################################################################################ # 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 TMC5062(TMCIc): """ The TMC5062 is a high performance motion controller and driver for up two stepper motors. Supply voltage is 4,75-20V. """ def __init__(self): super().__init__("TMC5062", self.__doc__) class REG: """ Define all registers of the TMC5062. 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_OUTPUT = 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) VDCMIN = (0x33, 0x53) SW_MODE = (0x34, 0x54) RAMP_STAT = (0x35, 0x55) XLATCH = (0x36, 0x56) ENCMODE = (0x38, 0x58) X_ENC = (0x39, 0x59) ENC_CONST = (0x3A, 0x5A) ENC_STATUS = (0x3B, 0x5B) ENC_LATCH = (0x3C, 0x5C) 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 TMC5062. 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) ENC1_REFSEL = (0x00, 0x00000010, 4) ENC2_ENABLE = (0x00, 0x00000020, 5) ENC2_REFSEL = (0x00, 0x00000040, 6) 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) DRV_ERR2 = (0x01, 0x00000004, 2) UV_CP = (0x01, 0x00000008, 3) # SLAVECONF TEST_SEL = (0x03, 0x0000000F, 0) SENDDELAY = (0x03, 0x000000F0, 4) # INPUT / OUTPUT IO0_IN = (0x04, 0x00000001, 0) IO1_IN = (0x04, 0x00000002, 1) IO2_IN = (0x04, 0x00000004, 2) IO3_IN = (0x04, 0x00000008, 3) IOP_IN = (0x04, 0x00000010, 4) ION_IN = (0x04, 0x00000020, 5) DRV_ENN = (0x04, 0x00000080, 7) VERSION = (0x04, 0xFF000000, 24) IO0_OUT = (0x04, 0x00000001, 0) IO1_OUT = (0x04, 0x00000002, 1) IO2_OUT = (0x04, 0x00000004, 2) IO3_OUT = (0x04, 0x00000008, 3) IODDR0 = (0x04, 0x00000100, 8) IODDR1 = (0x04, 0x00000200, 9) IODDR2 = (0x04, 0x00000400, 10) IODDR3 = (0x04, 0x00000800, 11) # X_COMPARE X_COMPARE = (0x05, 0xFFFFFFFF, 0) class FIELD_M1: # RAMPMODE_M1 RAMPMODE = (0x20, 0x00000003, 0) # XACTUAL_M1 XACTUAL = (0x21, 0xFFFFFFFF, 0) # VACTUAL_M1 VACTUAL = (0x22, 0x00FFFFFF, 0) # VSTART_M1 VSTART = (0x23, 0x0003FFFF, 0) # A1_M1 A1 = (0x24, 0x0000FFFF, 0) # V1_M1 V1 = (0x25, 0x000FFFFF, 0) # AMAX_M1 AMAX = (0x26, 0x0000FFFF, 0) # VMAX_M1 VMAX = (0x27, 0x007FFFFF, 0) # DMAX_M1 DMAX = (0x28, 0x0000FFFF, 0) # D1_M1 D1 = (0x2A, 0x0000FFFF, 0) # VSTOP_M1 VSTOP = (0x2B, 0x0003FFFF, 0) # TZEROWAIT_M1 TZEROWAIT = (0x2C, 0x0000FFFF, 0) # XTARGET_M1 XTARGET = (0x2D, 0xFFFFFFFF, 0) # IHOLD_IRUN_M1 IHOLD = (0x30, 0x0000001F, 0) IRUN = (0x30, 0x00001F00, 8) IHOLDDELAY = (0x30, 0x000F0000, 16) # VCOOLTHRS_M1 VCOOLTHRS = (0x31, 0x007FFFFF, 0) # VHIGH_M1 VHIGH = (0x32, 0x007FFFFF, 0) # VDCMIN_M1 VDCMIN = (0x33, 0x007FFFFF, 0) # SW_MODE_M1 STOP_L_ENABLE = (0x34, 0x00000001, 0) STOP_R_ENABLE = (0x34, 0x00000002, 1) POL_STOP_L = (0x34, 0x00000004, 2) POL_STOP_R = (0x34, 0x00000008, 3) SWAP_LR = (0x34, 0x00000010, 4) LATCH_L_ACTIVE = (0x34, 0x00000020, 5) LATCH_L_INACTIVE = (0x34, 0x00000040, 6) LATCH_R_ACTIVE = (0x34, 0x00000080, 7) LATCH_R_INACTIVE = (0x34, 0x00000100, 8) EN_LATCH_ENCODER = (0x34, 0x00000200, 9) SG_STOP = (0x34, 0x00000400, 10) EN_SOFTSTOP = (0x34, 0x00000800, 11) # RAMP_STAT_M1 STATUS_STOP_L = (0x35, 0x00000001, 0) STATUS_STOP_R = (0x35, 0x00000002, 1) STATUS_LATCH_L = (0x35, 0x00000004, 2) STATUS_LATCH_R = (0x35, 0x00000008, 3) EVENT_STOP_L = (0x35, 0x00000010, 4) EVENT_STOP_R = (0x35, 0x00000020, 5) EVENT_STOP_SG = (0x35, 0x00000040, 6) EVENT_POS_REACHED = (0x35, 0x00000080, 7) VELOCITY_REACHED = (0x35, 0x00000100, 8) POSITION_REACHED = (0x35, 0x00000200, 9) VZERO = (0x35, 0x00000400, 10) T_ZEROWAIT_ACTIVE = (0x35, 0x00000800, 11) SECOND_MOVE = (0x35, 0x00001000, 12) STATUS_SG = (0x35, 0x00002000, 13) # XLATCH_M1 XLATCH = (0x36, 0xFFFFFFFF, 0) # ENCMODE_M1 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_EDGE_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_M1 X_ENC = (0x39, 0xFFFFFFFF, 0) # ENC_CONST_M1 INTEGER = (0x3A, 0xFFFF0000, 16) FRACTIONAL = (0x3A, 0x0000FFFF, 0) # ENC_STATUS_M1 ENC_STATUS = (0x3B, 0x00000001, 0) # ENC_LATCH_M1 ENC_LATCH = (0x3C, 0xFFFFFFFF, 0) # MSLUTSEL_M1 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_M1 START_SIN = (0x69, 0x000000FF, 0) START_SIN90 = (0x69, 0x00FF0000, 16) # MSCNT_M1 MSCNT = (0x6A, 0x000003FF, 0) # MSCURACT_M1 CUR_A = (0x6B, 0x000001FF, 0) CUR_B = (0x6B, 0x01FF0000, 16) # CHOPCONF_M1 TOFF = (0x6C, 0x0000000F, 0) TFD_2__0_ = (0x6C, 0x00000070, 4) OFFSET = (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) DISS2G = (0x6C, 0x40000000, 30) # COOLCONF_M1 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) # DRV_STATUS_M1 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) class FIELD_M2: # RAMPMODE_M2 RAMPMODE = (0x40, 0x00000003, 0) # XACTUAL_M2 XACTUAL = (0x41, 0xFFFFFFFF, 0) # VACTUAL_M2 VACTUAL = (0x42, 0x00FFFFFF, 0) # VSTART_M2 VSTART = (0x43, 0x0003FFFF, 0) # A1_M2 A1 = (0x44, 0x0000FFFF, 0) # V1_M2 V1_ = (0x45, 0x000FFFFF, 0) # AMAX_M2 AMAX = (0x46, 0x0000FFFF, 0) # VMAX_M2 VMAX = (0x47, 0x007FFFFF, 0) # DMAX_M2 DMAX = (0x48, 0x0000FFFF, 0) # D1_M2 D1 = (0x4A, 0x0000FFFF, 0) # VSTOP_M2 VSTOP = (0x4B, 0x0003FFFF, 0) # TZEROWAIT_M2 TZEROWAIT = (0x4C, 0x0000FFFF, 0) # XTARGET_M2 XTARGET = (0x4D, 0xFFFFFFFF, 0) # IHOLD_IRUN_M2 IHOLD = (0x50, 0x0000001F, 0) IRUN = (0x50, 0x00001F00, 8) IHOLDDELAY = (0x50, 0x000F0000, 16) # VCOOLTHRS_M2 VCOOLTHRS = (0x51, 0x007FFFFF, 0) # VHIGH_M2 VHIGH = (0x52, 0x007FFFFF, 0) # VDCMIN_M2 VDCMIN = (0x53, 0x007FFFFF, 0) # SW_MODE_M2 STOP_L_ENABLE = (0x54, 0x00000001, 0) STOP_R_ENABLE = (0x54, 0x00000002, 1) POL_STOP_L = (0x54, 0x00000004, 2) POL_STOP_R = (0x54, 0x00000008, 3) SWAP_LR = (0x54, 0x00000010, 4) LATCH_L_ACTIVE = (0x54, 0x00000020, 5) LATCH_L_INACTIVE = (0x54, 0x00000040, 6) LATCH_R_ACTIVE = (0x54, 0x00000080, 7) LATCH_R_INACTIVE = (0x54, 0x00000100, 8) EN_LATCH_ENCODER = (0x54, 0x00000200, 9) SG_STOP = (0x54, 0x00000400, 10) EN_SOFTSTOP = (0x54, 0x00000800, 11) # RAMP_STAT_M2 STATUS_STOP_L = (0x55, 0x00000001, 0) STATUS_STOP_R = (0x55, 0x00000002, 1) STATUS_LATCH_L = (0x55, 0x00000004, 2) STATUS_LATCH_R = (0x55, 0x00000008, 3) EVENT_STOP_L = (0x55, 0x00000010, 4) EVENT_STOP_R = (0x55, 0x00000020, 5) EVENT_STOP_SG = (0x55, 0x00000040, 6) EVENT_POS_REACHED = (0x55, 0x00000080, 7) VELOCITY_REACHED = (0x55, 0x00000100, 8) POSITION_REACHED = (0x55, 0x00000200, 9) VZERO = (0x55, 0x00000400, 10) T_ZEROWAIT_ACTIVE = (0x55, 0x00000800, 11) SECOND_MOVE = (0x55, 0x00001000, 12) STATUS_SG = (0x55, 0x00002000, 13) # XLATCH_M2 XLATCH = (0x56, 0xFFFFFFFF, 0) # ENCMODE_M2 POL_A = (0x58, 0x00000001, 0) POL_B = (0x58, 0x00000002, 1) POL_N = (0x58, 0x00000004, 2) IGNORE_AB = (0x58, 0x00000008, 3) CLR_CONT = (0x58, 0x00000010, 4) CLR_ONCE = (0x58, 0x00000020, 5) POS_EDGE_NEG_EDGE = (0x58, 0x000000C0, 6) CLR_ENC_X = (0x58, 0x00000100, 8) LATCH_X_ACT = (0x58, 0x00000200, 9) ENC_SEL_DECIMAL = (0x58, 0x00000400, 10) # X_ENC_M2 X_ENC = (0x59, 0xFFFFFFFF, 0) # ENC_CONST_M2 INTEGER = (0x5A, 0xFFFF0000, 16) FRACTIONAL = (0x5A, 0x0000FFFF, 0) # ENC_STATUS_M2 ENC_STATUS = (0x5B, 0x00000001, 0) # ENC_LATCH_M2 ENC_LATCH = (0x5C, 0xFFFFFFFF, 0) # MSLUTSEL_M2 W0 = (0x78, 0x00000003, 0) W1 = (0x78, 0x0000000C, 2) W2 = (0x78, 0x00000030, 4) W3 = (0x78, 0x000000C0, 6) X1 = (0x78, 0x0000FF00, 8) X2 = (0x78, 0x00FF0000, 16) X3 = (0x78, 0xFF000000, 24) # MSLUTSTART_M2 START_SIN = (0x79, 0x000000FF, 0) START_SIN90 = (0x79, 0x00FF0000, 16) # MSCNT_M2 MSCNT = (0x7A, 0x000003FF, 0) # MSCURACT_M2 CUR_A = (0x7B, 0x000001FF, 0) CUR_B = (0x7B, 0x01FF0000, 16) # CHOPCONF_M2 TOFF = (0x7C, 0x0000000F, 0) TFD_2__0_ = (0x7C, 0x00000070, 4) OFFSET = (0x7C, 0x00000780, 7) TFD__ = (0x7C, 0x00000800, 11) DISFDCC = (0x7C, 0x00001000, 12) RNDTF = (0x7C, 0x00002000, 13) CHM = (0x7C, 0x00004000, 14) TBL = (0x7C, 0x00018000, 15) VSENSE = (0x7C, 0x00020000, 17) VHIGHFS = (0x7C, 0x00040000, 18) VHIGHCHM = (0x7C, 0x00080000, 19) SYNC = (0x7C, 0x00F00000, 20) DISS2G = (0x7C, 0x40000000, 30) # COOLCONF_M2 SEMIN = (0x7D, 0x0000000F, 0) SEUP = (0x7D, 0x00000060, 5) SEMAX = (0x7D, 0x00000F00, 8) SEDN = (0x7D, 0x00006000, 13) SEIMIN = (0x7D, 0x00008000, 15) SGT = (0x7D, 0x007F0000, 16) SFILT = (0x7D, 0x01000000, 24) # DRV_STATUS_M2 SG_RESULT = (0x7F, 0x000003FF, 0) FSACTIVE = (0x7F, 0x00008000, 15) CS_ACTUAL = (0x7F, 0x001F0000, 16) STALLGUARD = (0x7F, 0x01000000, 24) OT = (0x7F, 0x02000000, 25) OTPW = (0x7F, 0x04000000, 26) S2GA = (0x7F, 0x08000000, 27) S2GB = (0x7F, 0x10000000, 28) OLA = (0x7F, 0x20000000, 29) OLB = (0x7F, 0x40000000, 30) STST = (0x7F, 0x80000000, 31)