Merge pull request #85 from trinamic/feauture_TMC5240Eval

added library code and example for TMC5240-Eval

examples/evalboards/TMC5240/rotate_demo.py

@@ -0,0 +1,24 @@
+import time
+import pytrinamic
+from pytrinamic.connections import ConnectionManager
+from pytrinamic.evalboards.TMC5240_eval import TMC5240_eval
+
+pytrinamic.show_info()
+
+with ConnectionManager().connect() as my_interface:
+    print(my_interface)
+
+    eval_board = TMC5240_eval(my_interface)
+    motor = eval_board.motors[0]
+    motor.set_axis_parameter(motor.AP.MaxAcceleration,51200)
+
+    print("Rotating...")
+    motor.rotate(51200)
+    time.sleep(2)
+
+    print("Stopping...")
+    motor.stop()
+    time.sleep(1)
+
+print("\nReady.")
+

pytrinamic/evalboards/TMC5240_eval.py

@@ -0,0 +1,133 @@
+from pytrinamic.evalboards import TMCLEval
+from pytrinamic.ic import TMC5240
+from pytrinamic.features import MotorControlModule
+from pytrinamic.helpers import TMC_helpers
+
+
+class TMC5240_eval(TMCLEval):
+    """
+    This class represents a TMC5240 Evaluation board.
+    """
+    def __init__(self, connection, module_id=1):
+        """
+        Constructor for the TMC5240 evalboard instance.
+
+        Parameters:
+        connection: TMCL connection interface instance.
+        module_id: Module ID to identify the evalboard module. This is used to differentiate
+        between different modules on shared busses. Default is set to 1, different
+        values have to be configured with the module first.
+        """
+        TMCLEval.__init__(self, connection, module_id)
+        self.motors = [self._MotorTypeA(self, 0)]
+        self.ics = [TMC5240(self)]
+
+    # Use the driver controller functions for register access
+
+    def write_register(self, register_address, value):
+        return self._connection.write_mc(register_address, value, self._module_id)
+
+    def read_register(self, register_address, signed=False):
+        return self._connection.read_mc(register_address, self._module_id, signed)
+
+    # Motion control functions
+
+    def rotate(self, motor, value):
+        self._connection.rotate(motor, value)
+
+    def stop(self, motor):
+        self._connection.stop(motor)
+
+    def move_to(self, motor, position, velocity=None):
+        if velocity and velocity != 0:
+            # Set maximum positioning velocity
+            self.motors[motor].set_axis_parameter(self.motors[motor].AP.MaxVelocity, velocity)
+        self._connection.move_to(motor, position, self._module_id)
+
+    class _MotorTypeA(MotorControlModule):
+        """
+        Motor class for the generic motor.
+        """
+        def __init__(self, eval_board, axis):
+            MotorControlModule.__init__(self, eval_board, axis, self.AP)
+
+        class AP:
+            TargetPosition = 0
+            ActualPosition = 1
+            TargetVelocity = 2
+            ActualVelocity = 3
+            MaxVelocity = 4
+            MaxAcceleration = 5
+            MaxCurrent = 6
+            StandbyCurrent = 7
+            PositionReachedFlag = 8
+            RightEndstop = 10
+            LeftEndstop = 11
+            AutomaticRightStop = 12
+            AutomaticLeftStop = 13
+            SW_MODE = 14
+            MaxDeceleration = 15
+            StartVelocity = 16
+            A1 = 17
+            V1 = 18
+            D1 = 19
+            StopVelocity = 20
+            RampWaitTime = 21
+            V2 = 22
+            D2 = 23
+            A2 = 24
+            TVMax = 25
+            THIGH = 26
+            VDCMIN = 27
+            HighSpeedChopperMode = 28
+            HighSpeedFullstepMode = 29
+            MeasuredSpeed = 30
+            internal_Rsense = 34
+            GlobalCurrentScaler = 35
+            MicrostepResolution = 140
+            ChopperBlankTime = 162
+            ConstantTOffMode = 163
+            DisableFastDecayComparator = 164
+            ChopperHysteresisEnd = 165
+            ChopperHysteresisStart = 166
+            TOff = 167
+            SEIMIN = 168
+            SECDS = 169
+            smartEnergyHysteresis = 170
+            SECUS = 171
+            smartEnergyHysteresisStart = 172
+            SG4FilterEnable = 173
+            SG4Threshold = 174
+            SG2FilterEnable = 175
+            SG2Threshold = 176
+            smartEnergyActualCurrent = 180
+            smartEnergyStallVelocity = 181
+            smartEnergyThresholdSpeed = 182
+            SGAngleOffset = 184
+            ChopperSynchronization = 185
+            PWMThresholdSpeed = 186
+            PWMGrad = 187
+            PWMAmplitude = 188
+            PWMFrequency = 191
+            PWMAutoscale = 192
+            PWMScaleSum = 193
+            MSCNT = 194
+            MEAS_SD_EN = 195
+            DIS_REG_STST = 196
+            FreewheelingMode = 204
+            LoadValue = 206
+            EncoderPosition = 209
+            EncoderResolution = 210
+            CurrentScalingSelector = 211
+            CurrentRange = 212
+            ADCTemperature = 213
+            ADCIN = 214
+            ADCSupply = 215
+            ADCOvervoltageLimit = 216
+            ADCOvertemperatureWarningLimit = 217
+            Temperature = 218
+            AIN = 219
+            VSupply = 220
+            OvervoltageLimit = 221
+            OvertemperatureWarningLimit = 222
+            nSLEEP = 223

pytrinamic/evalboards/__init__.py

@@ -20,6 +20,7 @@
 from .TMC5130_eval import TMC5130_eval
 from .TMC5160_eval import TMC5160_eval
 from .TMC5160_shield import TMC5160_shield
+from .TMC5240_eval import TMC5240_eval
 from .TMC6100_eval import TMC6100_eval
 from .TMC6200_eval import TMC6200_eval
 from .TMC6300_eval import TMC6300_eval