# StallGuard
THRESHOLD_SG = 3
# CoolStep
CURRENT_MIN = 0 # 0: CURRENT_MAX / 2, 1: CURRENT_MAX / 4
CURRENT_DOWN_STEP = 2 # 0 : Slow, 3: Instant
CURRENT_UP_STEP = 2 # 0 : Slow, 3: Instant
HYSTERESIS_WIDTH = 4
HYSTERESIS_START = 9
THRESHOLD_COOLSTEP = 0
################################################################################
pytrinamic.show_info()
connectionManager = ConnectionManager()
myInterface = connectionManager.connect()
shields = TmcEvalShield(myInterface, TMC5160_shield).shields
# Initialize all attached shields
for shield in shields:
print("Rotating motor.")
shield.set_axis_parameter(shield.AP.MaxCurrent, 0, CURRENT_MAX)
shield.set_axis_parameter(shield.AP.MaxAcceleration, 0, ACCELERATION)
shield.rotate(0, VELOCITY)
# StallGuard settings
shield.set_axis_parameter(shield.AP.SG2Threshold, 0, THRESHOLD_SG)
# CoolStep settings
"""
Turn a motor using hall sensors
"""
import pytrinamic
from pytrinamic.connections.connection_manager import ConnectionManager
from pytrinamic.referencedesigns import TMC4671_LEV_REF
import time
pytrinamic.show_info()
# please select your CAN adapter
# my_interface = ConnectionManager("--interface pcan_tmcl").connect()
my_interface = ConnectionManager("--interface kvaser_tmcl").connect()
with my_interface:
module = TMC4671_LEV_REF(my_interface)
motor = module.motors[0]
# Define motor configuration for the TMC4671-LEV-REF.
#
# The configuration is based on our standard BLDC motor (QBL4208-61-04-013-1024-AT).
# If you use a different motor be sure you have the right configuration setup otherwise the script may not work.
# drive configuration
motor.drive_settings.motor_type = motor.ENUM.MOTOR_TYPE_THREE_PHASE_BLDC
motor.drive_settings.pole_pairs = 4
motor.drive_settings.max_current = 2000
motor.drive_settings.commutation_mode = motor.ENUM.COMM_MODE_DIGITAL_HALL
motor.drive_settings.target_reached_distance = 5
motor.drive_settings.target_reached_velocity = 500
consoleHandler = logging.StreamHandler()
consoleHandler.setLevel(verbosity)
formatter = logging.Formatter(
"[%(asctime)s] [%(name)s] [%(levelname)s] %(message)s")
consoleHandler.setFormatter(formatter)
logger.addHandler(consoleHandler)
pytrinamic.show_info()
logger.debug(f"Target velocity: {args.velocity[0]}")
logger.debug(f"Maximum acceleration: {args.acceleration[0]}")
logger.debug(f"Maximum current: {args.current[0]}")
logger.debug(f"StallGuard velocity threshold: {args.threshold[0]}")
myInterface = ConnectionManager().connect()
shields = TmcEvalShield(myInterface, TMC5160_shield).shields
# Initialize all attached shields
for shield in shields:
logger.info(f"Initializing motor at shield {shield}.")
logger.info("Rotating motor.")
shield.set_axis_parameter(shield.AP.MaxCurrent, 0, args.current[0])
shield.set_axis_parameter(shield.AP.MaxAcceleration, 0,
args.acceleration[0])
shield.rotate(0, args.velocity[0])
StallGuard(shield, sys.argv, logger).calibrate_zero()
# ################################ Preparation ##################################
pytrinamic.show_info()
if len(sys.argv) < 2:
print("Usage:\n\tFirmwareUpdate.py HexFilePath [connection options]")
exit(1)
print("Opening hex file (" + sys.argv[1] + ")")
try:
f = open(sys.argv[1], "rt")
except FileNotFoundError:
print("Error: Hex file not found")
exit(1)
connectionManager = ConnectionManager(sys.argv)
# ############################## Hex file parsing ###############################
print("Parsing hex file")
data = []
extendedAddress = 0
segmentAddress = 0
for lineNumber, line in enumerate(f, 1):
# ## Parse a hex file line
# Check for RECORD MARK
if line[0] != ':':
continue
# CHECKSUM validation
# All Bytes summed together modulo 256 have to be 0