################################################################################ # 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 TMC5160(TMCIc): """ The TMC5160-A is a high-power stepper motor controller and driver IC with serial communication interfaces. Supply voltage: 8-60V. """ def __init__(self): super().__init__("TMC5160", self.__doc__) class REG: """ Define all registers of the TMC5160. """ GCONF = 0x00 GSTAT = 0x01 IFCNT = 0x02 SLAVECONF = 0x03 IOIN_OUTPUT = 0x04 X_COMPARE = 0x05 OTP_PROG = 0x06 OTP_READ = 0x07 FACTORY_CONF = 0x08 SHORT_CONF = 0x09 DRV_CONF = 0x0A GLOBAL_SCALER = 0x0B OFFSET_READ = 0x0C 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 ENC_DEVIATION = 0x3D MSLUT0 = 0x60 MSLUT1 = 0x61 MSLUT2 = 0x62 MSLUT3 = 0x63 MSLUT4 = 0x64 MSLUT5 = 0x65 MSLUT6 = 0x66 MSLUT7 = 0x67 MSLUTSEL = 0x68 MSLUTSTART = 0x69 MSCNT = 0x6A MSCURACT = 0x6B CHOPCONF = 0x6C COOLCONF = 0x6D DCCTRL = 0x6E DRV_STATUS = 0x6F PWM_CONF = 0x70 PWM_SCALE = 0x71 PWM_AUTO = 0x72 LOST_STEPS = 0x73 class FIELD: """ Define all register bitfields of the TMC5160. 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 RECALIBRATE = (0x00, 0x00000001, 0) FASTSTANDSTILL = (0x00, 0x00000002, 1) EN_PWM_MODE = (0x00, 0x00000004, 2) MULTISTEP_FILT = (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) DIAG1_STALL = (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) 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) OUTPUT_PIN_POLARITY = (0x04, 0x00000001, 0) # X_COMPARE X_COMPARE = (0x05, 0xFFFFFFFF, 0) # OTP_PROG OTPBIT = (0x06, 0x00000007, 0) OTPBYTE = (0x06, 0x00000030, 4) OTPMAGIC = (0x06, 0x0000FF00, 8) # OTP_READ OTP_TBL = (0x07, 0x00000080, 7) OTP_BBM = (0x07, 0x00000040, 6) OTP_S2_LEVEL = (0x07, 0x00000020, 5) OTP_FCLKTRIM = (0x07, 0x0000001F, 0) # FACTORY_CONF FCLKTRIM = (0x08, 0x0000001F, 0) # SHORT_CONF S2VS_LEVEL = (0x09, 0x0000000F, 0) S2GND_LEVEL = (0x09, 0x00000F00, 8) SHORTFILTER = (0x09, 0x00030000, 16) SHORTDELAY = (0x09, 0x00040000, 18) # DRV_CONF BBMTIME = (0x0A, 0x0000001F, 0) BBMCLKS = (0x0A, 0x00000F00, 8) OTSELECT = (0x0A, 0x00030000, 16) DRVSTRENGTH = (0x0A, 0x000C0000, 18) FILT_ISENSE = (0x0A, 0x00300000, 20) # GLOBAL_SCALER GLOBAL_SCALER = (0x0B, 0x000000FF, 0) # OFFSET_READ OFFSET_READ_A = (0x0C, 0x0000FF00, 8) OFFSET_READ_B = (0x0C, 0x000000FF, 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 FRACTIONAL = (0x3A, 0x0000FFFF, 0) INTEGER = (0x3A, 0xFFFF0000, 16) # ENC_STATUS N_EVENT = (0x3B, 0x00000001, 0) DEVIATION_WARN = (0x3B, 0x00000002, 1) # ENC_LATCH ENC_LATCH = (0x3C, 0xFFFFFFFF, 0) # ENC_DEVIATION ENC_DEVIATION = (0x3D, 0x000FFFFF, 0) # MSLUT[0] OFS0 = (0x60, 0x00000001, 0) OFS1 = (0x60, 0x00000002, 1) OFS2 = (0x60, 0x00000004, 2) OFS3 = (0x60, 0x00000008, 3) OFS4 = (0x60, 0x00000010, 4) OFS5 = (0x60, 0x00000020, 5) OFS6 = (0x60, 0x00000040, 6) OFS7 = (0x60, 0x00000080, 7) OFS8 = (0x60, 0x00000100, 8) OFS9 = (0x60, 0x00000200, 9) OFS10 = (0x60, 0x00000400, 10) OFS11 = (0x60, 0x00000800, 11) OFS12 = (0x60, 0x00001000, 12) OFS13 = (0x60, 0x00002000, 13) OFS14 = (0x60, 0x00004000, 14) OFS15 = (0x60, 0x00008000, 15) OFS16 = (0x60, 0x00010000, 16) OFS17 = (0x60, 0x00020000, 17) OFS18 = (0x60, 0x00040000, 18) OFS19 = (0x60, 0x00080000, 19) OFS20 = (0x60, 0x00100000, 20) OFS21 = (0x60, 0x00200000, 21) OFS22 = (0x60, 0x00400000, 22) OFS23 = (0x60, 0x00800000, 23) OFS24 = (0x60, 0x01000000, 24) OFS25 = (0x60, 0x02000000, 25) OFS26 = (0x60, 0x04000000, 26) OFS27 = (0x60, 0x08000000, 27) OFS28 = (0x60, 0x10000000, 28) OFS29 = (0x60, 0x20000000, 29) OFS30 = (0x60, 0x40000000, 30) OFS31 = (0x60, 0x80000000, 31) # MSLUT[1] OFS32 = (0x61, 0x00000001, 0) OFS33 = (0x61, 0x00000002, 1) OFS34 = (0x61, 0x00000004, 2) OFS35 = (0x61, 0x00000008, 3) OFS36 = (0x61, 0x00000010, 4) OFS37 = (0x61, 0x00000020, 5) OFS38 = (0x61, 0x00000040, 6) OFS39 = (0x61, 0x00000080, 7) OFS40 = (0x61, 0x00000100, 8) OFS41 = (0x61, 0x00000200, 9) OFS42 = (0x61, 0x00000400, 10) OFS43 = (0x61, 0x00000800, 11) OFS44 = (0x61, 0x00001000, 12) OFS45 = (0x61, 0x00002000, 13) OFS46 = (0x61, 0x00004000, 14) OFS47 = (0x61, 0x00008000, 15) OFS48 = (0x61, 0x00010000, 16) OFS49 = (0x61, 0x00020000, 17) OFS50 = (0x61, 0x00040000, 18) OFS51 = (0x61, 0x00080000, 19) OFS52 = (0x61, 0x00100000, 20) OFS53 = (0x61, 0x00200000, 21) OFS54 = (0x61, 0x00400000, 22) OFS55 = (0x61, 0x00800000, 23) OFS56 = (0x61, 0x01000000, 24) OFS57 = (0x61, 0x02000000, 25) OFS58 = (0x61, 0x04000000, 26) OFS59 = (0x61, 0x08000000, 27) OFS60 = (0x61, 0x10000000, 28) OFS61 = (0x61, 0x20000000, 29) OFS62 = (0x61, 0x40000000, 30) OFS63 = (0x61, 0x80000000, 31) # MSLUT[2] OFS64 = (0x62, 0x00000001, 0) OFS65 = (0x62, 0x00000002, 1) OFS66 = (0x62, 0x00000004, 2) OFS67 = (0x62, 0x00000008, 3) OFS68 = (0x62, 0x00000010, 4) OFS69 = (0x62, 0x00000020, 5) OFS70 = (0x62, 0x00000040, 6) OFS71 = (0x62, 0x00000080, 7) OFS72 = (0x62, 0x00000100, 8) OFS73 = (0x62, 0x00000200, 9) OFS74 = (0x62, 0x00000400, 10) OFS75 = (0x62, 0x00000800, 11) OFS76 = (0x62, 0x00001000, 12) OFS77 = (0x62, 0x00002000, 13) OFS78 = (0x62, 0x00004000, 14) OFS79 = (0x62, 0x00008000, 15) OFS80 = (0x62, 0x00010000, 16) OFS81 = (0x62, 0x00020000, 17) OFS82 = (0x62, 0x00040000, 18) OFS83 = (0x62, 0x00080000, 19) OFS84 = (0x62, 0x00100000, 20) OFS85 = (0x62, 0x00200000, 21) OFS86 = (0x62, 0x00400000, 22) OFS87 = (0x62, 0x00800000, 23) OFS88 = (0x62, 0x01000000, 24) OFS89 = (0x62, 0x02000000, 25) OFS90 = (0x62, 0x04000000, 26) OFS91 = (0x62, 0x08000000, 27) OFS92 = (0x62, 0x10000000, 28) OFS93 = (0x62, 0x20000000, 29) OFS94 = (0x62, 0x40000000, 30) OFS95 = (0x62, 0x80000000, 31) # MSLUT[3] OFS96 = (0x63, 0x00000001, 0) OFS97 = (0x63, 0x00000002, 1) OFS98 = (0x63, 0x00000004, 2) OFS99 = (0x63, 0x00000008, 3) OFS100 = (0x63, 0x00000010, 4) OFS101 = (0x63, 0x00000020, 5) OFS102 = (0x63, 0x00000040, 6) OFS103 = (0x63, 0x00000080, 7) OFS104 = (0x63, 0x00000100, 8) OFS105 = (0x63, 0x00000200, 9) OFS106 = (0x63, 0x00000400, 10) OFS107 = (0x63, 0x00000800, 11) OFS108 = (0x63, 0x00001000, 12) OFS109 = (0x63, 0x00002000, 13) OFS110 = (0x63, 0x00004000, 14) OFS111 = (0x63, 0x00008000, 15) OFS112 = (0x63, 0x00010000, 16) OFS113 = (0x63, 0x00020000, 17) OFS114 = (0x63, 0x00040000, 18) OFS115 = (0x63, 0x00080000, 19) OFS116 = (0x63, 0x00100000, 20) OFS117 = (0x63, 0x00200000, 21) OFS118 = (0x63, 0x00400000, 22) OFS119 = (0x63, 0x00800000, 23) OFS120 = (0x63, 0x01000000, 24) OFS121 = (0x63, 0x02000000, 25) OFS122 = (0x63, 0x04000000, 26) OFS123 = (0x63, 0x08000000, 27) OFS124 = (0x63, 0x10000000, 28) OFS125 = (0x63, 0x20000000, 29) OFS126 = (0x63, 0x40000000, 30) OFS127 = (0x63, 0x80000000, 31) # MSLUT[4] OFS128 = (0x64, 0x00000001, 0) OFS129 = (0x64, 0x00000002, 1) OFS130 = (0x64, 0x00000004, 2) OFS131 = (0x64, 0x00000008, 3) OFS132 = (0x64, 0x00000010, 4) OFS133 = (0x64, 0x00000020, 5) OFS134 = (0x64, 0x00000040, 6) OFS135 = (0x64, 0x00000080, 7) OFS136 = (0x64, 0x00000100, 8) OFS137 = (0x64, 0x00000200, 9) OFS138 = (0x64, 0x00000400, 10) OFS139 = (0x64, 0x00000800, 11) OFS140 = (0x64, 0x00001000, 12) OFS141 = (0x64, 0x00002000, 13) OFS142 = (0x64, 0x00004000, 14) OFS143 = (0x64, 0x00008000, 15) OFS144 = (0x64, 0x00010000, 16) OFS145 = (0x64, 0x00020000, 17) OFS146 = (0x64, 0x00040000, 18) OFS147 = (0x64, 0x00080000, 19) OFS148 = (0x64, 0x00100000, 20) OFS149 = (0x64, 0x00200000, 21) OFS150 = (0x64, 0x00400000, 22) OFS151 = (0x64, 0x00800000, 23) OFS152 = (0x64, 0x01000000, 24) OFS153 = (0x64, 0x02000000, 25) OFS154 = (0x64, 0x04000000, 26) OFS155 = (0x64, 0x08000000, 27) OFS156 = (0x64, 0x10000000, 28) OFS157 = (0x64, 0x20000000, 29) OFS158 = (0x64, 0x40000000, 30) OFS159 = (0x64, 0x80000000, 31) # MSLUT[5] OFS160 = (0x65, 0x00000001, 0) OFS161 = (0x65, 0x00000002, 1) OFS162 = (0x65, 0x00000004, 2) OFS163 = (0x65, 0x00000008, 3) OFS164 = (0x65, 0x00000010, 4) OFS165 = (0x65, 0x00000020, 5) OFS166 = (0x65, 0x00000040, 6) OFS167 = (0x65, 0x00000080, 7) OFS168 = (0x65, 0x00000100, 8) OFS169 = (0x65, 0x00000200, 9) OFS170 = (0x65, 0x00000400, 10) OFS171 = (0x65, 0x00000800, 11) OFS172 = (0x65, 0x00001000, 12) OFS173 = (0x65, 0x00002000, 13) OFS174 = (0x65, 0x00004000, 14) OFS175 = (0x65, 0x00008000, 15) OFS176 = (0x65, 0x00010000, 16) OFS177 = (0x65, 0x00020000, 17) OFS178 = (0x65, 0x00040000, 18) OFS179 = (0x65, 0x00080000, 19) OFS180 = (0x65, 0x00100000, 20) OFS181 = (0x65, 0x00200000, 21) OFS182 = (0x65, 0x00400000, 22) OFS183 = (0x65, 0x00800000, 23) OFS184 = (0x65, 0x01000000, 24) OFS185 = (0x65, 0x02000000, 25) OFS186 = (0x65, 0x04000000, 26) OFS187 = (0x65, 0x08000000, 27) OFS188 = (0x65, 0x10000000, 28) OFS189 = (0x65, 0x20000000, 29) OFS190 = (0x65, 0x40000000, 30) OFS191 = (0x65, 0x80000000, 31) # MSLUT[6] OFS192 = (0x66, 0x00000001, 0) OFS193 = (0x66, 0x00000002, 1) OFS194 = (0x66, 0x00000004, 2) OFS195 = (0x66, 0x00000008, 3) OFS196 = (0x66, 0x00000010, 4) OFS197 = (0x66, 0x00000020, 5) OFS198 = (0x66, 0x00000040, 6) OFS199 = (0x66, 0x00000080, 7) OFS200 = (0x66, 0x00000100, 8) OFS201 = (0x66, 0x00000200, 9) OFS202 = (0x66, 0x00000400, 10) OFS203 = (0x66, 0x00000800, 11) OFS204 = (0x66, 0x00001000, 12) OFS205 = (0x66, 0x00002000, 13) OFS206 = (0x66, 0x00004000, 14) OFS207 = (0x66, 0x00008000, 15) OFS208 = (0x66, 0x00010000, 16) OFS209 = (0x66, 0x00020000, 17) OFS210 = (0x66, 0x00040000, 18) OFS211 = (0x66, 0x00080000, 19) OFS212 = (0x66, 0x00100000, 20) OFS213 = (0x66, 0x00200000, 21) OFS214 = (0x66, 0x00400000, 22) OFS215 = (0x66, 0x00800000, 23) OFS216 = (0x66, 0x01000000, 24) OFS217 = (0x66, 0x02000000, 25) OFS218 = (0x66, 0x04000000, 26) OFS219 = (0x66, 0x08000000, 27) OFS220 = (0x66, 0x10000000, 28) OFS221 = (0x66, 0x20000000, 29) OFS222 = (0x66, 0x40000000, 30) OFS223 = (0x66, 0x80000000, 31) # MSLUT[7] OFS224 = (0x67, 0x00000001, 0) OFS225 = (0x67, 0x00000002, 1) OFS226 = (0x67, 0x00000004, 2) OFS227 = (0x67, 0x00000008, 3) OFS228 = (0x67, 0x00000010, 4) OFS229 = (0x67, 0x00000020, 5) OFS230 = (0x67, 0x00000040, 6) OFS231 = (0x67, 0x00000080, 7) OFS232 = (0x67, 0x00000100, 8) OFS233 = (0x67, 0x00000200, 9) OFS234 = (0x67, 0x00000400, 10) OFS235 = (0x67, 0x00000800, 11) OFS236 = (0x67, 0x00001000, 12) OFS237 = (0x67, 0x00002000, 13) OFS238 = (0x67, 0x00004000, 14) OFS239 = (0x67, 0x00008000, 15) OFS240 = (0x67, 0x00010000, 16) OFS241 = (0x67, 0x00020000, 17) OFS242 = (0x67, 0x00040000, 18) OFS243 = (0x67, 0x00080000, 19) OFS244 = (0x67, 0x00100000, 20) OFS245 = (0x67, 0x00200000, 21) OFS246 = (0x67, 0x00400000, 22) OFS247 = (0x67, 0x00800000, 23) OFS248 = (0x67, 0x01000000, 24) OFS249 = (0x67, 0x02000000, 25) OFS250 = (0x67, 0x04000000, 26) OFS251 = (0x67, 0x08000000, 27) OFS252 = (0x67, 0x10000000, 28) OFS253 = (0x67, 0x20000000, 29) OFS254 = (0x67, 0x40000000, 30) OFS255 = (0x67, 0x80000000, 31) # 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) 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) TPFD = (0x6C, 0x00F00000, 20) MRES = (0x6C, 0x0F000000, 24) INTPOL = (0x6C, 0x10000000, 28) DEDGE = (0x6C, 0x20000000, 29) DISS2G = (0x6C, 0x40000000, 30) DISS2VS = (0x6C, 0x80000000, 31) # 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) S2VSA = (0x6F, 0x00001000, 12) S2VSB = (0x6F, 0x00002000, 13) STEALTH = (0x6F, 0x00004000, 14) 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_OFS = (0x70, 0x000000FF, 0) PWM_GRAD = (0x70, 0x0000FF00, 8) PWM_FREQ = (0x70, 0x00030000, 16) PWM_AUTOSCALE = (0x70, 0x00040000, 18) PWM_AUTOGRAD = (0x70, 0x00080000, 19) FREEWHEEL = (0x70, 0x00300000, 20) PWM_REG = (0x70, 0x0F000000, 24) PWM_LIM = (0x70, 0xF0000000, 28) # PWM_SCALE PWM_SCALE_SUM = (0x71, 0x000000FF, 0) PWM_SCALE_AUTO = (0x71, 0x01FF0000, 16) # PWM_AUTO PWM_OFS_AUTO = (0x72, 0x000000FF, 0) PWM_GRAD_AUTO = (0x72, 0x00FF0000, 16) # LOST_STEPS LOST_STEPS = (0x73, 0x000FFFFF, 0)