mirror of
https://github.com/tinygo-org/drivers.git
synced 2026-07-26 10:38:41 +00:00
Amken USA
486949686c
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
83 lines
4.3 KiB
Go
83 lines
4.3 KiB
Go
package tmc5160
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// Driver Register addresses
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const (
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GCONF uint8 = 0x00 // Global configuration flags
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GSTAT uint8 = 0x01 // Global status flags
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IFCNT = 0x02 // UART transmission counter
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SLAVECONF = 0x03 // UART slave configuration
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IOIN = 0x04 // Read input / write output pins
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X_COMPARE = 0x05 // Position comparison register
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OTP_PROG = 0x06 // OTP programming register
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OTP_READ = 0x07 // OTP read register
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FACTORY_CONF = 0x08 // Factory configuration (clock trim)
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SHORT_CONF = 0x09 // Short detector configuration
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DRV_CONF = 0x0A // Driver configuration
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GLOBAL_SCALER = 0x0B // Global scaling of motor current
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OFFSET_READ = 0x0C // Offset calibration results
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/* Velocity dependent driver feature control registers */
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IHOLD_IRUN = 0x10 // Driver current control
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TPOWERDOWN = 0x11 // Delay before power down
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TSTEP = 0x12 // Actual time between microsteps
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TPWMTHRS = 0x13 // Upper velocity for stealthChop voltage PWM mode
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TCOOLTHRS = 0x14 // Lower threshold velocity for switching on smart energy coolStep and stallGuard feature
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THIGH = 0x15 // Velocity threshold for switching into a different chopper mode and fullstepping
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/* Ramp generator motion control registers */
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RAMPMODE = 0x20 // Driving mode (Velocity, Positioning, Hold)
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XACTUAL = 0x21 // Actual motor position
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VACTUAL = 0x22 // Actual motor velocity from ramp generator
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VSTART = 0x23 // Motor start velocity
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A_1 = 0x24 // First acceleration between VSTART and V1
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V_1 = 0x25 // First acceleration/deceleration phase target velocity
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AMAX = 0x26 // Second acceleration between V1 and VMAX
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VMAX = 0x27 // Target velocity in velocity mode
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DMAX = 0x28 // Deceleration between VMAX and V1
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D_1 = 0x2A // Deceleration between V1 and VSTOP
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//Attention: Do not set 0 in positioning mode, even if V1=0!
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VSTOP = 0x2B // Motor stop velocity
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//Attention: Set VSTOP > VSTART!
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//Attention: Do not set 0 in positioning mode, minimum 10 recommend!
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TZEROWAIT = 0x2C // Waiting time after ramping down to zero velocity before next movement or direction inversion can start.
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XTARGET = 0x2D // Target position for ramp mode
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/* Ramp generator driver feature control registers */
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VDCMIN = 0x33 // Velocity threshold for enabling automatic commutation dcStep
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SW_MODE = 0x34 // Switch mode configuration
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RAMP_STAT = 0x35 // Ramp status and switch event status
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XLATCH = 0x36 // Ramp generator latch position upon programmable switch event
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/* Encoder registers */
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ENCMODE = 0x38 // Encoder configuration and use of N channel
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X_ENC = 0x39 // Actual encoder position
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ENC_CONST = 0x3A // Accumulation constant
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ENC_STATUS = 0x3B // Encoder status information
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ENC_LATCH = 0x3C // Encoder position latched on N event
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ENC_DEVIATION = 0x3D // Maximum number of steps deviation between encoder counter and XACTUAL for deviation warning
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/* Motor driver registers */
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MSLUT0 uint8 = 0x60 // 32 bits
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MSLUT1 uint8 = 0x61 // 32 bits
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MSLUT2 uint8 = 0x62 // 32 bits
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MSLUT3 uint8 = 0x63 // 32 bits
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MSLUT4 uint8 = 0x64 // 32 bits
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MSLUT5 uint8 = 0x65 // 32 bits
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MSLUT6 uint8 = 0x66 // 32 bits
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MSLUT7 uint8 = 0x67 // 32 bits
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MSLUTSEL = 0x68 // Look up table segmentation definition
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MSLUTSTART = 0x69 // Absolute current at microstep table entries 0 and 256
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MSCNT = 0x6A // Actual position in the microstep table
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MSCURACT = 0x6B // Actual microstep current
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CHOPCONF = 0x6C // Chopper and driver configuration
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COOLCONF = 0x6D // coolStep smart current control register and stallGuard2 configuration
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DCCTRL = 0x6E // dcStep automatic commutation configuration register
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DRV_STATUS = 0x6F // stallGuard2 value and driver error flags
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PWMCONF = 0x70 // stealthChop voltage PWM mode chopper configuration
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PWM_SCALE = 0x71 // Results of stealthChop amplitude regulator.
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PWM_AUTO = 0x72 // Automatically determined PWM config values
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LOST_STEPS = 0x73 // Number of input steps skipped due to dcStep. only with SD_MODE = 1
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expectedVersion = 0x03
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DEFAULT_F_CLK = 12000000
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)
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