################################################################################ # 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 TMC5130(TMCIc): """ The TMC5130 is a high-performance stepper motor controller and driver IC with serial communication interfaces. Supply voltage: 4,75-46V """ 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__("TMC5130", self.__doc__) self._parent = parent_eval self.motors = [self.MotorTypeA(parent_eval, self, 0)] 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 TMC5130. 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 IOIN_OUTPUT = 0x04 X_COMPARE = 0x05 IHOLD_IRUN = 0x10 TPOWERDOWN = 0x11 TSTEP = 0x12 TPWMTHRS = 0x13 TCOOLTHRS = 0x14 THIGH = 0x15 RAMPMODE = 0x20 XACTUAL = 0x21 VACTUAL = 0x22 VSTART = 0x23 A1 = 0x24 V1 = 0x25 AMAX = 0x26 VMAX = 0x27 DMAX = 0x28 D1 = 0x2A VSTOP = 0x2B TZEROWAIT = 0x2C XTARGET = 0x2D VDCMIN = 0x33 SW_MODE = 0x34 RAMP_STAT = 0x35 XLATCH = 0x36 ENCMODE = 0x38 X_ENC = 0x39 ENC_CONST = 0x3A ENC_STATUS = 0x3B ENC_LATCH = 0x3C 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 = 0x6A MSCURACT = 0x6B CHOPCONF = 0x6C COOLCONF = 0x6D DCCTRL = 0x6E DRV_STATUS = 0x6F PWMCONF = 0x70 PWM_SCALE = 0x71 ENCM_CTRL = 0x72 LOST_STEPS = 0x73 class FIELD: """ Define all register bitfields of the TMC5130. 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. """ # GCONF I_SCALE_ANALOG = (0x00, 0x00000001, 0) INTERNAL_RSENSE = (0x00, 0x00000002, 1) EN_PWM_MODE = (0x00, 0x00000004, 2) ENC_COMMUTATION = (0x00, 0x00000008, 3) SHAFT = (0x00, 0x00000010, 4) DIAG0_ERROR__ONLY_WITH_SD_MODE_1_ = (0x00, 0x00000020, 5) DIAG0_OTPW__ONLY_WITH_SD_MODE_1_ = (0x00, 0x00000040, 6) DIAG0_STALL = (0x00, 0x00000080, 7) DIAG0_STEP = (0x00, 0x00000080, 7) DIAG1_STALL = (0x00, 0x00000100, 8) DIAG1_DIR = (0x00, 0x00000100, 8) DIAG1_INDEX = (0x00, 0x00000200, 9) DIAG1_ONSTATE = (0x00, 0x00000400, 10) DIAG1_STEPS_SKIPPED = (0x00, 0x00000800, 11) DIAG0_INT_PUSHPULL = (0x00, 0x00001000, 12) DIAG1_POSCOMP_PUSHPULL = (0x00, 0x00002000, 13) SMALL_HYSTERESIS = (0x00, 0x00004000, 14) STOP_ENABLE = (0x00, 0x00008000, 15) DIRECT_MODE = (0x00, 0x00010000, 16) TEST_MODE = (0x00, 0x00020000, 17) # GSTAT RESET = (0x01, 0x00000001, 0) DRV_ERR = (0x01, 0x00000002, 1) UV_CP = (0x01, 0x00000004, 2) # IFCNT IFCNT = (0x02, 0x000000FF, 0) # SLAVECONF SLAVEADDR = (0x03, 0x000000FF, 0) SENDDELAY = (0x03, 0x00000F00, 8) # IOIN / OUTPUT REFL_STEP = (0x04, 0x00000001, 0) OUTPUT_PIN_POLARITY = (0x04, 0x00000001, 0) REFR_DIR = (0x04, 0x00000002, 1) ENCB_DCEN_CFG4 = (0x04, 0x00000004, 2) ENCA_DCIN_CFG5 = (0x04, 0x00000008, 3) DRV_ENN_CFG6 = (0x04, 0x00000010, 4) ENC_N_DCO = (0x04, 0x00000020, 5) SD_MODE = (0x04, 0x00000040, 6) SWCOMP_IN = (0x04, 0x00000080, 7) VERSION = (0x04, 0xFF000000, 24) # X_COMPARE X_COMPARE = (0x05, 0xFFFFFFFF, 0) # IHOLD_IRUN IHOLD = (0x10, 0x0000001F, 0) IRUN = (0x10, 0x00001F00, 8) IHOLDDELAY = (0x10, 0x000F0000, 16) # TPOWERDOWN TPOWERDOWN = (0x11, 0x000000FF, 0) # TSTEP TSTEP = (0x12, 0x000FFFFF, 0) # TPWMTHRS TPWMTHRS = (0x13, 0x000FFFFF, 0) # TCOOLTHRS TCOOLTHRS = (0x14, 0x000FFFFF, 0) # THIGH THIGH = (0x15, 0x000FFFFF, 0) # RAMPMODE RAMPMODE = (0x20, 0x00000003, 0) # XACTUAL XACTUAL = (0x21, 0xFFFFFFFF, 0) # VACTUAL VACTUAL = (0x22, 0x00FFFFFF, 0) # VSTART VSTART = (0x23, 0x0003FFFF, 0) # A1 A1 = (0x24, 0x0000FFFF, 0) # V1 V1 = (0x25, 0x000FFFFF, 0) # AMAX AMAX = (0x26, 0x0000FFFF, 0) # VMAX VMAX = (0x27, 0x007FFFFF, 0) # DMAX DMAX = (0x28, 0x0000FFFF, 0) # D1 D1 = (0x2A, 0x0000FFFF, 0) # VSTOP VSTOP = (0x2B, 0x0003FFFF, 0) # TZEROWAIT TZEROWAIT = (0x2C, 0x0000FFFF, 0) # XTARGET XTARGET = (0x2D, 0xFFFFFFFF, 0) # VDCMIN VDCMIN = (0x33, 0x007FFFFF, 0) # SW_MODE 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 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 XLATCH = (0x36, 0xFFFFFFFF, 0) # ENCMODE 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 X_ENC = (0x39, 0xFFFFFFFF, 0) # ENC_CONST INTEGER = (0x3A, 0xFFFF0000, 16) FRACTIONAL = (0x3A, 0x0000FFFF, 0) # ENC_STATUS ENC_STATUS = (0x3B, 0x00000001, 0) # ENC_LATCH ENC_LATCH = (0x3C, 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 MSCNT = (0x6A, 0x000003FF, 0) # MSCURACT CUR_A = (0x6B, 0x000001FF, 0) CUR_B = (0x6B, 0x01FF0000, 16) # CHOPCONF TOFF = (0x6C, 0x0000000F, 0) TFD_2__0_ = (0x6C, 0x00000070, 4) HSTRT = (0x6C, 0x00000070, 4) OFFSET = (0x6C, 0x00000780, 7) HEND = (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) MRES = (0x6C, 0x0F000000, 24) INTPOL = (0x6C, 0x10000000, 28) DEDGE = (0x6C, 0x20000000, 29) DISS2G = (0x6C, 0x40000000, 30) # COOLCONF 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) # DCCTRL DC_TIME = (0x6E, 0x000003FF, 0) DC_SG = (0x6E, 0x00FF0000, 16) # DRV_STATUS 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) # PWMCONF PWM_AMPL = (0x70, 0x000000FF, 0) PWM_GRAD = (0x70, 0x0000FF00, 8) PWM_FREQ = (0x70, 0x00030000, 16) PWM_AUTOSCALE = (0x70, 0x00040000, 18) PWM_SYMMETRIC = (0x70, 0x00080000, 19) FREEWHEEL = (0x70, 0x00300000, 20) # PWM_SCALE PWM_SCALE = (0x71, 0x000000FF, 0) # ENCM_CTRL INV = (0x72, 0x00000001, 0) MAXSPEED = (0x72, 0x00000002, 1) # LOST_STEPS LOST_STEPS = (0x73, 0x000FFFFF, 0)