################################################################################ # 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 from ..features.motor_control_ic import MotorControlIc class TMC5240(TMCIc): """ The TMC5240 is a smart high-performance stepper motor controller and driver IC with serial communication interfaces (SPI, UART). Supply voltage: 4,5-36V """ def __init__(self, parent_eval): super().__init__(self.__class__.__name__, 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 TMC5240. 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 INP_OUT = 0x04 X_COMPARE = 0x05 OTP_PROG = 0x06 DRV_CONF = 0x0A GLOBAL_SCALER = 0x0B 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 TVMAX = 0x29 D1 = 0x2A VSTOP = 0x2B TZEROWAIT = 0x2C XTARGET = 0x2D V2 = 0x2E A2 = 0x2F D2 = 0x30 AACTUAL = 0x31 VDCMIN = 0x33 SWMODE = 0x34 RAMPSTAT = 0x35 XLATCH = 0x36 ENCMODE = 0x38 XENC = 0x39 ENC_CONST = 0x3A ENC_STATUS = 0x3B ENC_LATCH = 0x3C ENC_DEVIATION = 0x3D ADC_VSUPPLY_AIN= 0x50 ADC_TEMP = 0x51 OTW_OV_VTH = 0x52 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 DRVSTATUS = 0x6F PWMCONF = 0x70 PWMSCALE = 0x71 PWM_AUTO = 0x72 SG4_THRS = 0x74 SG4_RESULT = 0x75 SG4_IND = 0x76 class FIELD: """ Define all register bitfields of the TMC5240. 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. """ FAST_STANDSTILL = (0x00, 0x00000002, 1) EN_PWM_MODE = (0x00, 0x00000004, 2) MULTISTEP_FILT = (0x00, 0x00000008, 3) SHAFT = (0x00, 0x00000010, 4) DIAG0_NINT_STEP = (0x00, 0x00000080, 7) DIAG1_NPOSCOMP_DIR = (0x00, 0x00000100, 8) 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) LENGTH_STEP_PULSE = (0x00, 0x001E0000, 17) RESET = (0x01, 0x00000001, 0) DRV_ERR = (0x01, 0x00000002, 1) UV_CP = (0x01, 0x00000004, 2) REGISTER_RESET = (0x01, 0x00000008, 3) VM_UVLO = (0x01, 0x00000010, 4) IFCNT = (0x02, 0x000000FF, 0) SLAVEADDR = (0x03, 0x000000FF, 0) SENDDELAY = (0x03, 0x00000F00, 8) REFL = (0x04, 0x00000001, 0) REFR = (0x04, 0x00000002, 1) ENCB = (0x04, 0x00000004, 2) ENCA = (0x04, 0x00000008, 3) DRV_ENN = (0x04, 0x00000010, 4) ENCN = (0x04, 0x00000020, 5) UART_EN = (0x04, 0x00000040, 6) RESERVED = (0x04, 0x00000080, 7) COMP_A = (0x04, 0x00000100, 8) COMP_B = (0x04, 0x00000200, 9) COMP_A1_A2 = (0x04, 0x00000400, 10) COMP_B1_B2 = (0x04, 0x00000800, 11) OUTPUT = (0x04, 0x00001000, 12) EXT_RES_DET = (0x04, 0x00002000, 13) EXT_CLK = (0x04, 0x00004000, 14) ADC_ERR = (0x04, 0x00008000, 15) SILICON_RV = (0x04, 0x00070000, 16) VERSION = (0x04, 0xFF000000, 24) X_COMPARE = (0x05, 0xFFFFFFFF, 0) X_COMPARE_REPEAT = (0x06, 0x00FFFFFF, 0) CURRENT_RANGE = (0x0A, 0x00000003, 0) SLOPE_CONTROL = (0x0A, 0x00000030, 4) GLOBALSCALER = (0x0B, 0x000000FF, 0) IHOLD = (0x10, 0x0000001F, 0) IRUN = (0x10, 0x00001F00, 8) IHOLDDELAY = (0x10, 0x000F0000, 16) IRUNDELAY = (0x10, 0x0F000000, 24) TPOWERDOWN = (0x11, 0x000000FF, 0) TSTEP = (0x12, 0x000FFFFF, 0) TPWMTHRS = (0x13, 0x000FFFFF, 0) TCOOLTHRS = (0x14, 0x000FFFFF, 0) THIGH = (0x15, 0x000FFFFF, 0) RAMPMODE = (0x20, 0x00000003, 0) XACTUAL = (0x21, 0xFFFFFFFF, 0) VACTUAL = (0x22, 0x00FFFFFF, 0) VSTART = (0x23, 0x0003FFFF, 0) A1 = (0x24, 0x0003FFFF, 0) V1 = (0x25, 0x000FFFFF, 0) AMAX = (0x26, 0x0003FFFF, 0) VMAX = (0x27, 0x007FFFFF, 0) DMAX = (0x28, 0x0003FFFF, 0) TVMAX = (0x29, 0x0000FFFF, 0) D1 = (0x2A, 0x0003FFFF, 0) VSTOP = (0x2B, 0x0003FFFF, 0) TZEROWAIT = (0x2C, 0x0000FFFF, 0) XTARGET = (0x2D, 0xFFFFFFFF, 0) V2 = (0x2E, 0x000FFFFF, 0) A2 = (0x2F, 0x0003FFFF, 0) D2 = (0x30, 0x0003FFFF, 0) AACTUAL = (0x31, 0x00FFFFFF, 0) # RESERVED = ( 0x33, 0x000000FF, 0 ) VDCMIN = (0x33, 0x007FFF00, 8) 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) EN_VIRTUAL_STOP_L = (0x34, 0x00001000, 12) EN_VIRTUAL_STOP_R = (0x34, 0x00002000, 13) VIRTUAL_STOP_ENC = (0x34, 0x00004000, 14) 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) STATUS_VIRTUAL_STOP_L = (0x35, 0x00004000, 14) STATUS_VIRTUAL_STOP_R = (0x35, 0x00008000, 15) XLATCH = (0x36, 0xFFFFFFFF, 0) 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_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 = (0x39, 0xFFFFFFFF, 0) ENC_CONST = (0x3A, 0xFFFFFFFF, 0) N_EVENT = (0x3B, 0x00000001, 0) DEVIATION_WARN = (0x3B, 0x00000002, 1) ENC_LATCH = (0x3C, 0xFFFFFFFF, 0) ENC_DEVIATION = (0x3D, 0x000FFFFF, 0) VIRTUAL_STOP_L = (0x3E, 0xFFFFFFFF, 0) VIRTUAL_STOP_R = (0x3F, 0xFFFFFFFF, 0) ADC_VSUPPLY = (0x50, 0x00001FFF, 0) ADC_AIN = (0x50, 0x1FFF0000, 16) ADC_TEMP = (0x51, 0x00001FFF, 0) # RESERVED = ( 0x51, 0x1FFF0000, 16 ) OVERVOLTAGE_VTH = (0x52, 0x00001FFF, 0) OVERTEMPPREWARNING_VTH = (0x52, 0x1FFF0000, 16) MSLUT__ = (0x60, 0xFFFFFFFF, 0) # MSLUT__ = ( 0x61, 0xFFFFFFFF, 0 ) # MSLUT__ = ( 0x62, 0xFFFFFFFF, 0 ) # MSLUT__ = ( 0x63, 0xFFFFFFFF, 0 ) # MSLUT__ = ( 0x64, 0xFFFFFFFF, 0 ) # MSLUT__ = ( 0x65, 0xFFFFFFFF, 0 ) # MSLUT__ = ( 0x66, 0xFFFFFFFF, 0 ) # MSLUT__ = ( 0x67, 0xFFFFFFFF, 0 ) 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) START_SIN = (0x69, 0x000000FF, 0) START_SIN90 = (0x69, 0x00FF0000, 16) OFFSET_SIN90 = (0x69, 0xFF000000, 24) MSCNT = (0x6A, 0x000003FF, 0) CUR_B = (0x6B, 0x000001FF, 0) CUR_A = (0x6B, 0x01FF0000, 16) TOFF = (0x6C, 0x0000000F, 0) HSTRT_TFD210 = (0x6C, 0x00000070, 4) HEND_OFFSET = (0x6C, 0x00000780, 7) FD3 = (0x6C, 0x00000800, 11) DISFDCC = (0x6C, 0x00001000, 12) CHM = (0x6C, 0x00004000, 14) TBL = (0x6C, 0x00018000, 15) 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) 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) DC_TIME = (0x6E, 0x000003FF, 0) DC_SG = (0x6E, 0x00FF0000, 16) 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) 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_MEAS_SD_ENABLE = (0x70, 0x00400000, 22) PWM_DIS_REG_STST = (0x70, 0x00800000, 23) PWM_REG = (0x70, 0x0F000000, 24) PWM_LIM = (0x70, 0xF0000000, 28) PWM_SCALE_SUM = (0x71, 0x000003FF, 0) PWM_SCALE_AUTO = (0x71, 0x01FF0000, 16) PWM_OFS_AUTO = (0x72, 0x000000FF, 0) PWM_GRAD_AUTO = (0x72, 0x00FF0000, 16) SG4_THRS = (0x74, 0x000000FF, 0) SG4_FILT_EN = (0x74, 0x00000100, 8) SG_ANGLE_OFFSET = (0x74, 0x00000200, 9) SG4_RESULT = (0x75, 0x000003FF, 0) SG4_IND_0 = (0x76, 0x000000FF, 0) SG4_IND_1 = (0x76, 0x0000FF00, 8) SG4_IND_2 = (0x76, 0x00FF0000, 16) SG4_IND_3 = (0x76, 0xFF000000, 24)