################################################################################ # 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 TMC5031(TMCIc): """ The TMC5031 is a cost-effective dual stepper motion controller and driver IC with serial communication interface. Supply voltage: 4,75-16V """ def __init__(self): super().__init__("TMC5031", self.__doc__) # # Motion Control functions # def rotate(self, motor, value): # if not(0 <= motor < self.MOTORS): # raise ValueError # self.writeRegister(self.registers.AMAX[motor], 1000, self.__channel) # if value >= 0: # self.writeRegister(self.registers.VMAX[motor], value, self.__channel) # self.writeRegister(self.registers.RAMPMODE[motor], 1, self.__channel) # else: # self.writeRegister(self.registers.VMAX[motor], -value, self.__channel) # self.writeRegister(self.registers.RAMPMODE[motor], 2, self.__channel) # def stop(self, motor): # self.rotate(motor, 0) # def moveTo(self, motor, position, velocity): # if not(0 <= motor < self.MOTORS): # raise ValueError # self.writeRegister(self.registers.RAMPMODE[motor], 0, self.__channel) # if velocity != 0: # self.writeRegister(self.registers.VMAX[motor], velocity, self.__channel) # self.writeRegister(self.registers.XTARGET[motor], position, self.__channel) class REG: """ Define all registers of the TMC5031. 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. """ GCONF = 0x00 GSTAT = 0x01 SLAVECONF = 0x03 INPUT = 0x04 X_COMPARE = 0x05 RAMPMODE = (0x20, 0x40) XACTUAL = (0x21, 0x41) VACTUAL = (0x22, 0x42) VSTART = (0x23, 0x43) A1 = (0x24, 0x44) V1 = (0x25, 0x45) AMAX = (0x26, 0x46) VMAX = (0x27, 0x47) DMAX = (0x28, 0x48) D1 = (0x2A, 0x4A) VSTOP = (0x2B, 0x4B) TZEROWAIT = (0x2C, 0x4C) XTARGET = (0x2D, 0x4D) IHOLD_IRUN = (0x30, 0x50) VCOOLTHRS = (0x31, 0x51) VHIGH = (0x32, 0x52) SW_MODE = (0x34, 0x54) RAMP_STAT = (0x35, 0x55) XLATCH = (0x36, 0x56) MSLUT0 = (0x60, 0x70) MSLUT1 = (0x61, 0x71) MSLUT2 = (0x62, 0x72) MSLUT3 = (0x63, 0x73) MSLUT4 = (0x64, 0x74) MSLUT5 = (0x65, 0x75) MSLUT6 = (0x66, 0x76) MSLUT7 = (0x67, 0x77) MSLUTSEL = (0x68, 0x78) MSLUTSTART = (0x69, 0x79) MSCNT = (0x6A, 0x7A) MSCURACT = (0x6B, 0x7B) CHOPCONF = (0x6C, 0x7C) COOLCONF = (0x6D, 0x7D) DRV_STATUS = (0x6F, 0x7F) class FIELD: """ Define all register bitfields of the TMC5031. Each field is defined as a tuple consisting of ( Address, Mask, Shift ). Fields that are present multiple times in different registers (for multiple motors) all the bitfield tuples are bundled together into another tuple. 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 POSCMP_ENABLE = (0x00, 0x00000008, 3) TEST_MODE = (0x00, 0x00000080, 7) SHAFT1 = (0x00, 0x00000100, 8) SHAFT2 = (0x00, 0x00000200, 9) LOCK_GCONF = (0x00, 0x00000400, 10) # GSTAT RESET = (0x01, 0x00000001, 0) DRV_ERR1 = (0x01, 0x00000002, 1) UV_CP = (0x01, 0x00000008, 3) # SLAVECONF TEST_SEL = (0x03, 0x0000000F, 0) # INPUT DRV_ENN = (0x04, 0x00000080, 7) VERSION = (0x04, 0xFF000000, 24) # X_COMPARE X_COMPARE = (0x05, 0xFFFFFFFF, 0) # RAMPMODE RAMPMODE_M1 = (0x20, 0x00000003, 0) RAMPMODE_M2 = (0x40, 0x00000003, 0) # XACTUAL XACTUAL_M1 = (0x21, 0xFFFFFFFF, 0) XACTUAL_M2 = (0x41, 0xFFFFFFFF, 0) # VACTUAL VACTUAL_M1 = (0x22, 0x00FFFFFF, 0) VACTUAL_M2 = (0x42, 0x00FFFFFF, 0) # VSTART VSTART_M1 = (0x23, 0x0003FFFF, 0) VSTART_M2 = (0x43, 0x0003FFFF, 0) # A1 A1_M1 = (0x24, 0x0000FFFF, 0) A1_M2 = (0x24, 0x0000FFFF, 0) # V1 V1_M1 = (0x25, 0x000FFFFF, 0) V1_M2 = (0x45, 0x000FFFFF, 0) # AMAX AMAX_M1 = (0x26, 0x0000FFFF, 0) AMAX_M2 = (0x46, 0x0000FFFF, 0) # VMAX VMAX_M1 = (0x27, 0x007FFFFF, 0) VMAX_M2 = (0x47, 0x007FFFFF, 0) # DMAX DMAX_M1 = (0x28, 0x0000FFFF, 0) DMAX_M2 = (0x48, 0x0000FFFF, 0) # D1 D1_M1 = (0x2A, 0x0000FFFF, 0) D1_M2 = (0x4A, 0x0000FFFF, 0) # VSTOP VSTOP_M1 = (0x2B, 0x0003FFFF, 0) VSTOP_M2 = (0x4B, 0x0003FFFF, 0) # TZEROWAIT TZEROWAIT_M1 = (0x2C, 0x0000FFFF, 0) TZEROWAIT_M2 = (0x4C, 0x0000FFFF, 0) # XTARGET XTARGET_M1 = (0x2D, 0xFFFFFFFF, 0) XTARGET_M2 = (0x4D, 0xFFFFFFFF, 0) # IHOLD_IRUN_M1 IHOLD_M1 = (0x30, 0x0000001F, 0) IRUN_M1 = (0x30, 0x00001F00, 8) IHOLDDELAY_M1 = (0x30, 0x000F0000, 16) # IHOLD_IRUN_M2 IHOLD_M2 = (0x50, 0x0000001F, 0) IRUN_M2 = (0x50, 0x00001F00, 8) IHOLDDELAY_M2 = (0x50, 0x000F0000, 16) # VCOOLTHRS VCOOLTHRS_M1 = (0x31, 0x007FFFFF, 0) VCOOLTHRS_M2 = (0x31, 0x007FFFFF, 0) # VHIGH VHIGH_M1 = (0x32, 0x007FFFFF, 0) VHIGH_M2 = (0x52, 0x007FFFFF, 0) # SW_MODE_M1 STOP_L_ENABLE_M1 = (0x34, 0x00000001, 0) STOP_R_ENABLE_M1 = (0x34, 0x00000002, 1) POL_STOP_L_M1 = (0x34, 0x00000004, 2) POL_STOP_R_M1 = (0x34, 0x00000008, 3) SWAP_LR_M1 = (0x34, 0x00000010, 4) LATCH_L_ACTIVE_M1 = (0x34, 0x00000020, 5) LATCH_L_INACTIVE_M1 = (0x34, 0x00000040, 6) LATCH_R_ACTIVE_M1 = (0x34, 0x00000080, 7) LATCH_R_INACTIVE_M1 = (0x34, 0x00000100, 8) SG_STOP_M1 = (0x34, 0x00000400, 10) EN_SOFTSTOP_M1 = (0x34, 0x00000800, 11) # SW_MODE_M2 STOP_L_ENABLE_M2 = (0x54, 0x00000001, 0) STOP_R_ENABLE_M2 = (0x54, 0x00000002, 1) POL_STOP_L_M2 = (0x54, 0x00000004, 2) POL_STOP_R_M2 = (0x54, 0x00000008, 3) SWAP_LR_M2 = (0x54, 0x00000010, 4) LATCH_L_ACTIVE_M2 = (0x54, 0x00000020, 5) LATCH_L_INACTIVE_M2 = (0x54, 0x00000040, 6) LATCH_R_ACTIVE_M2 = (0x54, 0x00000080, 7) LATCH_R_INACTIVE_M2 = (0x54, 0x00000100, 8) SG_STOP_M2 = (0x54, 0x00000400, 10) EN_SOFTSTOP_M2 = (0x54, 0x00000800, 11) # RAMP_STAT_M1 STATUS_STOP_L_M1 = (0x35, 0x00000001, 0) STATUS_STOP_R_M1 = (0x35, 0x00000002, 1) STATUS_LATCH_L_M1 = (0x35, 0x00000004, 2) STATUS_LATCH_R_M1 = (0x35, 0x00000008, 3) EVENT_STOP_L_M1 = (0x35, 0x00000010, 4) EVENT_STOP_R_M1 = (0x35, 0x00000020, 5) EVENT_STOP_SG_M1 = (0x35, 0x00000040, 6) EVENT_POS_REACHED_M1 = (0x35, 0x00000080, 7) VELOCITY_REACHED_M1 = (0x35, 0x00000100, 8) POSITION_REACHED_M1 = (0x35, 0x00000200, 9) VZERO_M1 = (0x35, 0x00000400, 10) T_ZEROWAIT_ACTIVE_M1 = (0x35, 0x00000800, 11) SECOND_MOVE_M1 = (0x35, 0x00001000, 12) STATUS_SG_M1 = (0x35, 0x00002000, 13) # RAMP_STAT_M2 STATUS_STOP_L_M2 = (0x55, 0x00000001, 0) STATUS_STOP_R_M2 = (0x55, 0x00000002, 1) STATUS_LATCH_L_M2 = (0x55, 0x00000004, 2) STATUS_LATCH_R_M2 = (0x55, 0x00000008, 3) EVENT_STOP_L_M2 = (0x55, 0x00000010, 4) EVENT_STOP_R_M2 = (0x55, 0x00000020, 5) EVENT_STOP_SG_M2 = (0x55, 0x00000040, 6) EVENT_POS_REACHED_M2 = (0x55, 0x00000080, 7) VELOCITY_REACHED_M2 = (0x55, 0x00000100, 8) POSITION_REACHED_M2 = (0x55, 0x00000200, 9) VZERO_M2 = (0x55, 0x00000400, 10) T_ZEROWAIT_ACTIVE_M2 = (0x55, 0x00000800, 11) SECOND_MOVE_M2 = (0x55, 0x00001000, 12) STATUS_SG_M2 = (0x55, 0x00002000, 13) # XLATCH XLATCH_M1 = (0x36, 0xFFFFFFFF, 0) XLATCH_M2 = (0x56, 0xFFFFFFFF, 0) # MSLUTSEL_M1 W0_M1 = (0x68, 0x00000003, 0) W1_M1 = (0x68, 0x0000000C, 2) W2_M1 = (0x68, 0x00000030, 4) W3_M1 = (0x68, 0x000000C0, 6) X1_M1 = (0x68, 0x0000FF00, 8) X2_M1 = (0x68, 0x00FF0000, 16) X3_M1 = (0x68, 0xFF000000, 24) # MSLUTSEL_M2 W0_M2 = (0x78, 0x00000003, 0) W1_M2 = (0x78, 0x0000000C, 2) W2_M2 = (0x78, 0x00000030, 4) W3_M2 = (0x78, 0x000000C0, 6) X1_M2 = (0x78, 0x0000FF00, 8) X2_M2 = (0x78, 0x00FF0000, 16) X3_M2 = (0x78, 0xFF000000, 24) # MSLUTSTART_M1 START_SIN_M1 = (0x69, 0x000000FF, 0) START_SIN90_M1 = (0x69, 0x00FF0000, 16) # MSLUTSTART_M2 START_SIN = (0x79, 0x000000FF, 0) START_SIN90 = (0x79, 0x00FF0000, 16) # MSCNT MSCNT_M1 = (0x6A, 0x000003FF, 0) MSCNT_M2 = (0x7A, 0x000003FF, 0) # MSCURACT_M1 CUR_A_M1 = (0x6B, 0x000001FF, 0) CUR_B_M1 = (0x6B, 0x01FF0000, 16) # MSCURACT_M2 CUR_A_M2 = (0x7B, 0x000001FF, 0) CUR_B_M2 = (0x7B, 0x01FF0000, 16) # CHOPCONF_M1 TOFF_M1 = (0x6C, 0x0000000F, 0) TFD_2__0__M1 = (0x6C, 0x00000070, 4) OFFSET_M1 = (0x6C, 0x00000780, 7) HSTRT_M1 = (0x6C, 0x00000070, 4) HEND_M1 = (0x6C, 0x00000780, 7) TFD___M1 = (0x6C, 0x00000800, 11) DISFDCC_M1 = (0x6C, 0x00001000, 12) RNDTF_M1 = (0x6C, 0x00002000, 13) CHM_M1 = (0x6C, 0x00004000, 14) TBL_M1 = (0x6C, 0x00018000, 15) VSENSE_M1 = (0x6C, 0x00020000, 17) VHIGHFS_M1 = (0x6C, 0x00040000, 18) VHIGHCHM_M1 = (0x6C, 0x00080000, 19) SYNC_M1 = (0x6C, 0x00F00000, 20) DISS2G_M1 = (0x6C, 0x40000000, 30) # CHOPCONF_M2 TOFF_M2 = (0x7C, 0x0000000F, 0) TFD_2__0__M2 = (0x7C, 0x00000070, 4) OFFSET_M2 = (0x7C, 0x00000780, 7) HSTRT_M2 = (0x7C, 0x00000070, 4) HEND_M2 = (0x7C, 0x00000780, 7) TFD___M2 = (0x7C, 0x00000800, 11) DISFDCC_M2 = (0x7C, 0x00001000, 12) RNDTF_M2 = (0x7C, 0x00002000, 13) CHM_M2 = (0x7C, 0x00004000, 14) TBL_M2 = (0x7C, 0x00018000, 15) VSENSE_M2 = (0x7C, 0x00020000, 17) VHIGHFS_M2 = (0x7C, 0x00040000, 18) VHIGHCHM_M2 = (0x7C, 0x00080000, 19) SYNC_M2 = (0x7C, 0x00F00000, 20) DISS2G_M2 = (0x7C, 0x40000000, 30) # COOLCONF_M1 SEMIN_M1 = (0x6D, 0x0000000F, 0) SEUP_M1 = (0x6D, 0x00000060, 5) SEMAX_M1 = (0x6D, 0x00000F00, 8) SEDN_M1 = (0x6D, 0x00006000, 13) SEIMIN_M1 = (0x6D, 0x00008000, 15) SGT_M1 = (0x6D, 0x007F0000, 16) SFILT_M1 = (0x6D, 0x01000000, 24) # COOLCONF_M2 SEMIN_M2 = (0x7D, 0x0000000F, 0) SEUP_M2 = (0x7D, 0x00000060, 5) SEMAX_M2 = (0x7D, 0x00000F00, 8) SEDN_M2 = (0x7D, 0x00006000, 13) SEIMIN_M2 = (0x7D, 0x00008000, 15) SGT_M2 = (0x7D, 0x007F0000, 16) SFILT_M2 = (0x7D, 0x01000000, 24) # DRV_STATUS_M1 SG_RESULT_M1 = (0x6F, 0x000003FF, 0) FSACTIVE_M1 = (0x6F, 0x00008000, 15) CS_ACTUAL_M1 = (0x6F, 0x001F0000, 16) STALLGUARD_M1 = (0x6F, 0x01000000, 24) OT_M1 = (0x6F, 0x02000000, 25) OTPW_M1 = (0x6F, 0x04000000, 26) S2GA_M1 = (0x6F, 0x08000000, 27) S2GB_M1 = (0x6F, 0x10000000, 28) OLA_M1 = (0x6F, 0x20000000, 29) OLB_M1 = (0x6F, 0x40000000, 30) STST_M1 = (0x6F, 0x80000000, 31) # DRV_STATUS_M2 SG_RESULT_M2 = (0x7F, 0x000003FF, 0) FSACTIVE_M2 = (0x7F, 0x00008000, 15) CS_ACTUAL_M2 = (0x7F, 0x001F0000, 16) STALLGUARD_M2 = (0x7F, 0x01000000, 24) OT_M2 = (0x7F, 0x02000000, 25) OTPW_M2 = (0x7F, 0x04000000, 26) S2GA_M2 = (0x7F, 0x08000000, 27) S2GB_M2 = (0x7F, 0x10000000, 28) OLA_M2 = (0x7F, 0x20000000, 29) OLB_M2 = (0x7F, 0x40000000, 30) STST_M2 = (0x7F, 0x80000000, 31)