################################################################################ # 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 # features from ..features.motor_control_ic import MotorControlIc class TMC5072(TMCIc): """ The TMC5072 is a high-performance stepper motor controller and driver IC with serial communication interfaces. Supply voltage: 5-28V """ def __init__(self, parent_eval): """ Constructor for the TMC_IC instance. Parameters: handler: Handler object for register access operations. This object is expected to implement write_register and read_register functions to read/write registers via platform-specific communication. channel: Channel identifier for this IC. This will be handed to the write_register and read_register functions of the handler to differentiate between multiple ICs. """ super().__init__("TMC5072", self.__doc__) self._parent = parent_eval self.motors = [self.MotorTypeA(parent_eval, self, 0), self.MotorTypeA(parent_eval, self, 1)] class MotorTypeA(MotorControlIc): """ Motor class for the generic motor. """ def __init__(self, parent_eval, ic, axis): MotorControlIc.__init__(self, parent_eval, ic, axis) class REG: """ Define all registers of the TMC5072. 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 IFCNT = 0x02 SLAVECONF = 0x03 INPUT___OUTPUT = 0x04 X_COMPARE = 0x05 PWMCONF_M1 = 0x10 PWM_STATUS_M1 = 0x11 PWMCONF_M2 = 0x18 PWM_STATUS_M2 = 0x19 RAMPMODE_M1 = 0x20 XACTUAL_M1 = 0x21 VACTUAL_M1 = 0x22 VSTART_M1 = 0x23 A1_M1 = 0x24 V1_M1 = 0x25 AMAX_M1 = 0x26 VMAX_M1 = 0x27 DMAX_M1 = 0x28 D1_M1 = 0x2A VSTOP_M1 = 0x2B TZEROWAIT_M1 = 0x2C XTARGET_M1 = 0x2D RAMPMODE_M2 = 0x40 XACTUAL_M2 = 0x41 VACTUAL_M2 = 0x42 VSTART_M2 = 0x43 A1_M2 = 0x44 V1_M2 = 0x45 AMAX_M2 = 0x46 VMAX_M2 = 0x47 DMAX_M2 = 0x48 D1_M2 = 0x4A VSTOP_M2 = 0x4B TZEROWAIT_M2 = 0x4C XTARGET_M2 = 0x4D IHOLD_IRUN_M1 = 0x30 VCOOLTHRS_M1 = 0x31 VHIGH_M1 = 0x32 VDCMIN_M1 = 0x33 SW_MODE_M1 = 0x34 RAMP_STAT_M1 = 0x35 XLATCH_M1 = 0x36 IHOLD_IRUN_M2 = 0x50 VCOOLTHRS_M2 = 0x51 VHIGH_M2 = 0x52 VDCMIN_M2 = 0x53 SW_MODE_M2 = 0x54 RAMP_STAT_M2 = 0x55 XLATCH_M2 = 0x56 ENCMODE_M1 = 0x38 X_ENC_M1 = 0x39 ENC_CONST_M1 = 0x3A ENC_STATUS_M1 = 0x3B ENC_LATCH_M1 = 0x3C ENCMODE_M2 = 0x58 X_ENC_M2 = 0x59 ENC_CONST_M2 = 0x5A ENC_STATUS_M2 = 0x5B ENC_LATCH_M2 = 0x5C 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_M1 = 0x6A MSCURACT_M1 = 0x6B CHOPCONF_M1 = 0x6C COOLCONF_M1 = 0x6D DCCTRL_M1 = 0x6E DRV_STATUS_M1 = 0x6F MSCNT_M2 = 0x7A MSCURACT_M2 = 0x7B CHOPCONF_M2 = 0x7C COOLCONF_M2 = 0x7D DCCTRL_M2 = 0x7E DRV_STATUS_M2 = 0x7F class FIELD(object): """ Define all register bitfields of the TMC5072. 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 of 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 SINGLE_DRIVER = (0x00, 0x00000001, 0) STEPDIR1_ENABLE = (0x00, 0x00000002, 1) STEPDIR2_ENABLE = (0x00, 0x00000004, 2) 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) DC_SYNC = (0x00, 0x00000800, 11) # GSTAT RESET = (0x01, 0x00000001, 0) DRV_ERR1 = (0x01, 0x00000002, 1) DRV_ERR2 = (0x01, 0x00000004, 2) UV_CP = (0x01, 0x00000008, 3) # IFCNT IFCNT = (0x02, 0x000000FF, 0) # SLAVECONF SLAVEADDR = (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) NEXTADDR_IN = (0x04, 0x00000040, 6) DRV_ENN = (0x04, 0x00000080, 7) SW_COMP_IN = (0x04, 0x00000100, 8) VERSION = (0x04, 0xFF000000, 24) IO0_OUT = (0x04, 0x00000001, 0) IO1_OUT = (0x04, 0x00000002, 1) IO2_OUT = (0x04, 0x00000004, 2) IODDR0 = (0x04, 0x00000100, 8) IODDR1 = (0x04, 0x00000200, 9) IODDR2 = (0x04, 0x00000400, 10) # X_COMPARE X_COMPARE = (0x05, 0xFFFFFFFF, 0) # PWMCONF_M1 PWM_AMPL_M1 = (0x10, 0x000000FF, 0) PWM_GRAD_M1 = (0x10, 0x0000FF00, 8) PWM_FREQ_M1 = (0x10, 0x00030000, 16) PWM_AUTOSCALE_M1 = (0x10, 0x00040000, 18) PWM_SYMMETRIC_M1 = (0x10, 0x00080000, 19) FREEWHEEL_M1 = (0x10, 0x00300000, 20) # PWM_STATUS_M1 PWM_STATUS_M1 = (0x11, 0x000000FF, 0) # PWMCONF_M2 PWM_AMPL_M2 = (0x18, 0x000000FF, 0) PWM_GRAD_M2 = (0x18, 0x0000FF00, 8) PWM_FREQ_M2 = (0x18, 0x00030000, 16) PWM_AUTOSCALE_M2 = (0x18, 0x00040000, 18) PWM_SYMMETRIC_M2 = (0x18, 0x00080000, 19) FREEWHEEL_M2 = (0x18, 0x00300000, 20) # PWM_STATUS_M2 PWM_STATUS_M2 = (0x19, 0x000000FF, 0) # RAMPMODE_M1 RAMPMODE_M1 = (0x20, 0x00000003, 0) # XACTUAL_M1 XACTUAL_M1 = (0x21, 0xFFFFFFFF, 0) # VACTUAL_M1 VACTUAL_M1 = (0x22, 0x00FFFFFF, 0) # VSTART_M1 VSTART_M1 = (0x23, 0x0003FFFF, 0) # A1_M1 A1_M1 = (0x24, 0x0000FFFF, 0) # V1_M1 V1_M1 = (0x25, 0x000FFFFF, 0) # AMAX_M1 AMAX_M1 = (0x26, 0x0000FFFF, 0) # VMAX_M1 VMAX_M1 = (0x27, 0x007FFFFF, 0) # DMAX_M1 DMAX_M1 = (0x28, 0x0000FFFF, 0) # D1_M1 D1_M1 = (0x2A, 0x0000FFFF, 0) # VSTOP_M1 VSTOP_M1 = (0x2B, 0x0003FFFF, 0) # TZEROWAIT_M1 TZEROWAIT_M1 = (0x2C, 0x0000FFFF, 0) # XTARGET_M1 XTARGET_M1 = (0x2D, 0xFFFFFFFF, 0) # RAMPMODE_M2 RAMPMODE_M2 = (0x40, 0x00000003, 0) # XACTUAL_M2 XACTUAL_M2 = (0x41, 0xFFFFFFFF, 0) # VACTUAL_M2 VACTUAL_M2 = (0x42, 0x00FFFFFF, 0) # VSTART_M2 VSTART_M2 = (0x43, 0x0003FFFF, 0) # A1_M2 A1_M2 = (0x44, 0x0000FFFF, 0) # V1_M2 V1_M2 = (0x45, 0x000FFFFF, 0) # AMAX_M2 AMAX_M2 = (0x46, 0x0000FFFF, 0) # VMAX_M2 VMAX_M2 = (0x47, 0x007FFFFF, 0) # DMAX_M2 DMAX_M2 = (0x48, 0x0000FFFF, 0) # D1_M2 D1_M2 = (0x4A, 0x0000FFFF, 0) # VSTOP_M2 VSTOP_M2 = (0x4B, 0x0003FFFF, 0) # TZEROWAIT_M2 TZEROWAIT_M2 = (0x4C, 0x0000FFFF, 0) # XTARGET_M2 XTARGET_M2 = (0x4D, 0xFFFFFFFF, 0) # IHOLD_IRUN_M1 IHOLD_M1 = (0x30, 0x0000001F, 0) IRUN_M1 = (0x30, 0x00001F00, 8) IHOLDDELAY_M1 = (0x30, 0x000F0000, 16) # VCOOLTHRS_M1 VCOOLTHRS_M1 = (0x31, 0x007FFFFF, 0) # VHIGH_M1 VHIGH_M1 = (0x32, 0x007FFFFF, 0) # VDCMIN_M1 VDCMIN_M1 = (0x33, 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) EN_LATCH_ENCODER_M1 = (0x34, 0x00000200, 9) SG_STOP_M1 = (0x34, 0x00000400, 10) EN_SOFTSTOP_M1 = (0x34, 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) # XLATCH_M1 XLATCH_M1 = (0x36, 0xFFFFFFFF, 0) # IHOLD_IRUN_M2 IHOLD_M2 = (0x50, 0x0000001F, 0) IRUN_M2 = (0x50, 0x00001F00, 8) IHOLDDELAY_M2 = (0x50, 0x000F0000, 16) # VCOOLTHRS_M2 VCOOLTHRS_M2 = (0x51, 0x007FFFFF, 0) # VHIGH_M2 VHIGH_M2 = (0x52, 0x007FFFFF, 0) # VDCMIN_M2 VDCMIN_M2 = (0x53, 0x007FFFFF, 0) # 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) EN_LATCH_ENCODER_M2 = (0x54, 0x00000200, 9) SG_STOP_M2 = (0x54, 0x00000400, 10) EN_SOFTSTOP_M2 = (0x54, 0x00000800, 11) # 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_M2 XLATCH_M2 = (0x56, 0xFFFFFFFF, 0) # ENCMODE_M1 POL_A_M1 = (0x38, 0x00000001, 0) POL_B_M1 = (0x38, 0x00000002, 1) POL_N_M1 = (0x38, 0x00000004, 2) IGNORE_AB_M1 = (0x38, 0x00000008, 3) CLR_CONT_M1 = (0x38, 0x00000010, 4) CLR_ONCE_M1 = (0x38, 0x00000020, 5) POS_EDGE_NEG_EDGE_M1 = (0x38, 0x000000C0, 6) CLR_ENC_X_M1 = (0x38, 0x00000100, 8) LATCH_X_ACT_M1 = (0x38, 0x00000200, 9) ENC_SEL_DECIMAL_M1 = (0x38, 0x00000400, 10) LATCH_NOW_M1 = (0x38, 0x00000800, 11) # X_ENC_M1 X_ENC_M1 = (0x39, 0xFFFFFFFF, 0) # ENC_CONST_M1 INTEGER_M1 = (0x3A, 0xFFFF0000, 16) FRACTIONAL_M1 = (0x3A, 0x0000FFFF, 0) # ENC_STATUS_M1 ENC_STATUS_M1 = (0x3B, 0x00000001, 0) # ENC_LATCH_M1 ENC_LATCH_M1 = (0x3C, 0xFFFFFFFF, 0) # ENCMODE_M2 POL_A_M2 = (0x58, 0x00000001, 0) POL_B_M2 = (0x58, 0x00000002, 1) POL_N_M2 = (0x58, 0x00000004, 2) IGNORE_AB_M2 = (0x58, 0x00000008, 3) CLR_CONT_M2 = (0x58, 0x00000010, 4) CLR_ONCE_M2 = (0x58, 0x00000020, 5) POS_EDGE_NEG_EDGE_M2 = (0x58, 0x000000C0, 6) CLR_ENC_X_M2 = (0x58, 0x00000100, 8) LATCH_X_ACT_M2 = (0x58, 0x00000200, 9) ENC_SEL_DECIMAL_M2 = (0x58, 0x00000400, 10) LATCH_NOW_M2 = (0x58, 0x00000800, 11) # X_ENC_M2 X_ENC_M2 = (0x59, 0xFFFFFFFF, 0) # ENC_CONST_M2 FRACTIONAL_M2 = (0x5A, 0x0000FFFF, 0) INTEGER_M2 = (0x5A, 0xFFFF0000, 16) # ENC_STATUS_M2 ENC_STATUS_M2 = (0x5B, 0x00000001, 0) # ENC_LATCH_M2 ENC_LATCH_M2 = (0x5C, 0xFFFFFFFF, 0) # MSLUTSEL 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 START_SIN = (0x69, 0x000000FF, 0) START_SIN90 = (0x69, 0x00FF0000, 16) # MSCNT_M1 MSCNT_M1 = (0x6A, 0x000003FF, 0) # MSCURACT_M1 CUR_A_M1 = (0x6B, 0x000001FF, 0) CUR_B_M1 = (0x6B, 0x01FF0000, 16) # CHOPCONF_M1 TOFF_M1 = (0x6C, 0x0000000F, 0) TFD_2_0_M1 = (0x6C, 0x00000070, 4) OFFSET_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) MRES_M1 = (0x6C, 0x0F000000, 24) INTPOL_M1 = (0x6C, 0x10000000, 28) DEDGE_M1 = (0x6C, 0x20000000, 29) DISS2G_M1 = (0x6C, 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) # DCCTRL_M1 DC_TIME_M1 = (0x6E, 0x000003FF, 0) DC_SG_M1 = (0x6E, 0x00FF0000, 16) # 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) # MSCNT_M2 MSCNT_M2 = (0x7A, 0x000003FF, 0) # MSCURACT_M2 CUR_A_M2 = (0x7B, 0x000001FF, 0) CUR_B_M2 = (0x7B, 0x01FF0000, 16) # CHOPCONF_M2 TOFF_M2 = (0x7C, 0x0000000F, 0) TFD_2_0_M2 = (0x7C, 0x00000070, 4) OFFSET_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) MRES_M2 = (0x7C, 0x0F000000, 24) INTPOL_M2 = (0x7C, 0x10000000, 28) DEDGE_M2 = (0x7C, 0x20000000, 29) DISS2G_M2 = (0x7C, 0x40000000, 30) # 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) # DCCTRL_M2 DC_TIME_M2 = (0x7E, 0x000003FF, 0) DC_SG_M2 = (0x7E, 0x00FF0000, 16) # 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) PWM_AMPL = [PWM_AMPL_M1, PWM_AMPL_M2] PWM_GRAD = [PWM_GRAD_M1, PWM_GRAD_M2] PWM_FREQ = [PWM_FREQ_M1, PWM_FREQ_M2] PWM_AUTOSCALE = [PWM_AUTOSCALE_M1, PWM_AUTOSCALE_M2] PWM_SYMMETRIC = [PWM_SYMMETRIC_M1, PWM_SYMMETRIC_M2] FREEWHEEL = [FREEWHEEL_M1, FREEWHEEL_M2] PWM_STATUS = [PWM_STATUS_M1, PWM_STATUS_M2] RAMPMODE = [RAMPMODE_M1, RAMPMODE_M2] XACTUAL = [XACTUAL_M1, XACTUAL_M2] VACTUAL = [VACTUAL_M1, VACTUAL_M2] VSTART = [VSTART_M1, VSTART_M2] A1 = [A1_M1, A1_M2] V1 = [V1_M1, V1_M2] AMAX = [AMAX_M1, AMAX_M2] VMAX = [VMAX_M1, VMAX_M2] DMAX = [DMAX_M1, DMAX_M2] D1 = [D1_M1, D1_M2] VSTOP = [VSTOP_M1, VSTOP_M2] TZEROWAIT = [TZEROWAIT_M1, TZEROWAIT_M2] XTARGET = [XTARGET_M1, XTARGET_M2] IHOLD = [IHOLD_M1, IHOLD_M2] IRUN = [IRUN_M1, IRUN_M2] IHOLDDELAY = [IHOLDDELAY_M1, IHOLDDELAY_M2] VCOOLTHRS = [VCOOLTHRS_M1, VCOOLTHRS_M2] VHIGH = [VHIGH_M1, VHIGH_M2] VDCMIN = [VDCMIN_M1, VDCMIN_M2] STOP_L_ENABLE = [STOP_L_ENABLE_M1, STOP_L_ENABLE_M2] STOP_R_ENABLE = [STOP_R_ENABLE_M1, STOP_R_ENABLE_M2] POL_STOP_L = [POL_STOP_L_M1, POL_STOP_L_M2] POL_STOP_R = [POL_STOP_R_M1, POL_STOP_R_M2] SWAP_LR = [SWAP_LR_M1, SWAP_LR_M2] LATCH_L_ACTIVE = [LATCH_L_ACTIVE_M1, LATCH_L_ACTIVE_M2] LATCH_L_INACTIVE = [LATCH_L_INACTIVE_M1, LATCH_L_INACTIVE_M2] LATCH_R_ACTIVE = [LATCH_R_ACTIVE_M1, LATCH_R_ACTIVE_M2] LATCH_R_INACTIVE = [LATCH_R_INACTIVE_M1, LATCH_R_INACTIVE_M2] EN_LATCH_ENCODER = [EN_LATCH_ENCODER_M1, EN_LATCH_ENCODER_M2] SG_STOP = [SG_STOP_M1, SG_STOP_M2] EN_SOFTSTOP = [EN_SOFTSTOP_M1, EN_SOFTSTOP_M2] STATUS_STOP_L = [STATUS_STOP_L_M1, STATUS_STOP_L_M2] STATUS_STOP_R = [STATUS_STOP_R_M1, STATUS_STOP_R_M2] STATUS_LATCH_L = [STATUS_LATCH_L_M1, STATUS_LATCH_L_M2] STATUS_LATCH_R = [STATUS_LATCH_R_M1, STATUS_LATCH_R_M2] EVENT_STOP_L = [EVENT_STOP_L_M1, EVENT_STOP_L_M2] EVENT_STOP_R = [EVENT_STOP_R_M1, EVENT_STOP_R_M2] EVENT_STOP_SG = [EVENT_STOP_SG_M1, EVENT_STOP_SG_M2] EVENT_POS_REACHED = [EVENT_POS_REACHED_M1, EVENT_POS_REACHED_M2] VELOCITY_REACHED = [VELOCITY_REACHED_M1, VELOCITY_REACHED_M2] POSITION_REACHED = [POSITION_REACHED_M1, POSITION_REACHED_M2] VZERO = [VZERO_M1, VZERO_M2] T_ZEROWAIT_ACTIVE = [T_ZEROWAIT_ACTIVE_M1, T_ZEROWAIT_ACTIVE_M2] SECOND_MOVE = [SECOND_MOVE_M1, SECOND_MOVE_M2] STATUS_SG = [STATUS_SG_M1, STATUS_SG_M2] XLATCH = [XLATCH_M1, XLATCH_M2] POL_A = [POL_A_M1, POL_A_M2] POL_B = [POL_B_M1, POL_B_M2] POL_N = [POL_N_M1, POL_N_M2] IGNORE_AB = [IGNORE_AB_M1, IGNORE_AB_M2] CLR_CONT = [CLR_CONT_M1, CLR_CONT_M2] CLR_ONCE = [CLR_ONCE_M1, CLR_ONCE_M2] POS_EDGE_NEG_EDGE = [POS_EDGE_NEG_EDGE_M1, POS_EDGE_NEG_EDGE_M2] CLR_ENC_X = [CLR_ENC_X_M1, CLR_ENC_X_M2] LATCH_X_ACT = [LATCH_X_ACT_M1, LATCH_X_ACT_M2] ENC_SEL_DECIMAL = [ENC_SEL_DECIMAL_M1, ENC_SEL_DECIMAL_M2] LATCH_NOW = [LATCH_NOW_M1, LATCH_NOW_M2] X_ENC = [X_ENC_M1, X_ENC_M2] INTEGER = [INTEGER_M1, INTEGER_M2] FRACTIONAL = [FRACTIONAL_M1, FRACTIONAL_M2] ENC_STATUS = [ENC_STATUS_M1, ENC_STATUS_M2] ENC_LATCH = [ENC_LATCH_M1, ENC_LATCH_M2] MSCNT = [MSCNT_M1, MSCNT_M2] CUR_A = [CUR_A_M1, CUR_A_M2] CUR_B = [CUR_B_M1, CUR_B_M2] TOFF = [TOFF_M1, TOFF_M2] TFD_2_0 = [TFD_2_0_M1, TFD_2_0_M2] OFFSET = [OFFSET_M1, OFFSET_M2] TFD = [TFD_M1, TFD_M2] DISFDCC = [DISFDCC_M1, DISFDCC_M2] RNDTF = [RNDTF_M1, RNDTF_M2] CHM = [CHM_M1, CHM_M2] TBL = [TBL_M1, TBL_M2] VSENSE = [VSENSE_M1, VSENSE_M2] VHIGHFS = [VHIGHFS_M1, VHIGHFS_M2] VHIGHCHM = [VHIGHCHM_M1, VHIGHCHM_M2] MRES = [MRES_M1, MRES_M2] INTPOL = [INTPOL_M1, INTPOL_M2] DEDGE = [DEDGE_M1, DEDGE_M2] DISS2G = [DISS2G_M1, DISS2G_M2] SEMIN = [SEMIN_M1, SEMIN_M2] SEUP = [SEUP_M1, SEUP_M2] SEMAX = [SEMAX_M1, SEMAX_M2] SEDN = [SEDN_M1, SEDN_M2] SEIMIN = [SEIMIN_M1, SEIMIN_M2] SGT = [SGT_M1, SGT_M2] SFILT = [SFILT_M1, SFILT_M2] DC_TIME = [DC_TIME_M1, DC_TIME_M2] DC_SG = [DC_SG_M1, DC_SG_M2] SG_RESULT = [SG_RESULT_M1, SG_RESULT_M2] FSACTIVE = [FSACTIVE_M1, FSACTIVE_M2] CS_ACTUAL = [CS_ACTUAL_M1, CS_ACTUAL_M2] STALLGUARD = [STALLGUARD_M1, STALLGUARD_M2] OT = [OT_M1, OT_M2] OTPW = [OTPW_M1, OTPW_M2] S2GA = [S2GA_M1, S2GA_M2] S2GB = [S2GB_M1, S2GB_M2] OLA = [OLA_M1, OLA_M2] OLB = [OLB_M1, OLB_M2] STST = [STST_M1, STST_M2]