Added TMC5160 support (#725)

TMC5160: Added TMC5160 support * Added example code for tmc5160 and smoke test * Update go.mod * Updated mod file * Cleaned up commented out code and updated readme. * ran go fmt * Fixed setrampspeed func * Removed spi1 pin setup in example.go. Renamed SPIComm to spicomm.go * Removed unused test file * Removed commented line
2026-08-20 14:39:00 +00:00 · 2025-01-18 01:49:00 -05:00
parent 00578a3a81
commit 486949686c
13 changed files with 3050 additions and 5 deletions
@@ -0,0 +1,105 @@
+package tmc5160
+
+const maxVMAX = 8388096
+
+// PowerStageParameters represents the power stage parameters
+type PowerStageParameters struct {
+	drvStrength uint8
+	bbmTime     uint8
+	bbmClks     uint8
+}
+
+// MotorParameters represents the motor parameters
+type MotorParameters struct {
+	globalScaler   uint16
+	ihold          uint8
+	irun           uint8
+	iholddelay     uint8
+	pwmGradInitial uint16
+	pwmOfsInitial  uint16
+	freewheeling   uint8
+}
+
+// MotorDirection defines motor direction constants
+type MotorDirection uint8
+
+const (
+	Clockwise MotorDirection = iota
+	CounterClockwise
+)
+
+const (
+	// Common stepper motor angles
+	StepAngle_1_8  = 1.8
+	StepAngle_0_9  = 0.9
+	StepAngle_0_72 = 0.72
+	StepAngle_1_2  = 1.2
+	StepAngle_0_48 = 0.48
+
+	// Common microstepping options
+	Step_1   uint8 = 1
+	Step_2   uint8 = 2
+	Step_4   uint8 = 4
+	Step_8   uint8 = 8
+	Step_16  uint8 = 16
+	Step_32  uint8 = 32
+	Step_64  uint8 = 64
+	Step_128 uint8 = 128
+)
+
+const (
+	DefaultAngle     float32 = StepAngle_1_8
+	DefaultGearRatio float32 = 1.0
+	DefaultVSupply   float32 = 12.0
+	DefaultRCoil     float32 = 1.2
+	DefaultLCoil     float32 = 0.005
+	DefaultIPeak     float32 = 2.0
+	DefaultRSense    float32 = 0.1
+	DefaultFclk      uint8   = 12
+	DefaultStep_256          = 256
+)
+
+type Stepper struct {
+	Angle       float32
+	GearRatio   float32
+	VelocitySPS float32 //  Velocity in Steps per sec
+	VSupply     float32
+	RCoil       float32
+	LCoil       float32
+	IPeak       float32
+	RSense      float32
+	MSteps      uint8
+	Fclk        uint8 //Clock in Mhz
+
+}
+
+// NewStepper function initializes a Stepper with default values used for testing
+func NewDefaultStepper() Stepper {
+	return Stepper{
+		Angle:     StepAngle_1_8, // Default to 1.8 degrees
+		GearRatio: 1.0,           // Default to no reduction (1:1)
+		VSupply:   12.0,          // Default 12V supply
+		RCoil:     1.2,           // Default coil resistance (1.2 ohms)
+		LCoil:     0.005,         // Default coil inductance (5 mH)
+		IPeak:     2.0,           // Default peak current (2A)
+		RSense:    0.1,           // Default sense resistance (0.1 ohms)
+		MSteps:    Step_16,       // Default 16 Microsteps
+		Fclk:      DefaultFclk,
+	}
+}
+
+// NewStepper initializes a Stepper with user-defined values
+func NewStepper(angle float32, gearRatio, vSupply, rCoil, lCoil, iPeak, rSense float32, mSteps uint8, fclk uint8) Stepper {
+	return Stepper{
+		Angle:     angle,     // User-defined stepper angle (e.g., StepAngle_1_8)
+		GearRatio: gearRatio, // User-defined gear ratio
+		VSupply:   vSupply,   // User-defined supply voltage
+		RCoil:     rCoil,     // User-defined coil resistance
+		LCoil:     lCoil,     // User-defined coil inductance
+		IPeak:     iPeak,     // User-defined peak current
+		RSense:    rSense,    // User-defined sense resistance
+		MSteps:    mSteps,    // User-defined microstepping setting
+		Fclk:      fclk,      // User-defined clock frequency in MHz
+
+	}
+}