def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc_uart.MCU_TMC_uart(config, Registers, self.fields)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)
# Setup basic register values
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)
tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 0)
set_config_field(config, "TBL", 2)
set_config_field(config, "IHOLDDELAY", 8)
set_config_field(config, "TPOWERDOWN", 20)
set_config_field(config, "PWM_OFS", 36)
set_config_field(config, "PWM_GRAD", 14)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "pwm_autograd", True)
set_config_field(config, "PWM_REG", 8)
set_config_field(config, "PWM_LIM", 12)
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
# Allow virtual endstop to be created
diag1_pin = config.get('diag1_pin', None)
tmc.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(self.query_registers)
# Setup basic register values
TMCCurrentHelper(config, self.mcu_tmc)
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 4)
set_config_field(config, "hstrt", 0)
set_config_field(config, "hend", 7)
set_config_field(config, "TBL", 1)
set_config_field(config, "intpol", True, "interpolate")
set_config_field(config, "IHOLDDELAY", 8)
set_config_field(config, "TPOWERDOWN", 0)
set_config_field(config, "PWM_AMPL", 128)
set_config_field(config, "PWM_GRAD", 4)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "sgt", 0)
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = tmc2130.MCU_TMC_SPI(config, Registers, self.fields)
# Allow virtual endstop to be created
diag1_pin = config.get('diag1_pin', None)
tmc.TMCEndstopHelper(config, self.mcu_tmc, diag1_pin)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(self.query_registers)
# Setup basic register values
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# CHOPCONF
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 3)
set_config_field(config, "hstrt", 5)
set_config_field(config, "hend", 2)
set_config_field(config, "fd3", 0)
set_config_field(config, "disfdcc", 0)
set_config_field(config, "chm", 0)
set_config_field(config, "tbl", 2)
set_config_field(config, "vhighfs", 0)
set_config_field(config, "vhighchm", 0)
set_config_field(config, "tpfd", 4)
set_config_field(config, "intpol", True, "interpolate")
set_config_field(config, "dedge", 0)
set_config_field(config, "diss2g", 0)
set_config_field(config, "diss2vs", 0)
# COOLCONF
set_config_field(config, "semin", 0) # page 52
set_config_field(config, "seup", 0)
set_config_field(config, "semax", 0)
set_config_field(config, "sedn", 0)
set_config_field(config, "seimin", 0)
set_config_field(config, "sgt", 0)
set_config_field(config, "sfilt", 0)
# IHOLDIRUN
TMC5160CurrentHelper(config, self.mcu_tmc)
set_config_field(config, "IHOLDDELAY", 6)
# PWMCONF
set_config_field(config, "PWM_OFS", 30)
set_config_field(config, "PWM_GRAD", 0)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "pwm_autograd", True)
set_config_field(config, "freewheel", 0)
set_config_field(config, "PWM_REG", 4)
set_config_field(config, "PWM_LIM", 12)
# TPOWERDOWN
set_config_field(config, "TPOWERDOWN", 10)
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(self.query_registers)
# DRVCTRL
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
set_config_field = self.fields.set_config_field
set_config_field(config, "DEDGE", 0)
set_config_field(config, "INTPOL", True, 'interpolate')
# CHOPCONF
set_config_field(config, "TBL", 2)
set_config_field(config, "RNDTF", 0)
set_config_field(config, "HDEC", 0)
set_config_field(config, "CHM", 0)
set_config_field(config, "HEND", 3)
set_config_field(config, "HSTRT", 3)
set_config_field(config, "TOFF", 4)
if not self.fields.get_field("CHM"):
if (self.fields.get_field("HSTRT") +
self.fields.get_field("HEND")) > 15:
raise config.error("driver_HEND + driver_HSTRT must be <= 15")
# SMARTEN
set_config_field(config, "SEIMIN", 0)
set_config_field(config, "SEDN", 0)
set_config_field(config, "SEMAX", 0)
set_config_field(config, "SEUP", 0)
set_config_field(config, "SEMIN", 0)
# SGSCONF
set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0)
TMC2660CurrentHelper(config, self.mcu_tmc)
# DRVCONF
set_config_field(config, "SLPH", 0)
set_config_field(config, "SLPL", 0)
set_config_field(config, "DISS2G", 0)
set_config_field(config, "TS2G", 3)
self.fields.set_field("RDSEL", 0) # needed for phase calculations
self.fields.set_field("SDOFF", 0) # only step/dir mode supported
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.fields.set_field("SDOFF", 0) # Access DRVCTRL in step/dir mode
self.mcu_tmc = MCU_TMC2660_SPI(config, Registers, self.fields)
# Allow virtual pins to be created
tmc.TMCVirtualPinHelper(config, self.mcu_tmc)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters)
# DRVCTRL
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
# CHOPCONF
set_config_field = self.fields.set_config_field
set_config_field(config, "TBL", 2)
set_config_field(config, "RNDTF", 0)
set_config_field(config, "HDEC", 0)
set_config_field(config, "CHM", 0)
set_config_field(config, "HEND", 3)
set_config_field(config, "HSTRT", 3)
set_config_field(config, "toff", 4)
if not self.fields.get_field("CHM"):
if (self.fields.get_field("HSTRT") +
self.fields.get_field("HEND")) > 15:
raise config.error("driver_HEND + driver_HSTRT must be <= 15")
# SMARTEN
set_config_field(config, "SEIMIN", 0)
set_config_field(config, "SEDN", 0)
set_config_field(config, "SEMAX", 0)
set_config_field(config, "SEUP", 0)
set_config_field(config, "SEMIN", 0)
# SGSCONF
set_config_field(config, "SFILT", 1)
set_config_field(config, "SGT", 0)
TMC2660CurrentHelper(config, self.mcu_tmc)
# DRVCONF
set_config_field(config, "SLPH", 0)
set_config_field(config, "SLPL", 0)
set_config_field(config, "DISS2G", 0)
set_config_field(config, "TS2G", 3)
def __init__(self, config):
# Setup mcu communication
self.fields = tmc.FieldHelper(Fields, SignedFields, FieldFormatters)
self.mcu_tmc = MCU_TMC_SPI(config, Registers, self.fields)
# Setup Current
cur_helper = TMCCurrentHelper(config, self.mcu_tmc)
# Allow virtual pins to be created
diag1_pin = config.get('diag1_pin', None)
tmc.TMCVirtualPinHelper(config, self.mcu_tmc, diag1_pin, cur_helper)
# Register commands
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc)
cmdhelper.setup_register_dump(ReadRegisters)
# Setup basic register values
mh = tmc.TMCMicrostepHelper(config, self.mcu_tmc)
self.get_microsteps = mh.get_microsteps
self.get_phase = mh.get_phase
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# Allow other registers to be set from the config
set_config_field = self.fields.set_config_field
set_config_field(config, "toff", 4)
set_config_field(config, "TBL", 1)
set_config_field(config, "IHOLDDELAY", 8)
set_config_field(config, "TPOWERDOWN", 0)
set_config_field(config, "PWM_AMPL", 128)
set_config_field(config, "PWM_GRAD", 4)
set_config_field(config, "pwm_freq", 1)
set_config_field(config, "pwm_autoscale", True)
set_config_field(config, "sgt", 0)
# CHOPCONF
ch_modes = {'SpreadCycle': 0, 'ConstantOff': 1}
chm = config.getchoice(
'chopper_mode', ch_modes, "SpreadCycle")
self.fields.set_field("chm", chm)
if chm == ch_modes['SpreadCycle']:
set_config_field(config, "hstrt", 0)
set_config_field(config, "hend", 7)
else:
tfd = config.getint('driver_TFD', 0, minval=0, maxval=15)
self.fields.set_field('hstrt', tfd)
self.fields.set_field('fd3', (tfd >> 3) & 1)
hend = config.getint('driver_OFFSET', 0)
self.fields.set_field('hend', hend)
set_config_field(config, "disfdcc", False)
set_config_field(config, "rndtf", False)
set_config_field(config, "vhighfs", False)
set_config_field(config, "vhighchm", False)
set_config_field(config, "sync", 0)
set_config_field(config, "dedge", False)
set_config_field(config, "diss2g", False)
# COOLCONF
set_config_field(config, "semin", 0)
seup_choices = {'1': 0, '2': 1, '4': 2, '8': 3}
seup = config.getchoice("seup", seup_choices, '1')
self.fields.set_field("seup", seup)
set_config_field(config, "semax", 0)
sedn_choices = {'32': 0, '8': 1, '2': 2, '1': 3}
sedn = config.getchoice("sedn", sedn_choices, '32')
self.fields.set_field("sedn", sedn)
set_config_field(config, "seimin", 0)
set_config_field(config, "sfilt", False)
TMC2130_EXTRA(config, self)
