################################################################################ # 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 TMC5272(TMCIc): """ The TMC5272 is a high-performance dual-axis stepper motor controller and driver IC for two phase stepper motors with serial communication interfaces (SPI and UART). Supply voltage: 2.1-20V. """ def __init__(self, parent_eval): super().__init__(self.__class__.__name__, 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 TMC5272. """ GCONF = 0x00 GSTAT = 0x01 IFCNT = 0x02 SLAVECONF = 0x03 IOIN = 0x04 DRV_CONF = 0x05 GLOBAL_SCALER = 0x06 RAMPMODE = 0x07 MSLUT_ADDR = 0x08 MSLUT_SEL_START = 0x09 M0_X_COMPARE = 0x10 M0_X_COMPARE_REPEAT = 0x11 M0_IHOLD_IRUN = 0x12 M0_TPOWERDOWN = 0x13 M0_TSTEP = 0x14 M0_TPWMTHRS = 0x15 M0_TCOOLTHRS = 0x16 M0_THIGH = 0x17 M0_XACTUAL = 0x18 M0_VACTUAL = 0x19 M0_AACTUAL = 0x1A M0_VSTART = 0x1B M0_A1 = 0x1C M0_V1 = 0x1D M0_A2 = 0x1E M0_V2 = 0x1F M0_AMAX = 0x20 M0_VMAX = 0x21 M0_DMAX = 0x22 M0_D2 = 0x23 M0_D1 = 0x24 M0_VSTOP = 0x25 M0_TVMAX = 0x26 M0_TZEROWAIT = 0x27 M0_XTARGET = 0x28 M0_VDCMIN = 0x29 M0_SW_MODE = 0x2A M0_RAMP_STAT = 0x2B M0_XLATCH = 0x2C M0_POSITION_PI_CTRL = 0x2D M0_X_ENC = 0x2E M0_ENCMODE = 0x2F M0_ENC_CONST = 0x30 M0_ENC_STATUS = 0x31 M0_ENC_LATCH = 0x32 M0_ENC_DEVIATION = 0x33 M0_VIRTUAL_STOP_L = 0x34 M0_VIRTUAL_STOP_R = 0x35 M0_MSCNT = 0x36 M0_MSCURACT = 0x37 M0_CHOPCONF = 0x38 M0_COOLCONF = 0x39 M0_DCCTRL = 0x3A M0_DRV_STATUS = 0x3B M0_PWMCONF = 0x3C M0_PWM_SCALE = 0x3D M0_PWM_AUTO = 0x3E M0_SG4_THRS = 0x3F M0_SG4_RESULT = 0x40 M0_SG4_IND = 0x41 M1_X_COMPARE = 0x45 M1_X_COMPARE_REPEAT = 0x46 M1_IHOLD_IRUN = 0x47 M1_TPOWERDOWN = 0x48 M1_TSTEP = 0x49 M1_TPWMTHRS = 0x4A M1_TCOOLTHRS = 0x4B M1_THIGH = 0x4C M1_XACTUAL = 0x4D M1_VACTUAL = 0x4E M1_AACTUAL = 0x4F M1_VSTART = 0x50 M1_A1 = 0x51 M1_V1 = 0x52 M1_A2 = 0x53 M1_V2 = 0x54 M1_AMAX = 0x55 M1_VMAX = 0x56 M1_DMAX = 0x57 M1_D2 = 0x58 M1_D1 = 0x59 M1_VSTOP = 0x5A M1_TVMAX = 0x5B M1_TZEROWAIT = 0x5C M1_XTARGET = 0x5D M1_VDCMIN = 0x5E M1_SW_MODE = 0x5F M1_RAMP_STAT = 0x60 M1_XLATCH = 0x61 M1_POSITION_PI_CTRL = 0x62 M1_X_ENC = 0x63 M1_ENCMODE = 0x64 M1_ENC_CONST = 0x65 M1_ENC_STATUS = 0x66 M1_ENC_LATCH = 0x67 M1_ENC_DEVIATION = 0x68 M1_VIRTUAL_STOP_L = 0x69 M1_VIRTUAL_STOP_R = 0x6A M1_MSCNT = 0x6B M1_MSCURACT = 0x6C M1_CHOPCONF = 0x6D M1_COOLCONF = 0x6E M1_DCCTRL = 0x6F M1_DRV_STATUS = 0x70 M1_PWMCONF = 0x71 M1_PWM_SCALE = 0x72 M1_PWM_AUTO = 0x73 M1_SG4_THRS = 0x74 M1_SG4_RESULT = 0x75 M1_SG4_IND = 0x76 class FIELD: """ Define all register bitfields of the TMC5272. 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_M0_EN_PWM_MODE = ( 0x00, 0x00000001, 0 ) GCONF_M0_MULTISTEP_FILT = ( 0x00, 0x00000002, 1 ) GCONF_M0_SHAFT = ( 0x00, 0x00000004, 2 ) GCONF_M0_DIAG0_ERROR = ( 0x00, 0x00000008, 3 ) GCONF_DIAG0_OTPW = ( 0x00, 0x00000010, 4 ) GCONF_DIAG0_STALL_STEP = ( 0x00, 0x00000020, 5 ) GCONF_DIAG1_STALL_DIR = ( 0x00, 0x00000040, 6 ) GCONF_M0_DIAG1_INDEX = ( 0x00, 0x00000080, 7 ) GCONF_DIAG0_INT_PUSHPULL = ( 0x00, 0x00000100, 8 ) GCONF_DIAG1_POSCOMP_PUSHPULL = ( 0x00, 0x00000200, 9 ) GCONF_M0_SMALL_HYSTERESIS = ( 0x00, 0x00000400, 10 ) GCONF_M0_STOP_ENABLE = ( 0x00, 0x00000800, 11 ) GCONF_M0_DIRECT_MODE = ( 0x00, 0x00001000, 12 ) GCONF_M0_SD = ( 0x00, 0x00002000, 13 ) GCONF_M0_DRV_ENN = ( 0x00, 0x00004000, 14 ) GCONF_QSC_STS_ENA = ( 0x00, 0x00008000, 15 ) GCONF_M1_EN_PWM_MODE = ( 0x00, 0x00010000, 16 ) GCONF_M1_MULTISTEP_FILT = ( 0x00, 0x00020000, 17 ) GCONF_M1_SHAFT = ( 0x00, 0x00040000, 18 ) GCONF_DIAG0_INTOUT_SEL = ( 0x00, 0x00180000, 19 ) GCONF_DIAG1_X_COMP_SEL = ( 0x00, 0x00600000, 21 ) GCONF_M1_DIAG1_INDEX = ( 0x00, 0x00800000, 23 ) GCONF_M1_SMALL_HYSTERESIS = ( 0x00, 0x01000000, 24 ) GCONF_M1_STOP_ENABLE = ( 0x00, 0x02000000, 25 ) GCONF_M1_DIRECT_MODE = ( 0x00, 0x04000000, 26 ) GCONF_M1_SD = ( 0x00, 0x08000000, 27 ) GCONF_M1_DRV_ENN = ( 0x00, 0x10000000, 28 ) GSTAT_RESET = ( 0x01, 0x00000001, 0 ) GSTAT_M0_DRV_ERR = ( 0x01, 0x00000002, 1 ) GSTAT_UV_CP = ( 0x01, 0x00000004, 2 ) GSTAT_REGISTER_RESET = ( 0x01, 0x00000008, 3 ) GSTAT_VM_UVLO = ( 0x01, 0x00000010, 4 ) GSTAT_M1_DRV_ERR = ( 0x01, 0x00000020, 5 ) IFCNT = ( 0x02, 0x000000FF, 0 ) SLAVECONF_SLAVEADDR = ( 0x03, 0x000000FF, 0 ) SLAVECONF_SENDDELAY = ( 0x03, 0x00000F00, 8 ) ADC_TEMPERATURE = ( 0x04, 0x000001FE, 1 ) ADC_EN = ( 0x04, 0x00000200, 9 ) IOIN_SEL_OSCILLATOR = ( 0x04, 0x00000800, 11 ) IOIN_EXT_RES_DET = ( 0x04, 0x00001000, 12 ) IOIN_OUTPUT = ( 0x04, 0x00002000, 13 ) QSC_STATUS = ( 0x04, 0x00008000, 15 ) IOIN_SILICON_RV = ( 0x04, 0x00070000, 16 ) IOIN_VERSION = ( 0x04, 0xFF000000, 24 ) M0_FSR = ( 0x05, 0x00000003, 0 ) M0_FSR_IREF = ( 0x05, 0x0000000C, 2 ) DRV_CONF_M0_EN_EMERGENCY_DISABLE = ( 0x05, 0x00000010, 4 ) DRV_CONF_M0_SEL_EM_STOP_SRC = ( 0x05, 0x00000020, 5 ) M1_FSR = ( 0x05, 0x000000C0, 6 ) M1_FSR_IREF = ( 0x05, 0x00000300, 8 ) DRV_CONF_M1_EN_EMERGENCY_DISABLE = ( 0x05, 0x00000400, 10 ) DRV_CONF_M1_SEL_EM_STOP_SRC = ( 0x05, 0x00000800, 11 ) DRV_CONF_M0_STANDSTILL_TIME = ( 0x05, 0x00070000, 16 ) DRV_CONF_M1_STANDSTILL_TIME = ( 0x05, 0x00700000, 20 ) GLOBAL_SCALER_GLOBALSCALER_M0_A = ( 0x06, 0x000000FF, 0 ) GLOBAL_SCALER_GLOBALSCALER_M0_B = ( 0x06, 0x0000FF00, 8 ) GLOBAL_SCALER_GLOBALSCALER_M1_A = ( 0x06, 0x00FF0000, 16 ) GLOBAL_SCALER_GLOBALSCALER_M1_B = ( 0x06, 0xFF000000, 24 ) RAMPMODE_M0_RAMPMODE = ( 0x07, 0x00000003, 0 ) RAMPMODE_M1_RAMPMODE = ( 0x07, 0x0000000C, 2 ) RAMPMODE_RAMP0_HOLD = ( 0x07, 0x00000100, 8 ) RAMPMODE_RAMP1_HOLD = ( 0x07, 0x00000200, 9 ) MSLUT_ADDR = ( 0x08, 0x0000001F, 0 ) MSLUT_SEL_START_MSLUT_DATA = ( 0x09, 0xFFFFFFFF, 0 ) M0_X_COMPARE = ( 0x10, 0xFFFFFFFF, 0 ) M0_X_COMPARE_REPEAT = ( 0x11, 0x00FFFFFF, 0 ) M0_IHOLD_IRUN_IHOLD = ( 0x12, 0x0000001F, 0 ) M0_IHOLD_IRUN_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 ) M0_XACTUAL = ( 0x18, 0xFFFFFFFF, 0 ) VACTUAL = ( 0x19, 0x00FFFFFF, 0 ) M0_AACTUAL = ( 0x1A, 0x00FFFFFF, 0 ) M0_VSTART = ( 0x1B, 0x0003FFFF, 0 ) M0_A1 = ( 0x1C, 0x0003FFFF, 0 ) M0_V1 = ( 0x1D, 0x000FFFFF, 0 ) M0_A2 = ( 0x1E, 0x0003FFFF, 0 ) M0_V2 = ( 0x1F, 0x000FFFFF, 0 ) M0_AMAX = ( 0x20, 0x0003FFFF, 0 ) M0_VMAX = ( 0x21, 0x007FFFFF, 0 ) M0_DMAX = ( 0x22, 0x0003FFFF, 0 ) M0_D2 = ( 0x23, 0x0003FFFF, 0 ) M0_D1 = ( 0x24, 0x0003FFFF, 0 ) M0_VSTOP = ( 0x25, 0x0003FFFF, 0 ) M0_TVMAX = ( 0x26, 0x0000FFFF, 0 ) M0_TZEROWAIT = ( 0x27, 0x0000FFFF, 0 ) M0_XTARGET = ( 0x28, 0xFFFFFFFF, 0 ) M1_VDCMIN_VDCMIN = ( 0x29, 0x007FFFFF, 0 ) M0_SW_MODE_STOP_L_ENABLE = ( 0x2A, 0x00000001, 0 ) M0_SW_MODE_STOP_R_ENABLE = ( 0x2A, 0x00000002, 1 ) M0_SW_MODE_POL_STOP_L = ( 0x2A, 0x00000004, 2 ) M0_SW_MODE_POL_STOP_R = ( 0x2A, 0x00000008, 3 ) M0_SW_MODE_SWAP_LR = ( 0x2A, 0x00000010, 4 ) M0_SW_MODE_LATCH_L_ACTIVE = ( 0x2A, 0x00000020, 5 ) M0_SW_MODE_LATCH_L_INACTIVE = ( 0x2A, 0x00000040, 6 ) M0_SW_MODE_LATCH_R_ACTIVE = ( 0x2A, 0x00000080, 7 ) M0_SW_MODE_LATCH_R_INACTIVE = ( 0x2A, 0x00000100, 8 ) M0_SW_MODE_EN_LATCH_ENCODER = ( 0x2A, 0x00000200, 9 ) SG_STOP = ( 0x2A, 0x00000400, 10 ) M0_SW_MODE_EN_SOFTSTOP = ( 0x2A, 0x00000800, 11 ) M0_SW_MODE_EN_VIRTUAL_STOP_L = ( 0x2A, 0x00001000, 12 ) M0_SW_MODE_EN_VIRTUAL_STOP_R = ( 0x2A, 0x00002000, 13 ) M0_SW_MODE_VIRTUAL_STEP_ENC = ( 0x2A, 0x00004000, 14 ) M0_RAMP_STAT_STATUS_STOP_L = ( 0x2B, 0x00000001, 0 ) M0_RAMP_STAT_STATUS_STOP_R = ( 0x2B, 0x00000002, 1 ) M0_RAMP_STAT_STATUS_LATCH_L = ( 0x2B, 0x00000004, 2 ) M0_RAMP_STAT_STATUS_LATCH_R = ( 0x2B, 0x00000008, 3 ) M0_RAMP_STAT_EVENT_STOP_L = ( 0x2B, 0x00000010, 4 ) M0_RAMP_STAT_EVENT_STOP_R = ( 0x2B, 0x00000020, 5 ) M0_RAMP_STAT_EVENT_STOP_SG = ( 0x2B, 0x00000040, 6 ) M0_RAMP_STAT_EVENT_POS_REACHED = ( 0x2B, 0x00000080, 7 ) M0_RAMP_STAT_VELOCITY_REACHED = ( 0x2B, 0x00000100, 8 ) M0_RAMP_STAT_POSITION_REACHED = ( 0x2B, 0x00000200, 9 ) M0_RAMP_STAT_VZERO = ( 0x2B, 0x00000400, 10 ) M0_RAMP_STAT_T_ZEROWAIT_ACTIVE = ( 0x2B, 0x00000800, 11 ) M0_RAMP_STAT_SECOND_MOVE = ( 0x2B, 0x00001000, 12 ) M0_RAMP_STAT_STATUS_SG = ( 0x2B, 0x00002000, 13 ) M0_RAMP_STAT_STATUS_VIRTUAL_STOP_L = ( 0x2B, 0x00004000, 14 ) M0_RAMP_STAT_STATUS_VIRTUAL_STOP_R = ( 0x2B, 0x00008000, 15 ) M0_XLATCH = ( 0x2C, 0xFFFFFFFF, 0 ) P_POSITION = ( 0x2D, 0x000003FF, 0 ) TOLERANCE = ( 0x2D, 0x00FF0000, 16 ) TOL_ON_POS_REACHED = ( 0x2D, 0x10000000, 28 ) M0_X_ENC = ( 0x2E, 0xFFFFFFFF, 0 ) M0_ENCMODE_POL_A = ( 0x2F, 0x00000001, 0 ) M0_ENCMODE_POL_B = ( 0x2F, 0x00000002, 1 ) M0_ENCMODE_POL_N = ( 0x2F, 0x00000004, 2 ) M0_ENCMODE_IGNORE_AB = ( 0x2F, 0x00000008, 3 ) M0_ENCMODE_CLR_CONT = ( 0x2F, 0x00000010, 4 ) M0_ENCMODE_CLR_ONCE = ( 0x2F, 0x00000020, 5 ) M0_ENCMODE_POS_NEG_EDGE = ( 0x2F, 0x000000C0, 6 ) M0_ENCMODE_CLR_ENC_X = ( 0x2F, 0x00000100, 8 ) M0_ENCMODE_LATCH_X_ACT = ( 0x2F, 0x00000200, 9 ) M0_ENCMODE_ENC_SEL_DECIMAL = ( 0x2F, 0x00000400, 10 ) M0_ENCMODE_NBEMF_ABN_SEL = ( 0x2F, 0x00000800, 11 ) BEMF_HYST = ( 0x2F, 0x00007000, 12 ) M0_ENCMODE_BEMF_BLANK_TIME = ( 0x2F, 0x00FF0000, 16 ) BEMF_FILTER_SEL = ( 0x2F, 0x30000000, 28 ) M0_ENC_CONST = ( 0x30, 0xFFFFFFFF, 0 ) M0_ENC_STATUS_N_EVENT = ( 0x31, 0x00000001, 0 ) M0_ENC_STATUS_DEVIATION_WARN = ( 0x31, 0x00000002, 1 ) M0_ENC_LATCH = ( 0x32, 0xFFFFFFFF, 0 ) M0_ENC_DEVIATION = ( 0x33, 0x000FFFFF, 0 ) M0_VIRTUAL_STOP_L = ( 0x34, 0xFFFFFFFF, 0 ) M0_VIRTUAL_STOP_R = ( 0x35, 0xFFFFFFFF, 0 ) M0_MSCNT = ( 0x36, 0x000003FF, 0 ) M0_MSCURACT_CUR_A = ( 0x37, 0x000001FF, 0 ) M0_MSCURACT_CUR_B = ( 0x37, 0x01FF0000, 16 ) CHOPCONF_TOFF = ( 0x38, 0x0000000F, 0 ) M0_CHOPCONF_HSTRT_TFD210 = ( 0x38, 0x00000070, 4 ) CHOPCONF_HEND_OFFSET = ( 0x38, 0x00000780, 7 ) M0_CHOPCONF_FD3 = ( 0x38, 0x00000800, 11 ) M0_CHOPCONF_DISFDCC = ( 0x38, 0x00001000, 12 ) CHOPCONF_CHM = ( 0x38, 0x00004000, 14 ) CHOPCONF_TBL = ( 0x38, 0x00018000, 15 ) CHOPCONF_VHIGHFS = ( 0x38, 0x00040000, 18 ) CHOPCONF_VHIGHCHM = ( 0x38, 0x00080000, 19 ) M0_CHOPCONF_TPFD = ( 0x38, 0x00F00000, 20 ) M0_CHOPCONF_MRES = ( 0x38, 0x0F000000, 24 ) M0_CHOPCONF_INTPOL = ( 0x38, 0x10000000, 28 ) M0_CHOPCONF_DEDGE = ( 0x38, 0x20000000, 29 ) M0_CHOPCONF_DISS2G = ( 0x38, 0x40000000, 30 ) M0_CHOPCONF_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 ) M0_DCCTRL_DC_TIME = ( 0x3A, 0x000003FF, 0 ) M0_DCCTRL_DC_SG = ( 0x3A, 0x00FF0000, 16 ) M0_DRV_STATUS_SG_RESULT = ( 0x3B, 0x000003FF, 0 ) M0_DRV_STATUS_S2VSA = ( 0x3B, 0x00001000, 12 ) M0_DRV_STATUS_S2VSB = ( 0x3B, 0x00002000, 13 ) STEALTH = ( 0x3B, 0x00004000, 14 ) M0_DRV_STATUS_FSACTIVE = ( 0x3B, 0x00008000, 15 ) M0_DRV_STATUS_CS_ACTUAL = ( 0x3B, 0x001F0000, 16 ) M0_DRV_STATUS_STALLGUARD = ( 0x3B, 0x01000000, 24 ) M0_DRV_STATUS_OT = ( 0x3B, 0x02000000, 25 ) M0_DRV_STATUS_OTPW = ( 0x3B, 0x04000000, 26 ) M0_DRV_STATUS_S2GA = ( 0x3B, 0x08000000, 27 ) M0_DRV_STATUS_S2GB = ( 0x3B, 0x10000000, 28 ) M0_DRV_STATUS_OLA = ( 0x3B, 0x20000000, 29 ) M0_DRV_STATUS_OLB = ( 0x3B, 0x40000000, 30 ) M0_DRV_STATUS_STST = ( 0x3B, 0x80000000, 31 ) PWMCONF_PWM_OFS = ( 0x3C, 0x000000FF, 0 ) PWM_GRAD = ( 0x3C, 0x0000FF00, 8 ) PWMCONF_PWM_FREQ = ( 0x3C, 0x00030000, 16 ) PWMCONF_PWM_AUTOSCALE = ( 0x3C, 0x00040000, 18 ) M0_PWMCONF_PWM_AUTOGRAD = ( 0x3C, 0x00080000, 19 ) FREEWHEEL = ( 0x3C, 0x00300000, 20 ) M0_PWMCONF_PWM_MEAS_SD_ENABLE = ( 0x3C, 0x00400000, 22 ) PWMCONF_PWM_DIS_REG_STST = ( 0x3C, 0x00800000, 23 ) M0_PWMCONF_PWM_REG = ( 0x3C, 0x0F000000, 24 ) M0_PWMCONF_PWM_LIM = ( 0x3C, 0xF0000000, 28 ) M0_PWM_SCALE_PWM_SCALE_SUM = ( 0x3D, 0x000003FF, 0 ) M0_PWM_SCALE_PWM_SCALE_AUTO = ( 0x3D, 0x01FF0000, 16 ) M0_PWM_AUTO_PWM_OFS_AUTO = ( 0x3E, 0x000000FF, 0 ) M0_PWM_AUTO_PWM_GRAD_AUTO = ( 0x3E, 0x00FF0000, 16 ) SG4_THRS = ( 0x3F, 0x000000FF, 0 ) FILT_EN = ( 0x3F, 0x00000100, 8 ) SG_ANGLE_OFFSET = ( 0x3F, 0x00000200, 9 ) M0_SG4_RESULT_SG_RESULT = ( 0x40, 0x000003FF, 0 ) M0_SG4_IND_SG4_IND_0 = ( 0x41, 0x000000FF, 0 ) M0_SG4_IND_SG4_IND_1 = ( 0x41, 0x0000FF00, 8 ) M0_SG4_IND_SG4_IND_2 = ( 0x41, 0x00FF0000, 16 ) M0_SG4_IND_SG4_IND_3 = ( 0x41, 0xFF000000, 24 ) M1_X_COMPARE = ( 0x45, 0xFFFFFFFF, 0 ) M1_X_COMPARE_REPEAT = ( 0x46, 0x00FFFFFF, 0 ) M1_IHOLD_IRUN_IHOLD = ( 0x47, 0x0000001F, 0 ) M1_IHOLD_IRUN_IRUN = ( 0x47, 0x00001F00, 8 ) #IHOLDDELAY = ( 0x47, 0x000F0000, 16 ) #IRUNDELAY = ( 0x47, 0x0F000000, 24 ) #TPOWERDOWN = ( 0x48, 0x000000FF, 0 ) #TSTEP = ( 0x49, 0x000FFFFF, 0 ) #TPWMTHRS = ( 0x4A, 0x000FFFFF, 0 ) #TCOOLTHRS = ( 0x4B, 0x000FFFFF, 0 ) #THIGH = ( 0x4C, 0x000FFFFF, 0 ) M1_XACTUAL = ( 0x4D, 0xFFFFFFFF, 0 ) #VACTUAL = ( 0x4E, 0x00FFFFFF, 0 ) M1_AACTUAL = ( 0x4F, 0x00FFFFFF, 0 ) M1_VSTART = ( 0x50, 0x0003FFFF, 0 ) M1_A1 = ( 0x51, 0x0003FFFF, 0 ) M1_V1 = ( 0x52, 0x000FFFFF, 0 ) M1_A2 = ( 0x53, 0x0003FFFF, 0 ) M1_V2 = ( 0x54, 0x000FFFFF, 0 ) M1_AMAX = ( 0x55, 0x0003FFFF, 0 ) M1_VMAX = ( 0x56, 0x007FFFFF, 0 ) M1_DMAX = ( 0x57, 0x0003FFFF, 0 ) M1_D2 = ( 0x58, 0x0003FFFF, 0 ) M1_D1 = ( 0x59, 0x0003FFFF, 0 ) M1_VSTOP = ( 0x5A, 0x0003FFFF, 0 ) M1_TVMAX = ( 0x5B, 0x0000FFFF, 0 ) M1_TZEROWAIT = ( 0x5C, 0x0000FFFF, 0 ) M1_XTARGET = ( 0x5D, 0xFFFFFFFF, 0 ) #M1_VDCMIN_VDCMIN = ( 0x5E, 0x007FFFFF, 0 ) M1_SW_MODE_STOP_L_ENABLE = ( 0x5F, 0x00000001, 0 ) M1_SW_MODE_STOP_R_ENABLE = ( 0x5F, 0x00000002, 1 ) M1_SW_MODE_POL_STOP_L = ( 0x5F, 0x00000004, 2 ) M1_SW_MODE_POL_STOP_R = ( 0x5F, 0x00000008, 3 ) M1_SW_MODE_SWAP_LR = ( 0x5F, 0x00000010, 4 ) M1_SW_MODE_LATCH_L_ACTIVE = ( 0x5F, 0x00000020, 5 ) M1_SW_MODE_LATCH_L_INACTIVE = ( 0x5F, 0x00000040, 6 ) M1_SW_MODE_LATCH_R_ACTIVE = ( 0x5F, 0x00000080, 7 ) M1_SW_MODE_LATCH_R_INACTIVE = ( 0x5F, 0x00000100, 8 ) M1_SW_MODE_EN_LATCH_ENCODER = ( 0x5F, 0x00000200, 9 ) #SG_STOP = ( 0x5F, 0x00000400, 10 ) M1_SW_MODE_EN_SOFTSTOP = ( 0x5F, 0x00000800, 11 ) M1_SW_MODE_EN_VIRTUAL_STOP_L = ( 0x5F, 0x00001000, 12 ) M1_SW_MODE_EN_VIRTUAL_STOP_R = ( 0x5F, 0x00002000, 13 ) M1_SW_MODE_VIRTUAL_STEP_ENC = ( 0x5F, 0x00004000, 14 ) M1_RAMP_STAT_STATUS_STOP_L = ( 0x60, 0x00000001, 0 ) M1_RAMP_STAT_STATUS_STOP_R = ( 0x60, 0x00000002, 1 ) M1_RAMP_STAT_STATUS_LATCH_L = ( 0x60, 0x00000004, 2 ) M1_RAMP_STAT_STATUS_LATCH_R = ( 0x60, 0x00000008, 3 ) M1_RAMP_STAT_EVENT_STOP_L = ( 0x60, 0x00000010, 4 ) M1_RAMP_STAT_EVENT_STOP_R = ( 0x60, 0x00000020, 5 ) M1_RAMP_STAT_EVENT_STOP_SG = ( 0x60, 0x00000040, 6 ) M1_RAMP_STAT_EVENT_POS_REACHED = ( 0x60, 0x00000080, 7 ) M1_RAMP_STAT_VELOCITY_REACHED = ( 0x60, 0x00000100, 8 ) M1_RAMP_STAT_POSITION_REACHED = ( 0x60, 0x00000200, 9 ) M1_RAMP_STAT_VZERO = ( 0x60, 0x00000400, 10 ) M1_RAMP_STAT_T_ZEROWAIT_ACTIVE = ( 0x60, 0x00000800, 11 ) M1_RAMP_STAT_SECOND_MOVE = ( 0x60, 0x00001000, 12 ) M1_RAMP_STAT_STATUS_SG = ( 0x60, 0x00002000, 13 ) M1_RAMP_STAT_STATUS_VIRTUAL_STOP_L = ( 0x60, 0x00004000, 14 ) M1_RAMP_STAT_STATUS_VIRTUAL_STOP_R = ( 0x60, 0x00008000, 15 ) M1_XLATCH = ( 0x61, 0xFFFFFFFF, 0 ) #P_POSITION = ( 0x62, 0x000003FF, 0 ) #TOLERANCE = ( 0x62, 0x00FF0000, 16 ) #TOL_ON_POS_REACHED = ( 0x62, 0x10000000, 28 ) M1_X_ENC = ( 0x63, 0xFFFFFFFF, 0 ) M1_ENCMODE_POL_A = ( 0x64, 0x00000001, 0 ) M1_ENCMODE_POL_B = ( 0x64, 0x00000002, 1 ) M1_ENCMODE_POL_N = ( 0x64, 0x00000004, 2 ) M1_ENCMODE_IGNORE_AB = ( 0x64, 0x00000008, 3 ) M1_ENCMODE_CLR_CONT = ( 0x64, 0x00000010, 4 ) M1_ENCMODE_CLR_ONCE = ( 0x64, 0x00000020, 5 ) M1_ENCMODE_POS_NEG_EDGE = ( 0x64, 0x000000C0, 6 ) M1_ENCMODE_CLR_ENC_X = ( 0x64, 0x00000100, 8 ) M1_ENCMODE_LATCH_X_ACT = ( 0x64, 0x00000200, 9 ) M1_ENCMODE_ENC_SEL_DECIMAL = ( 0x64, 0x00000400, 10 ) M1_ENCMODE_NBEMF_ABN_SEL = ( 0x64, 0x00000800, 11 ) #BEMF_HYST = ( 0x64, 0x00007000, 12 ) M1_ENCMODE_BEMF_BLANK_TIME = ( 0x64, 0x00FF0000, 16 ) #BEMF_FILTER_SEL = ( 0x64, 0x30000000, 28 ) M1_ENC_CONST = ( 0x65, 0xFFFFFFFF, 0 ) M1_ENC_STATUS_N_EVENT = ( 0x66, 0x00000001, 0 ) M1_ENC_STATUS_DEVIATION_WARN = ( 0x66, 0x00000002, 1 ) M1_ENC_LATCH = ( 0x67, 0xFFFFFFFF, 0 ) M1_ENC_DEVIATION = ( 0x68, 0x000FFFFF, 0 ) M1_VIRTUAL_STOP_L = ( 0x69, 0xFFFFFFFF, 0 ) M1_VIRTUAL_STOP_R = ( 0x6A, 0xFFFFFFFF, 0 ) M1_MSCNT = ( 0x6B, 0x000003FF, 0 ) M1_MSCURACT_CUR_A = ( 0x6C, 0x000001FF, 0 ) M1_MSCURACT_CUR_B = ( 0x6C, 0x01FF0000, 16 ) #CHOPCONF_TOFF = ( 0x6D, 0x0000000F, 0 ) M1_CHOPCONF_HSTRT_TFD210 = ( 0x6D, 0x00000070, 4 ) #CHOPCONF_HEND_OFFSET = ( 0x6D, 0x00000780, 7 ) M1_CHOPCONF_FD3 = ( 0x6D, 0x00000800, 11 ) M1_CHOPCONF_DISFDCC = ( 0x6D, 0x00001000, 12 ) #CHOPCONF_CHM = ( 0x6D, 0x00004000, 14 ) #CHOPCONF_TBL = ( 0x6D, 0x00018000, 15 ) #CHOPCONF_VHIGHFS = ( 0x6D, 0x00040000, 18 ) #CHOPCONF_VHIGHCHM = ( 0x6D, 0x00080000, 19 ) M1_CHOPCONF_TPFD = ( 0x6D, 0x00F00000, 20 ) M1_CHOPCONF_MRES = ( 0x6D, 0x0F000000, 24 ) M1_CHOPCONF_INTPOL = ( 0x6D, 0x10000000, 28 ) M1_CHOPCONF_DEDGE = ( 0x6D, 0x20000000, 29 ) M1_CHOPCONF_DISS2G = ( 0x6D, 0x40000000, 30 ) M1_CHOPCONF_DISS2VS = ( 0x6D, 0x80000000, 31 ) #SEMIN = ( 0x6E, 0x0000000F, 0 ) #SEUP = ( 0x6E, 0x00000060, 5 ) #SEMAX = ( 0x6E, 0x00000F00, 8 ) #SEDN = ( 0x6E, 0x00006000, 13 ) #SEIMIN = ( 0x6E, 0x00008000, 15 ) #SGT = ( 0x6E, 0x007F0000, 16 ) #SFILT = ( 0x6E, 0x01000000, 24 ) M1_DCCTRL_DC_TIME = ( 0x6F, 0x000003FF, 0 ) M1_DCCTRL_DC_SG = ( 0x6F, 0x00FF0000, 16 ) M1_DRV_STATUS_SG_RESULT = ( 0x70, 0x000003FF, 0 ) M1_DRV_STATUS_S2VSA = ( 0x70, 0x00001000, 12 ) M1_DRV_STATUS_S2VSB = ( 0x70, 0x00002000, 13 ) #STEALTH = ( 0x70, 0x00004000, 14 ) M1_DRV_STATUS_FSACTIVE = ( 0x70, 0x00008000, 15 ) M1_DRV_STATUS_CS_ACTUAL = ( 0x70, 0x001F0000, 16 ) M1_DRV_STATUS_STALLGUARD = ( 0x70, 0x01000000, 24 ) M1_DRV_STATUS_OT = ( 0x70, 0x02000000, 25 ) M1_DRV_STATUS_OTPW = ( 0x70, 0x04000000, 26 ) M1_DRV_STATUS_S2GA = ( 0x70, 0x08000000, 27 ) M1_DRV_STATUS_S2GB = ( 0x70, 0x10000000, 28 ) M1_DRV_STATUS_OLA = ( 0x70, 0x20000000, 29 ) M1_DRV_STATUS_OLB = ( 0x70, 0x40000000, 30 ) M1_DRV_STATUS_STST = ( 0x70, 0x80000000, 31 ) #PWMCONF_PWM_OFS = ( 0x71, 0x000000FF, 0 ) #PWM_GRAD = ( 0x71, 0x0000FF00, 8 ) #PWMCONF_PWM_FREQ = ( 0x71, 0x00030000, 16 ) #PWMCONF_PWM_AUTOSCALE = ( 0x71, 0x00040000, 18 ) M1_PWMCONF_PWM_AUTOGRAD = ( 0x71, 0x00080000, 19 ) #FREEWHEEL = ( 0x71, 0x00300000, 20 ) M1_PWMCONF_PWM_MEAS_SD_ENABLE = ( 0x71, 0x00400000, 22 ) M1_PWMCONF_PWM_DIS_REG_STST = ( 0x71, 0x00800000, 23 ) M1_PWMCONF_PWM_REG = ( 0x71, 0x0F000000, 24 ) M1_PWMCONF_PWM_LIM = ( 0x71, 0xF0000000, 28 ) M1_PWM_SCALE_PWM_SCALE_SUM = ( 0x72, 0x000003FF, 0 ) M1_PWM_SCALE_PWM_SCALE_AUTO = ( 0x72, 0x01FF0000, 16 ) M1_PWM_AUTO_PWM_OFS_AUTO = ( 0x73, 0x000000FF, 0 ) M1_PWM_AUTO_PWM_GRAD_AUTO = ( 0x73, 0x00FF0000, 16 ) #SG4_THRS = ( 0x74, 0x000000FF, 0 ) #FILT_EN = ( 0x74, 0x00000100, 8 ) #SG_ANGLE_OFFSET = ( 0x74, 0x00000200, 9 ) M1_SG4_RESULT_SG_RESULT = ( 0x75, 0x000003FF, 0 ) M1_SG4_IND_SG4_IND_0 = ( 0x76, 0x000000FF, 0 ) M1_SG4_IND_SG4_IND_1 = ( 0x76, 0x0000FF00, 8 ) M1_SG4_IND_SG4_IND_2 = ( 0x76, 0x00FF0000, 16 ) M1_SG4_IND_SG4_IND_3 = ( 0x76, 0xFF000000, 24 )