"PWM_SCALE_SUM": 0xff,
"PWM_SCALE_AUTO": 0x1ff << 16
}
Fields["PWM_AUTO"] = {
"PWM_OFS_AUTO": 0xff,
"PWM_GRAD_AUTO": 0xff << 16
}
FieldFormatters = {
"I_scale_analog": (lambda v: "1(ExtVREF)" if v else ""),
"shaft": (lambda v: "1(Reverse)" if v else ""),
"drv_err": (lambda v: "1(ErrorShutdown!)" if v else ""),
"uv_cp": (lambda v: "1(Undervoltage!)" if v else ""),
"SEL_A": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
"VERSION": (lambda v: "%#x" % v),
"CUR_A": (lambda v: str(tmc2130.decode_signed_int(v, 9))),
"CUR_B": (lambda v: str(tmc2130.decode_signed_int(v, 9))),
"MRES": (lambda v: "%d(%dusteps)" % (v, 0x100 >> v)),
"otpw": (lambda v: "1(OvertempWarning!)" if v else ""),
"ot": (lambda v: "1(OvertempError!)" if v else ""),
"s2ga": (lambda v: "1(ShortToGND_A!)" if v else ""),
"s2gb": (lambda v: "1(ShortToGND_B!)" if v else ""),
"s2vsa": (lambda v: "1(LowSideShort_A!)" if v else ""),
"s2vsb": (lambda v: "1(LowSideShort_B!)" if v else ""),
"ola": (lambda v: "1(OpenLoad_A!)" if v else ""),
"olb": (lambda v: "1(OpenLoad_B!)" if v else ""),
"PWM_SCALE_AUTO": (lambda v: str(tmc2130.decode_signed_int(v, 9)))
}
######################################################################
"pwm_freq": 0x03 << 16,
"pwm_autoscale": 0x01 << 18,
"pwm_autograd": 0x01 << 19,
"freewheel": 0x03 << 20,
"PWM_REG": 0xf << 24,
"PWM_LIM": 0xf << 28
}
Fields["PWM_SCALE"] = {"PWM_SCALE_SUM": 0xff, "PWM_SCALE_AUTO": 0x1ff << 16}
Fields["PWM_AUTO"] = {"PWM_OFS_AUTO": 0xff, "PWM_GRAD_AUTO": 0xff << 16}
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
"SEL_A": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
"s2vsa": (lambda v: "1(LowSideShort_A!)" if v else ""),
"s2vsb": (lambda v: "1(LowSideShort_B!)" if v else ""),
"PWM_SCALE_AUTO": (lambda v: tmc2130.decode_signed_int(v, 9))
})
######################################################################
# TMC2208 communication
######################################################################
# Generate a CRC8-ATM value for a bytearray
def calc_crc8(data):
crc = 0
for b in data:
for i in range(8):
if (crc >> 7) ^ (b & 0x01):
crc = (crc << 1) ^ 0x07
else:
}
Fields["PWM_SCALE"] = {
"PWM_SCALE_SUM": 0xff,
"PWM_SCALE_AUTO": 0x1ff << 16
}
Fields["PWM_AUTO"] = {
"PWM_OFS_AUTO": 0xff,
"PWM_GRAD_AUTO": 0xff << 16
}
FieldFormatters = dict(tmc2130.FieldFormatters)
FieldFormatters.update({
"SEL_A": (lambda v: "%d(%s)" % (v, ["TMC222x", "TMC220x"][v])),
"s2vsa": (lambda v: "1(LowSideShort_A!)" if v else ""),
"s2vsb": (lambda v: "1(LowSideShort_B!)" if v else ""),
"PWM_SCALE_AUTO": (lambda v: tmc2130.decode_signed_int(v, 9))
})
######################################################################
# TMC2208 communication
######################################################################
# Generate a CRC8-ATM value for a bytearray
def calc_crc8(data):
crc = 0
for b in data:
for i in range(8):
if (crc >> 7) ^ (b & 0x01):
crc = (crc << 1) ^ 0x07
else: