################################################################################ # Copyright © 2024 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 TMC5271(TMCIc): """ The TMC5271 is a smart high-performance single-axis stepper motor controller and driver IC with serial communication interfaces (SPI and UART). Supply voltage: 2.1-20V DC. """ 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 TMC5271. """ GCONF = 0x00 GSTAT = 0x01 IFCNT = 0x02 SLAVECONF = 0x03 IOIN = 0x04 DRV_CONF = 0x05 GLOBAL_SCALER = 0x06 RAMPMODE = 0x07 MSLUT_ADDR = 0x08 MSLUT_DATA = 0x09 X_COMPARE = 0x10 X_COMPARE_REPEAT = 0x11 IHOLD_IRUN = 0x12 TPOWERDOWN = 0x13 TSTEP = 0x14 TPWMTHRS = 0x15 TCOOLTHRS = 0x16 THIGH = 0x17 XACTUAL = 0x18 VACTUAL = 0x19 AACTUAL = 0x1A VSTART = 0x1B A1 = 0x1C V1 = 0x1D A2 = 0x1E V2 = 0x1F AMAX = 0x20 VMAX = 0x21 DMAX = 0x22 D2 = 0x23 D1 = 0x24 VSTOP = 0x25 TVMAX = 0x26 TZEROWAIT = 0x27 XTARGET = 0x28 VDCMIN = 0x29 SW_MODE = 0x2A RAMP_STAT = 0x2B XLATCH = 0x2C POSITION_PI_CTRL = 0x2D X_ENC = 0x2E ENCMODE = 0x2F ENC_CONST = 0x30 ENC_STATUS = 0x31 ENC_LATCH = 0x32 ENC_DEVIATION = 0x33 VIRTUAL_STOP_L = 0x34 VIRTUAL_STOP_R = 0x35 MSCNT = 0x36 MSCURACT = 0x37 CHOPCONF = 0x38 COOLCONF = 0x39 DCCTRL = 0x3A DRV_STATUS = 0x3B PWMCONF = 0x3C PWM_SCALE = 0x3D PWM_AUTO = 0x3E SG4_THRS = 0x3F SG4_RESULT = 0x40 SG4_IND = 0x41 class FIELD: """ Define all register bitfields of the TMC5271. 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. """ EN_PWM_MODE = ( 0x00, 0x00000001, 0 ) MULTISTEP_FILT = ( 0x00, 0x00000002, 1 ) SHAFT = ( 0x00, 0x00000004, 2 ) DIAG0_ERROR = ( 0x00, 0x00000008, 3 ) DIAG0_OTPW = ( 0x00, 0x00000010, 4 ) DIAG0_STALL_STEP = ( 0x00, 0x00000020, 5 ) DIAG1_STALL_DIR = ( 0x00, 0x00000040, 6 ) DIAG1_INDEX = ( 0x00, 0x00000080, 7 ) DIAG0_INT_PUSHPULL = ( 0x00, 0x00000100, 8 ) DIAG1_POSCOMP_PUSHPULL = ( 0x00, 0x00000200, 9 ) SMALL_HYSTERESIS = ( 0x00, 0x00000400, 10 ) STOP_ENABLE = ( 0x00, 0x00000800, 11 ) DIRECT_MODE = ( 0x00, 0x00001000, 12 ) SD = ( 0x00, 0x00002000, 13 ) DRV_ENN = ( 0x00, 0x00004000, 14 ) QSC_STS_ENA = ( 0x00, 0x00008000, 15 ) DIAG0_SEL_nERROR_RAMP = ( 0x00, 0x20000000, 29 ) RESET = ( 0x01, 0x00000001, 0 ) DRV_ERR = ( 0x01, 0x00000002, 1 ) UV_LDO = ( 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 ) ADC_TEMPERATURE = ( 0x04, 0x000001FE, 1 ) ADC_EN = ( 0x04, 0x00000200, 9 ) SEL_OSCILLATOR = ( 0x04, 0x00000800, 11 ) EXT_RES_DET = ( 0x04, 0x00001000, 12 ) OUTPUT = ( 0x04, 0x00002000, 13 ) QSC_STATUS = ( 0x04, 0x00008000, 15 ) SILICON_RV = ( 0x04, 0x00070000, 16 ) VERSION = ( 0x04, 0xFF000000, 24 ) FSR = ( 0x05, 0x00000003, 0 ) FSR_IREF = ( 0x05, 0x0000000C, 2 ) EN_EMERGENCY_DISABLE = ( 0x05, 0x00000010, 4 ) STANDSTILL_TIME = ( 0x05, 0x00070000, 16 ) GLOBALSCALER_A = ( 0x06, 0x000000FF, 0 ) GLOBALSCALER_B = ( 0x06, 0x0000FF00, 8 ) RAMPMODE = ( 0x07, 0x00000003, 0 ) MSLUT_ADDR = ( 0x08, 0x0000001F, 0 ) MSLUT_DATA = ( 0x09, 0xFFFFFFFF, 0 ) X_COMPARE = ( 0x10, 0xFFFFFFFF, 0 ) X_COMPARE_REPEAT = ( 0x11, 0x00FFFFFF, 0 ) IHOLD = ( 0x12, 0x0000001F, 0 ) IRUN = ( 0x12, 0x00001F00, 8 ) IHOLDDELAY = ( 0x12, 0x000F0000, 16 ) IRUNDELAY = ( 0x12, 0x0F000000, 24 ) TPOWERDOWN = ( 0x13, 0x000000FF, 0 ) TSTEP = ( 0x14, 0x000FFFFF, 0 ) TPWMTHRS = ( 0x15, 0x000FFFFF, 0 ) TCOOLTHRS = ( 0x16, 0x000FFFFF, 0 ) THIGH = ( 0x17, 0x000FFFFF, 0 ) XACTUAL = ( 0x18, 0xFFFFFFFF, 0 ) VACTUAL = ( 0x19, 0x00FFFFFF, 0 ) AACTUAL = ( 0x1A, 0x00FFFFFF, 0 ) VSTART = ( 0x1B, 0x0003FFFF, 0 ) A1 = ( 0x1C, 0x0003FFFF, 0 ) V1 = ( 0x1D, 0x000FFFFF, 0 ) A2 = ( 0x1E, 0x0003FFFF, 0 ) V2 = ( 0x1F, 0x000FFFFF, 0 ) AMAX = ( 0x20, 0x0003FFFF, 0 ) VMAX = ( 0x21, 0x007FFFFF, 0 ) DMAX = ( 0x22, 0x0003FFFF, 0 ) D2 = ( 0x23, 0x0003FFFF, 0 ) D1 = ( 0x24, 0x0003FFFF, 0 ) VSTOP = ( 0x25, 0x0003FFFF, 0 ) TVMAX = ( 0x26, 0x0000FFFF, 0 ) TZEROWAIT = ( 0x27, 0x0000FFFF, 0 ) XTARGET = ( 0x28, 0xFFFFFFFF, 0 ) VDCMIN_RESERVED = ( 0x29, 0x000000FF, 0 ) VDCMIN_VDCMIN = ( 0x29, 0x007FFF00, 8 ) SW_MODE_STOP_L_ENABLE = ( 0x2A, 0x00000001, 0 ) SW_MODE_STOP_R_ENABLE = ( 0x2A, 0x00000002, 1 ) SW_MODE_POL_STOP_L = ( 0x2A, 0x00000004, 2 ) SW_MODE_POL_STOP_R = ( 0x2A, 0x00000008, 3 ) SW_MODE_SWAP_LR = ( 0x2A, 0x00000010, 4 ) SW_MODE_LATCH_L_ACTIVE = ( 0x2A, 0x00000020, 5 ) SW_MODE_LATCH_L_INACTIVE = ( 0x2A, 0x00000040, 6 ) SW_MODE_LATCH_R_ACTIVE = ( 0x2A, 0x00000080, 7 ) SW_MODE_LATCH_R_INACTIVE = ( 0x2A, 0x00000100, 8 ) SW_MODE_EN_LATCH_ENCODER = ( 0x2A, 0x00000200, 9 ) SG_STOP = ( 0x2A, 0x00000400, 10 ) SW_MODE_EN_SOFTSTOP = ( 0x2A, 0x00000800, 11 ) SW_MODE_EN_VIRTUAL_STOP_L = ( 0x2A, 0x00001000, 12 ) SW_MODE_EN_VIRTUAL_STOP_R = ( 0x2A, 0x00002000, 13 ) SW_MODE_VIRTUAL_STEP_ENC = ( 0x2A, 0x00004000, 14 ) STATUS_STOP_L = ( 0x2B, 0x00000001, 0 ) STATUS_STOP_R = ( 0x2B, 0x00000002, 1 ) STATUS_LATCH_L = ( 0x2B, 0x00000004, 2 ) STATUS_LATCH_R = ( 0x2B, 0x00000008, 3 ) EVENT_STOP_L = ( 0x2B, 0x00000010, 4 ) EVENT_STOP_R = ( 0x2B, 0x00000020, 5 ) EVENT_STOP_SG = ( 0x2B, 0x00000040, 6 ) EVENT_POS_REACHED = ( 0x2B, 0x00000080, 7 ) VELOCITY_REACHED = ( 0x2B, 0x00000100, 8 ) POSITION_REACHED = ( 0x2B, 0x00000200, 9 ) VZERO = ( 0x2B, 0x00000400, 10 ) T_ZEROWAIT_ACTIVE = ( 0x2B, 0x00000800, 11 ) SECOND_MOVE = ( 0x2B, 0x00001000, 12 ) STATUS_SG = ( 0x2B, 0x00002000, 13 ) STATUS_VIRTUAL_STOP_L = ( 0x2B, 0x00004000, 14 ) STATUS_VIRTUAL_STOP_R = ( 0x2B, 0x00008000, 15 ) XLATCH = ( 0x2C, 0xFFFFFFFF, 0 ) P_POSITION = ( 0x2D, 0x000003FF, 0 ) TOLERANCE = ( 0x2D, 0x00FF0000, 16 ) TOL_ON_POS_REACHED = ( 0x2D, 0x10000000, 28 ) X_ENC = ( 0x2E, 0xFFFFFFFF, 0 ) POL_A = ( 0x2F, 0x00000001, 0 ) POL_B = ( 0x2F, 0x00000002, 1 ) POL_N = ( 0x2F, 0x00000004, 2 ) IGNORE_AB = ( 0x2F, 0x00000008, 3 ) CLR_CONT = ( 0x2F, 0x00000010, 4 ) CLR_ONCE = ( 0x2F, 0x00000020, 5 ) POS_NEG_EDGE = ( 0x2F, 0x000000C0, 6 ) CLR_ENC_X = ( 0x2F, 0x00000100, 8 ) LATCH_X_ACT = ( 0x2F, 0x00000200, 9 ) ENC_SEL_DECIMAL = ( 0x2F, 0x00000400, 10 ) NBEMF_ABN_SEL = ( 0x2F, 0x00000800, 11 ) BEMF_HYST = ( 0x2F, 0x00007000, 12 ) qsc_enc_en = ( 0x2F, 0x00008000, 15 ) BEMF_BLANK_TIME = ( 0x2F, 0x00FF0000, 16 ) BEMF_FILTER_SEL = ( 0x2F, 0x30000000, 28 ) ENC_CONST = ( 0x30, 0xFFFFFFFF, 0 ) N_EVENT = ( 0x31, 0x00000001, 0 ) DEVIATION_WARN = ( 0x31, 0x00000002, 1 ) ENC_LATCH = ( 0x32, 0xFFFFFFFF, 0 ) ENC_DEVIATION = ( 0x33, 0x000FFFFF, 0 ) VIRTUAL_STOP_L = ( 0x34, 0xFFFFFFFF, 0 ) VIRTUAL_STOP_R = ( 0x35, 0xFFFFFFFF, 0 ) MSCNT = ( 0x36, 0x000003FF, 0 ) CUR_A = ( 0x37, 0x000001FF, 0 ) CUR_B = ( 0x37, 0x01FF0000, 16 ) TOFF = ( 0x38, 0x0000000F, 0 ) HSTRT_TFD210 = ( 0x38, 0x00000070, 4 ) HEND_OFFSET = ( 0x38, 0x00000780, 7 ) FD3 = ( 0x38, 0x00000800, 11 ) DISFDCC = ( 0x38, 0x00001000, 12 ) CHM = ( 0x38, 0x00004000, 14 ) TBL = ( 0x38, 0x00018000, 15 ) VHIGHFS = ( 0x38, 0x00040000, 18 ) VHIGHCHM = ( 0x38, 0x00080000, 19 ) TPFD = ( 0x38, 0x00F00000, 20 ) MRES = ( 0x38, 0x0F000000, 24 ) INTPOL = ( 0x38, 0x10000000, 28 ) DEDGE = ( 0x38, 0x20000000, 29 ) DISS2G = ( 0x38, 0x40000000, 30 ) DISS2VS = ( 0x38, 0x80000000, 31 ) SEMIN = ( 0x39, 0x0000000F, 0 ) SEUP = ( 0x39, 0x00000060, 5 ) SEMAX = ( 0x39, 0x00000F00, 8 ) SEDN = ( 0x39, 0x00006000, 13 ) SEIMIN = ( 0x39, 0x00008000, 15 ) SGT = ( 0x39, 0x007F0000, 16 ) SFILT = ( 0x39, 0x01000000, 24 ) DC_TIME = ( 0x3A, 0x000003FF, 0 ) DC_SG = ( 0x3A, 0x00FF0000, 16 ) SG_RESULT = ( 0x3B, 0x000003FF, 0 ) S2VSA = ( 0x3B, 0x00001000, 12 ) S2VSB = ( 0x3B, 0x00002000, 13 ) STEALTH = ( 0x3B, 0x00004000, 14 ) FSACTIVE = ( 0x3B, 0x00008000, 15 ) CS_ACTUAL = ( 0x3B, 0x001F0000, 16 ) STALLGUARD = ( 0x3B, 0x01000000, 24 ) OT = ( 0x3B, 0x02000000, 25 ) OTPW = ( 0x3B, 0x04000000, 26 ) S2GA = ( 0x3B, 0x08000000, 27 ) S2GB = ( 0x3B, 0x10000000, 28 ) OLA = ( 0x3B, 0x20000000, 29 ) OLB = ( 0x3B, 0x40000000, 30 ) STST = ( 0x3B, 0x80000000, 31 ) PWM_OFS = ( 0x3C, 0x000000FF, 0 ) PWM_GRAD = ( 0x3C, 0x0000FF00, 8 ) PWM_FREQ = ( 0x3C, 0x00030000, 16 ) PWM_AUTOSCALE = ( 0x3C, 0x00040000, 18 ) PWM_AUTOGRAD = ( 0x3C, 0x00080000, 19 ) FREEWHEEL = ( 0x3C, 0x00300000, 20 ) PWM_MEAS_SD_ENABLE = ( 0x3C, 0x00400000, 22 ) PWM_DIS_REG_STST = ( 0x3C, 0x00800000, 23 ) PWM_REG = ( 0x3C, 0x0F000000, 24 ) PWM_LIM = ( 0x3C, 0xF0000000, 28 ) PWM_SCALE_SUM = ( 0x3D, 0x000003FF, 0 ) PWM_SCALE_AUTO = ( 0x3D, 0x01FF0000, 16 ) PWM_OFS_AUTO = ( 0x3E, 0x000000FF, 0 ) PWM_GRAD_AUTO = ( 0x3E, 0x00FF0000, 16 ) SG4_THRS = ( 0x3F, 0x000000FF, 0 ) SG4_FILT_EN = ( 0x3F, 0x00000100, 8 ) SG_ANGLE_OFFSET = ( 0x3F, 0x00000200, 9 ) SG4_RESULT_SG_RESULT = ( 0x40, 0x000003FF, 0 ) IND_0 = ( 0x41, 0x000000FF, 0 ) IND_1 = ( 0x41, 0x0000FF00, 8 ) IND_2 = ( 0x41, 0x00FF0000, 16 ) IND_3 = ( 0x41, 0xFF000000, 24 )