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
2026-08-19 14:14:00 +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 +1,194 @@
+//go:build tinygo
+
+package tmc5160
+
+import (
+	"github.com/orsinium-labs/tinymath"
+	"machine"
+)
+
+type Driver struct {
+	comm      RegisterComm
+	address   uint8
+	enablePin machine.Pin
+	stepper   Stepper
+}
+
+func NewDriver(comm RegisterComm, address uint8, enablePin machine.Pin, stepper Stepper) *Driver {
+	return &Driver{
+		comm:      comm,
+		address:   address,
+		enablePin: enablePin,
+		stepper:   stepper,
+	}
+}
+
+// WriteRegister sends a register write command to the Driver.
+func (driver *Driver) WriteRegister(reg uint8, value uint32) error {
+	if driver.comm == nil {
+		return CustomError("communication interface not set")
+	}
+	// Use the communication interface (RegisterComm) to write the register
+	return driver.comm.WriteRegister(reg, value, driver.address)
+}
+
+// ReadRegister sends a register read command to the Driver and returns the read value.
+func (driver *Driver) ReadRegister(reg uint8) (uint32, error) {
+	if driver.comm == nil {
+		return 0, CustomError("communication interface not set")
+	}
+	// Use the communication interface (RegisterComm) to read the register
+	return driver.comm.ReadRegister(reg, driver.address)
+}
+
+// Begin initializes the Driver driver with power and motor parameters
+func (driver *Driver) Begin(powerParams PowerStageParameters, motorParams MotorParameters, stepperDirection MotorDirection) bool {
+	// Clear the reset and charge pump undervoltage flags
+	gstat := NewGSTAT()
+	gstat.Reset = true
+	gstat.UvCp = true
+	err := driver.WriteRegister(GSTAT, gstat.Pack())
+	if err != nil {
+		return false
+	}
+
+	// Configure driver settings
+	drvConf := NewDRV_CONF()
+	drvConf.DrvStrength = constrain(powerParams.drvStrength, 0, 3)
+	drvConf.BBMTime = constrain(powerParams.bbmTime, 0, 24)
+	drvConf.BBMClks = constrain(powerParams.bbmClks, 0, 15)
+	err = driver.WriteRegister(DRV_CONF, drvConf.Pack())
+	if err != nil {
+		return false
+	}
+
+	// Set global scaler
+	err = driver.WriteRegister(GLOBAL_SCALER, uint32(constrain(motorParams.globalScaler, 32, 256)))
+	if err != nil {
+		return false
+	}
+
+	// Set initial currents and delay
+	iholdrun := NewIHOLD_IRUN()
+	iholdrun.Ihold = constrain(motorParams.ihold, 0, 31)
+	iholdrun.Ihold = constrain(motorParams.irun, 0, 31)
+	iholdrun.IholdDelay = 7
+	err = driver.WriteRegister(IHOLD_IRUN, iholdrun.Pack())
+	if err != nil {
+		return false
+	}
+
+	// Set PWM configuration values
+	pwmconf := NewPWMCONF()
+	err = driver.WriteRegister(PWMCONF, 0xC40C001E)
+	if err != nil {
+		return false
+	} // Reset default value pwm_ofs = 196,pwm_grad = 12,pwm_freq = 0, pwm_autoscale = false, pwm_autograd = false,freewheel = 3
+	pwmconf.PwmAutoscale = false // Temporarily set to false for setting OFS and GRAD values
+	_fclk := int(driver.stepper.Fclk) * 1000000
+	if _fclk > DEFAULT_F_CLK {
+		pwmconf.PwmFreq = 0
+	} else {
+		pwmconf.PwmFreq = 0b01 // Recommended: 35kHz with internal 12MHz clock
+	}
+	pwmconf.PwmGrad = uint8(motorParams.pwmGradInitial)
+	pwmconf.PwmOfs = uint8(motorParams.pwmOfsInitial)
+	pwmconf.Freewheel = motorParams.freewheeling
+	err = driver.WriteRegister(PWMCONF, pwmconf.Pack())
+	if err != nil {
+		return false
+	}
+
+	// Enable PWM auto-scaling and gradient adjustment
+	pwmconf.PwmAutoscale = true
+	pwmconf.PwmAutograd = true
+	err = driver.WriteRegister(PWMCONF, pwmconf.Pack())
+	if err != nil {
+		return false
+	}
+
+	// Recommended chop configuration settings
+	_chopConf := NewCHOPCONF()
+	_chopConf.Toff = 5
+	_chopConf.Tbl = 2
+	_chopConf.HstrtTfd = 4
+	_chopConf.HendOffset = 0
+	err = driver.WriteRegister(CHOPCONF, _chopConf.Pack())
+	if err != nil {
+		return false
+	}
+	rampMode := NewRAMPMODE(driver.comm, driver.address)
+	rampMode.SetMode(PositioningMode)
+	gconf := NewGCONF()
+	gconf.EnPwmMode = true // Enable stealthChop PWM mode
+	gconf.Shaft = stepperDirection == Clockwise
+	err = driver.WriteRegister(GCONF, gconf.Pack())
+	if err != nil {
+		return false
+	}
+
+	// Set default start, stop, threshold speeds
+	driver.setRampSpeeds(0.0, 0.1, 0.0) // Start, stop, threshold speeds
+
+	// Set default D1 (must not be = 0 in positioning mode even with V1=0)
+	err = driver.WriteRegister(D_1, 100)
+	if err != nil {
+		return false
+	}
+
+	return false
+}
+func (driver *Driver) setRampSpeeds(startSpeed float32, stopSpeed float32, transitionSpeed float32) {
+	str := driver.stepper.DesiredSpeedToTSTEP(uint32(startSpeed))
+	stp := driver.stepper.DesiredSpeedToTSTEP(uint32(stopSpeed))
+	ts := driver.stepper.DesiredSpeedToTSTEP(uint32(transitionSpeed))
+	driver.WriteRegister(VSTART, uint32(tinymath.Min(0x3FFFF, float32(str))))
+	driver.WriteRegister(VSTOP, uint32(tinymath.Min(0x3FFFF, float32(stp))))
+	driver.WriteRegister(V_1, uint32(tinymath.Min(0xFFFFF, float32(ts))))
+	println("Ramp set to: startSpeed:", startSpeed, "stopSpeed:", stopSpeed, "transitionSpeed:", transitionSpeed)
+}
+
+// setMaxSpeed sets the maximum speed to 0 (placeholder function)
+func setMaxSpeed(speed uint32) {
+	// This is a placeholder function that sets the speed
+	// Implement the actual logic to set the maximum speed register value
+	println("Max Speed set to:", speed)
+}
+
+// Dump_TMC reads multiple registers from the Driver and logs their values with their names.
+func (driver *Driver) Dump_TMC() error {
+	registers := []uint8{
+		GCONF, CHOPCONF, GSTAT, DRV_STATUS, FACTORY_CONF, IOIN, LOST_STEPS, MSCNT,
+		MSCURACT, OTP_READ, PWM_SCALE, PWM_AUTO, TSTEP,
+	}
+	registerNames := map[uint8]string{
+		GCONF:        "GCONF",
+		CHOPCONF:     "CHOPCONF",
+		GSTAT:        "GSTAT",
+		DRV_STATUS:   "DRV_STATUS",
+		FACTORY_CONF: "FACTORY_CONF",
+		IOIN:         "IOIN",
+		LOST_STEPS:   "LOST_STEPS",
+		MSCNT:        "MSCNT",
+		MSCURACT:     "MSCURACT",
+		OTP_READ:     "OTP_READ",
+		PWM_SCALE:    "PWM_SCALE",
+		PWM_AUTO:     "PWM_AUTO",
+		TSTEP:        "TSTEP",
+	}
+	for _, reg := range registers {
+		// Fetch the register name from the map
+		regName, exists := registerNames[reg]
+		if !exists {
+			regName = "Unknown Register"
+		}
+		val, err := driver.ReadRegister(reg)
+		if err != nil {
+			println("Error reading register", regName, err)
+			return err
+		}
+		println("Register", regName, "Value:", val)
+	}
+
+	return nil
+}