORQUE_ERROR = 0 PID_ERROR_ADDR_PID_FLUX_ERROR = 1 PID_ERROR_ADDR_PID_VELOCITY_ERROR = 2 PID_ERROR_ADDR_PID_POSITION_ERROR = 3 PID_ERROR_ADDR_PID_TORQUE_ERROR_SUM = 4 PID_ERROR_ADDR_PID_FLUX_ERROR_SUM = 5 PID_ERROR_ADDR_PID_VELOCITY_ERROR_SUM = 6 PID_ERROR_ADDR_PID_POSITION_ERROR_SUM = 7 INTERIM_ADDR_PIDIN_TARGET_TORQUE = 0 INTERIM_ADDR_PIDIN_TARGET_FLUX = 1 INTERIM_ADDR_PIDIN_TARGET_VELOCITY = 2 INTERIM_ADDR_PIDIN_TARGET_POSITION = 3 INTERIM_ADDR_PIDOUT_TARGET_TORQUE = 4 INTERIM_ADDR_PIDOUT_TARGET_FLUX = 5 INTERIM_ADDR_PIDOUT_TARGET_VELOCITY = 6 INTERIM_ADDR_PIDOUT_TARGET_POSITION = 7 INTERIM_ADDR_FOC_IWY_IUX = 8 INTERIM_ADDR_FOC_IV = 9 INTERIM_ADDR_FOC_IB_IA = 10 INTERIM_ADDR_FOC_IQ_ID = 11 INTERIM_ADDR_FOC_UQ_UD = 12 INTERIM_ADDR_FOC_UQ_UD_LIMITED = 13 INTERIM_ADDR_FOC_UB_UA = 14 INTERIM_ADDR_FOC_UWY_UUX = 15 INTERIM_ADDR_FOC_UV = 16 INTERIM_ADDR_PWM_WY_UX = 17 INTERIM_ADDR_PWM_UV = 18 INTERIM_ADDR_ADC_I1_I0 = 19 INTERIM_ADDR_PID_TORQUE_TARGET_TORQUE_ACTUAL = 21 INTERIM_ADDR_PID_FLUX_TARGET_FLUX_ACTUAL = 22 INTERIM_ADDR_PID_VELOCITY_TARGET_VELOCITY_ACTUAL_DIV256 = 23 INTERIM_ADDR_PID_VELOCITY_TARGET_VELOCITY_ACTUAL = 24 INTERIM_ADDR_PID_POSITION_TARGET_POSITION_ACTUAL_DIV256 = 25 INTERIM_ADDR_PID_POSITION_TARGET_POSITION_ACTUAL = 26 INTERIM_ADDR_FF_VELOCITY = 27 INTERIM_ADDR_FF_TORQUE = 28 INTERIM_ADDR_ACTUAL_VELOCITY_PPTM = 29 INTERIM_ADDR_REF_SWITCH_STATUS = 30 INTERIM_ADDR_HOME_POSITION = 31 INTERIM_ADDR_LEFT_POSITION = 32 INTERIM_ADDR_RIGHT_POSITION = 33 INTERIM_ADDR_ENC_INIT_HALL_STATUS = 34 INTERIM_ADDR_ENC_INIT_HALL_PHI_E_ABN_OFFSET = 35 INTERIM_ADDR_ENC_INIT_HALL_PHI_E_AENC_OFFSET = 36 INTERIM_ADDR_ENC_INIT_HALL_PHI_A_AENC_OFFSET = 37 INTERIM_ADDR_enc_init_mini_move_u_d_status = 40 INTERIM_ADDR_enc_init_mini_move_phi_e_phi_e_offset = 41 INTERIM_ADDR_SINGLE_PIN_IF_PWM_DUTY_CYCLE_TORQUE_TARGET = 42 INTERIM_ADDR_SINGLE_PIN_IF_VELOCITY_TARGET = 43 INTERIM_ADDR_SINGLE_PIN_IF_POSITION_TARGET = 44 INTERIM_ADDR_DEBUG_VALUE_1_0 = 192 INTERIM_ADDR_DEBUG_VALUE_3_2 = 193 INTERIM_ADDR_DEBUG_VALUE_5_4 = 194 INTERIM_ADDR_DEBUG_VALUE_7_6 = 195 INTERIM_ADDR_DEBUG_VALUE_9_8 = 196 INTERIM_ADDR_DEBUG_VALUE_11_10 = 197 INTERIM_ADDR_DEBUG_VALUE_13_12 = 198 INTERIM_ADDR_DEBUG_VALUE_15_14 = 199 INTERIM_ADDR_DEBUG_VALUE_16 = 200 INTERIM_ADDR_DEBUG_VALUE_17 = 201 INTERIM_ADDR_DEBUG_VALUE_18 = 202 INTERIM_ADDR_DEBUG_VALUE_19 = 203 INTERIM_ADDR_CONFIG_REG_0 = 208 INTERIM_ADDR_CONFIG_REG_1 = 209 INTERIM_ADDR_CTRL_PARAM_10 = 210 INTERIM_ADDR_CTRL_PARAM_32 = 211 INTERIM_ADDR_STATUS_REG_0 = 212 INTERIM_ADDR_STATUS_REG_1 = 213 INTERIM_ADDR_STATUS_PARAM_10 = 214 INTERIM_ADDR_STATUS_PARAM_32 = 215 class ENUM: """ Defines all constants usable with the TMC4671. """ # motor types MOTOR_TYPE_NO = 0 MOTOR_TYPE_DC = 1 MOTOR_TYPE_STEPPER = 2 MOTOR_TYPE_BLDC = 3 # PWM modes PWM_OFF_FREE_RUNNING = 0 PWM_OFF_LOW_SIDE_ON = 1 PWM_OFF_HIGH_SIDE_ON = 2 PWM_LOW_SIDE_CHOPPER = 5 PWM_HIGH_SIDE_CHOPPER = 6 PWM_CENTERED_FOR_FOC = 7 # motion modes MOTION_MODE_STOPPED = 0 MOTION_MODE_TORQUE = 1 MOTION_MODE_VELOCITY = 2 MOTION_MODE_POSITION = 3 MOTION_MODE_UQ_UD_EXT = 8 # phi_e selections PHI_E_EXTERNAL = 1 PHI_E_OPEN_LOOP = 2 PHI_E_ABN = 3 PHI_E_HALL = 5 PHI_E_AENC = 6 PHI_A_AENC = 7 # velocity/position selection VELOCITY_PHI_E_SELECTION = 0 VELOCITY_PHI_E_EXT = 1 VELOCITY_PHI_E_OPENLOOP = 2 VELOCITY_PHI_E_ABN = 3 VELOCITY_PHI_E_HAL = 5 VELOCITY_PHI_E_AENC = 6 VELOCITY_PHI_A_AENC = 7 VELOCITY_PHI_M_ABN = 9 VELOCITY_PHI_M_ABN_2 = 10 VELOCITY_PHI_M_AENC = 11 VELOCITY_PHI_M_HAL = 12