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
106 lines
2.8 KiB
Go
106 lines
2.8 KiB
Go
package tmc5160
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const maxVMAX = 8388096
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// PowerStageParameters represents the power stage parameters
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type PowerStageParameters struct {
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drvStrength uint8
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bbmTime uint8
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bbmClks uint8
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}
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// MotorParameters represents the motor parameters
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type MotorParameters struct {
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globalScaler uint16
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ihold uint8
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irun uint8
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iholddelay uint8
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pwmGradInitial uint16
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pwmOfsInitial uint16
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freewheeling uint8
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}
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// MotorDirection defines motor direction constants
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type MotorDirection uint8
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const (
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Clockwise MotorDirection = iota
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CounterClockwise
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)
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const (
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// Common stepper motor angles
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StepAngle_1_8 = 1.8
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StepAngle_0_9 = 0.9
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StepAngle_0_72 = 0.72
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StepAngle_1_2 = 1.2
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StepAngle_0_48 = 0.48
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// Common microstepping options
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Step_1 uint8 = 1
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Step_2 uint8 = 2
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Step_4 uint8 = 4
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Step_8 uint8 = 8
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Step_16 uint8 = 16
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Step_32 uint8 = 32
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Step_64 uint8 = 64
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Step_128 uint8 = 128
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)
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const (
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DefaultAngle float32 = StepAngle_1_8
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DefaultGearRatio float32 = 1.0
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DefaultVSupply float32 = 12.0
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DefaultRCoil float32 = 1.2
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DefaultLCoil float32 = 0.005
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DefaultIPeak float32 = 2.0
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DefaultRSense float32 = 0.1
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DefaultFclk uint8 = 12
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DefaultStep_256 = 256
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)
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type Stepper struct {
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Angle float32
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GearRatio float32
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VelocitySPS float32 // Velocity in Steps per sec
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VSupply float32
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RCoil float32
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LCoil float32
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IPeak float32
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RSense float32
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MSteps uint8
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Fclk uint8 //Clock in Mhz
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}
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// NewStepper function initializes a Stepper with default values used for testing
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func NewDefaultStepper() Stepper {
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return Stepper{
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Angle: StepAngle_1_8, // Default to 1.8 degrees
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GearRatio: 1.0, // Default to no reduction (1:1)
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VSupply: 12.0, // Default 12V supply
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RCoil: 1.2, // Default coil resistance (1.2 ohms)
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LCoil: 0.005, // Default coil inductance (5 mH)
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IPeak: 2.0, // Default peak current (2A)
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RSense: 0.1, // Default sense resistance (0.1 ohms)
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MSteps: Step_16, // Default 16 Microsteps
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Fclk: DefaultFclk,
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}
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}
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// NewStepper initializes a Stepper with user-defined values
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func NewStepper(angle float32, gearRatio, vSupply, rCoil, lCoil, iPeak, rSense float32, mSteps uint8, fclk uint8) Stepper {
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return Stepper{
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Angle: angle, // User-defined stepper angle (e.g., StepAngle_1_8)
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GearRatio: gearRatio, // User-defined gear ratio
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VSupply: vSupply, // User-defined supply voltage
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RCoil: rCoil, // User-defined coil resistance
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LCoil: lCoil, // User-defined coil inductance
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IPeak: iPeak, // User-defined peak current
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RSense: rSense, // User-defined sense resistance
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MSteps: mSteps, // User-defined microstepping setting
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Fclk: fclk, // User-defined clock frequency in MHz
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}
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}
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