def decodeRegisters(cls, MSLUT, MSLUTSEL, MSLUTSTART):
obj = cls()
obj._reg_MSLUT = MSLUT
obj._reg_MSLUTSEL = MSLUTSEL
obj._reg_MSLUTSTART = MSLUTSTART
ranges = [
(TMC_helpers.field_get(MSLUTSEL, 0x0000FF00, 8), TMC_helpers.field_get(MSLUTSEL, 0x00000003, 0)),
(TMC_helpers.field_get(MSLUTSEL, 0x00FF0000, 16), TMC_helpers.field_get(MSLUTSEL, 0x0000000C, 2)),
(TMC_helpers.field_get(MSLUTSEL, 0xFF000000, 24), TMC_helpers.field_get(MSLUTSEL, 0x00000030, 4)),
(255, TMC_helpers.field_get(MSLUTSEL, 0x000000C0, 6)),
]
if not(ranges[0][0] <= ranges[1][0] <= ranges[2][0] <= ranges[3][0]):
raise ValueError("Condition X1 <= X2 <= X3 <= X4 not satisfied")
startSin = TMC_helpers.field_get(MSLUTSTART, 0x000000FF, 0)
startCos = TMC_helpers.field_get(MSLUTSTART, 0x00FF0000, 16)
# Generate the first quarter sine wave
sineValues = [ (0, startSin) ]
for i in range(1, 257):
for j in range(0, 4):
if i < ranges[j][0]:
offset = ranges[j][1] - 1
break
bitValue = ((MSLUT[math.floor((i)/32) & 7] >> ((i) % 32) ) & 1)
deltaValue = bitValue + offset
newValue = sineValues[i-1][1] + deltaValue
sineValues += [(i, newValue)]
# Generate the second quarter sine wave
for i in range(257, 512):
newValue = sineValues[511-i][1]
sineValues += [(i, newValue)]
# Generate the remaining sine wave
offset = 2*sineValues[0][1] - 1
for i in range(512, 1024):
newValue = -sineValues[i-512][1] + offset
sineValues += [(i, newValue)]
# Generate the cosine wave
cosOffset = startCos - sineValues[256][1]
obj._waveform = []
for i in range(0, 1024):
tmp = sineValues[i]
obj._waveform += [(tmp[0], tmp[1], sineValues[(i+256) % 1024][1] + cosOffset)]
# The table is now initialized
obj._initialized = True
return obj
def readRegister(self,
registerAddress,
command,
channel,
moduleID=None,
signed=False):
value = self.send(command, registerAddress, channel, 0, moduleID).value
return TMC_helpers.toSigned32(value) if signed else value
def parameter(self,
pCommand,
pType,
pAxis,
pValue,
moduleID=None,
signed=False):
value = self.send(pCommand, pType, pAxis, pValue, moduleID).value
return TMC_helpers.toSigned32(value) if signed else value
def readRegister(self, registerAddress, signed=False):
datagram = struct.pack(DATAGRAM_FORMAT, registerAddress, 0)
reply = self.__connection.send_datagram(datagram, DATAGRAM_LENGTH,
self.__channel)
values = struct.unpack(DATAGRAM_FORMAT, reply)
value = values[1]
return TMC_helpers.toSigned32(value) if signed else value
def set_pullup(self, idx, pullup):
self.set_pullups(
TMC_helpers.field_set(self.get_pullups(), (1 << idx), idx, pullup))
def get_direction(self, idx):
return TMC_helpers.field_get(self.get_directions(), (1 << idx), idx)
def set_direction(self, idx, direction):
self.set_directions(
TMC_helpers.field_set(self.get_directions(), (1 << idx), idx,
direction))
def writeRegisterField(self, field, value):
return self.writeRegister(
field[0],
TMC_helpers.field_set(self.readRegister(field[0]), field[1],
field[2], value))
def actualVelocity(self):
return TMC_helpers.toSigned32(self.axisParameter(self.APs.ActualVelocity))
def get_gpio(self, idx):
return TMC_helpers.field_get(self.get_gpios(), (1 << idx), idx)
def targetPosition(self):
return TMC_helpers.toSigned32(self.axisParameter(self.AP.TargetPosition))
def actualVolume(self):
reg_value = self.axisParameter(self.APs.ActualVolume)
return TMC_helpers.toSigned32(reg_value)
def globalParameter(self, commandType, bank, moduleID=None, signed=False):
value = self.send(TMCL_Command.GGP, commandType, bank, 0,
moduleID).value
return TMC_helpers.toSigned32(value) if signed else value
def axisParameter(self, commandType, axis, moduleID=None, signed=False):
value = self.send(TMCL_Command.GAP, commandType, axis, 0,
moduleID).value
return TMC_helpers.toSigned32(value) if signed else value
def globalParameter(self, commandType, axis):
return TMC_helpers.toSigned32(self.send(self.moduleAddress, TMCL_Command.GGP, commandType, axis, 0).value)
def get_pullup(self, idx):
return TMC_helpers.field_get(self.get_pullups(), (1 << idx), idx)
def set_gpio(self, idx, gpio):
self.set_gpios(
TMC_helpers.field_set(self.get_gpios(), (1 << idx), idx, gpio))
def targetTorque(self):
return TMC_helpers.toSigned32(self.axisParameter(self.AP.TargetTorque))
def actualPosition(self):
return TMC_helpers.toSigned32(self.axisParameter(self.APs.ActualPosition))
def actualTorque(self):
return TMC_helpers.toSigned32(self.axisParameter(self.AP.ActualTorque))
def writeRegisterField(self, registerAddress, value, mask, shift):
return self.writeRegister(
registerAddress,
TMC_helpers.field_set(self.readRegister(registerAddress), mask,
shift, value))
def readRegisterField(self, registerAddress, mask, shift):
return TMC_helpers.field_get(self.readRegister(registerAddress), mask,
shift)
def readRegisterField(self, field):
return TMC_helpers.field_get(self.readRegister(field[0]), field[1],
field[2])
def actualVelocity(self):
return TMC_helpers.toSigned32(
self.readRegister(self.tmc4671_reg.PID_VELOCITY_ACTUAL))