Merge branch 'dev'

analogdevicesinc · Dec 16, 2022 · 1f61f2d · 1f61f2d
2 parents 99af1b2 + 5d433f0
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diff --git a/README.md b/README.md
@@ -17,7 +17,7 @@ pip install pytrinamic
 
 ## Getting Started
 
-Please have a look at the [code examples on GitHub](https://github.com/trinamic/PyTrinamic/tree/feature_feature_hierarchy_v2/examples).
+Please have a look at the [code examples on GitHub](https://github.com/trinamic/PyTrinamic/tree/master/examples).
 
 ## Migration Guide<a id="migration-guide"></a>
 

diff --git a/examples/evalboards/MAX22216/plunger_move.py b/examples/evalboards/MAX22216/plunger_move.py
@@ -1,22 +1,29 @@
+
+import logging
+import time
+
 import pytrinamic
 from pytrinamic.connections import ConnectionManager
 from pytrinamic.ic import MAX22216
 from pytrinamic.evalboards import MAX22216_eval
-import time
+
+
+logging.basicConfig(level=logging.DEBUG)
 
 pytrinamic.show_info()
 
-with ConnectionManager(debug=True).connect() as my_interface:
+with ConnectionManager().connect() as my_interface:
     print(my_interface)
 
     eval = MAX22216_eval(my_interface)
     ic = eval.ics[0]
     solenoid = ic.motors[0]
 
     solenoid.u_supply = 24.0 # V
-    solenoid.u_dc_h = 24.0 # V
+
+    solenoid.u_dc_h = 10.0 # V
     solenoid.u_dc_l = 0.0 # V
-    solenoid.u_dc_l2h = 24.0 # V 
+    solenoid.u_dc_l2h = 10.0 # V 
     solenoid.u_dc_h2l = 0.0 # V
     solenoid.u_ac = 1.0 # V ampl
     solenoid.f_ac = 50.0 # Hz

diff --git a/examples/evalboards/MAX22216/ramdebug.py b/examples/evalboards/MAX22216/ramdebug.py
@@ -1,11 +1,14 @@
+import logging
+
 import pytrinamic
 from pytrinamic.connections import ConnectionManager
 from pytrinamic.ic import MAX22216
 from pytrinamic.RAMDebug import Channel, RAMDebug, RAMDebug_Trigger
 
+logging.basicConfig(level=logging.DEBUG)
 pytrinamic.show_info()
 
-with ConnectionManager(debug=True).connect() as my_interface:
+with ConnectionManager().connect() as my_interface:
     print(my_interface)
 
     ch = Channel.field(0, MAX22216.FIELD.ADC_VM_RAW, signed=True, eval_channel=1)

diff --git a/examples/evalboards/TMC2240/register_dump.py b/examples/evalboards/TMC2240/register_dump.py
@@ -0,0 +1,66 @@
+"""
+Dump all register values of the TMC2240 IC.
+
+The connection to a Landungsbrücke is established over USB. TMCL commands are used for communicating with the IC.
+"""
+import time
+import pytrinamic
+from pytrinamic.connections import ConnectionManager
+from pytrinamic.evalboards import TMC2240_eval
+
+pytrinamic.show_info()
+
+with ConnectionManager().connect() as my_interface:
+    print(my_interface)
+
+    eval_board = TMC2240_eval(my_interface)
+    mc = eval_board.ics[0]
+
+
+    print("GCONF:           0x{0:08X}".format(eval_board.read_register(mc.REG.GCONF)))
+    print("GSTAT:           0x{0:08X}".format(eval_board.read_register(mc.REG.GSTAT)))
+    print("IFCNT:           0x{0:08X}".format(eval_board.read_register(mc.REG.IFCNT)))
+    print("SLAVECONF:       0x{0:08X}".format(eval_board.read_register(mc.REG.SLAVECONF)))
+    print("IOIN:            0x{0:08X}".format(eval_board.read_register(mc.REG.IOIN)))
+    print("DRV_CONF:        0x{0:08X}".format(eval_board.read_register(mc.REG.DRV_CONF)))
+    print("GLOBAL_SCALE     0x{0:08X}".format(eval_board.read_register(mc.REG.GLOBAL_SCALER)))
+    print("IHOLD_IRUN:      0x{0:08X}".format(eval_board.read_register(mc.REG.IHOLD_IRUN)))
+    print("TPOWERDOWN:      0x{0:08X}".format(eval_board.read_register(mc.REG.TPOWERDOWN)))
+    print("TSTEP:           0x{0:08X}".format(eval_board.read_register(mc.REG.TSTEP)))
+    print("TPWMTHRS:        0x{0:08X}".format(eval_board.read_register(mc.REG.TPWMTHRS)))
+    print("TCOOLTHRS:       0x{0:08X}".format(eval_board.read_register(mc.REG.TCOOLTHRS)))
+    print("THIGH:           0x{0:08X}".format(eval_board.read_register(mc.REG.THIGH)))
+    print("DIRECT_MODE:     0x{0:08X}".format(eval_board.read_register(mc.REG.DIRECT_MODE)))
+    print("ENCMODE:         0x{0:08X}".format(eval_board.read_register(mc.REG.ENCMODE)))
+    print("X_ENC:           0x{0:08X}".format(eval_board.read_register(mc.REG.X_ENC)))
+    print("ENC_CONST:       0x{0:08X}".format(eval_board.read_register(mc.REG.ENC_CONST)))
+    print("ENC_STATUS:      0x{0:08X}".format(eval_board.read_register(mc.REG.ENC_STATUS)))
+    print("ENC_LATCH:       0x{0:08X}".format(eval_board.read_register(mc.REG.ENC_LATCH)))
+    print("ADC_VSUPPLY_AIN: 0x{0:08X}".format(eval_board.read_register(mc.REG.ADC_VSUPPLY_AIN)))
+    print("ADC_TEMP:        0x{0:08X}".format(eval_board.read_register(mc.REG.ADC_TEMP)))
+    print("OTW_OV_VTH:      0x{0:08X}".format(eval_board.read_register(mc.REG.OTW_OV_VTH)))
+    print("MSLUT_0:         0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUT_0)))
+    print("MSLUT_1:         0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUT_1)))
+    print("MSLUT_2:         0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUT_2)))
+    print("MSLUT_3:         0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUT_3)))
+    print("MSLUT_4:         0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUT_4)))
+    print("MSLUT_5:         0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUT_5)))
+    print("MSLUT_6:         0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUT_6)))
+    print("MSLUT_7:         0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUT_7)))
+    print("MSLUTSEL:        0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUTSEL)))
+    print("MSLUTSTART:      0x{0:08X}".format(eval_board.read_register(mc.REG.MSLUTSTART)))
+    print("MSCNT:           0x{0:08X}".format(eval_board.read_register(mc.REG.MSCNT)))
+    print("MSCURACT:        0x{0:08X}".format(eval_board.read_register(mc.REG.MSCURACT)))
+    print("CHOPCONF:        0x{0:08X}".format(eval_board.read_register(mc.REG.CHOPCONF)))
+    print("COOLCONF:        0x{0:08X}".format(eval_board.read_register(mc.REG.COOLCONF)))
+    print("DCCTRL:          0x{0:08X}".format(eval_board.read_register(mc.REG.DCCTRL)))
+    print("DRV_STATUS:      0x{0:08X}".format(eval_board.read_register(mc.REG.DRV_STATUS)))
+    print("PWMCONF:         0x{0:08X}".format(eval_board.read_register(mc.REG.PWMCONF)))
+    print("PWM_SCALE:       0x{0:08X}".format(eval_board.read_register(mc.REG.PWM_SCALE)))
+    print("PWM_AUTO:        0x{0:08X}".format(eval_board.read_register(mc.REG.PWM_AUTO)))
+    print("SG4_THRS:        0x{0:08X}".format(eval_board.read_register(mc.REG.SG4_THRS)))
+    print("SG4_RESULT:      0x{0:08X}".format(eval_board.read_register(mc.REG.SG4_RESULT)))
+    print("SG4_IND:         0x{0:08X}".format(eval_board.read_register(mc.REG.SG4_IND)))
+
+
+print("\nReady.")
diff --git a/examples/evalboards/TMC2240/rotate_demo.py b/examples/evalboards/TMC2240/rotate_demo.py
@@ -0,0 +1,45 @@
+"""
+Move a motor back and forth using velocity and position mode of the TMC2240
+"""
+import time
+import pytrinamic
+from pytrinamic.connections import ConnectionManager
+from pytrinamic.evalboards import TMC2240_eval
+
+pytrinamic.show_info()
+
+with ConnectionManager().connect() as my_interface:
+    print(my_interface)
+
+    # Create TMC2240-EVAL class which communicates over the Landungsbrücke via TMCL
+    eval_board = TMC2240_eval(my_interface)
+    mc = eval_board.ics[0]
+    motor = eval_board.motors[0]
+
+    print("Preparing parameter...")
+    motor.set_axis_parameter(motor.AP.MaxAcceleration, 20000)
+    motor.set_axis_parameter(motor.AP.MaxVelocity, 100000)
+    motor.set_axis_parameter(motor.AP.MaxCurrent, 30)
+
+    # Clear actual positions
+    motor.actual_position = 0
+
+    print("Rotating...")
+    motor.rotate(7*25600)
+    time.sleep(5)
+
+    print("Stopping...")
+    motor.stop()
+    time.sleep(1)
+
+    print("Moving back to 0...")
+    motor.move_to(0, 100000)
+
+    # Wait until position 0 is reached
+    while motor.actual_position != 0:
+        print("Actual position: " + str(motor.actual_position))
+        time.sleep(0.2)
+
+    print("Reached position 0")
+
+print("\nReady.")
diff --git a/examples/evalboards/TMC4671/TMC4671_eval_BLDC_open_loop.py b/examples/evalboards/TMC4671/TMC4671_eval_BLDC_open_loop.py
@@ -8,7 +8,6 @@
 pytrinamic.show_info()
 
 with ConnectionManager().connect() as my_interface:
-    # my_interface.enable_debug(True)
     print(my_interface)
 
     if isinstance(my_interface, UartIcInterface):

diff --git a/examples/evalboards/TMC4671/TMC4671_eval_TMC6100_eval_BLDC_open_loop.py b/examples/evalboards/TMC4671/TMC4671_eval_TMC6100_eval_BLDC_open_loop.py
@@ -7,7 +7,6 @@
 pytrinamic.show_info()
 
 with ConnectionManager().connect() as my_interface:
-    # my_interface.enable_debug(True)
     print(my_interface)
 
     # Create a TMC4671-EVAL and TMC6100-EVAL which communicates over the Landungsbrücke via TMCL

diff --git a/examples/evalboards/TMC4671/TMC4671_eval_TMC6200_eval_BLDC_open_loop.py b/examples/evalboards/TMC4671/TMC4671_eval_TMC6200_eval_BLDC_open_loop.py
@@ -7,7 +7,6 @@
 pytrinamic.show_info()
 
 with ConnectionManager().connect() as my_interface:
-    # myInterface.enable_debug(True)
     print(my_interface)
 
     # Create a TMC4671-EVAL and TMC6200-EVAL which communicates over the Landungsbrücke via TMCL

diff --git a/examples/evalboards/TMC5160/rotate_demo.py b/examples/evalboards/TMC5160/rotate_demo.py
@@ -1,5 +1,9 @@
 """
 Move a motor back and forth using velocity and position mode of the TMC5160
+
+Line 31, we set a lower run/standby current for the motor. Using NEMA17, this should result in a coil current around 800mA.
+If the motor is stalling due to too low current, set motorCurrent higher.
+If a lower value still is needed, set GLOBAL_SCALER register to 128 to half motor current.
 """
 import time
 import pytrinamic
@@ -16,7 +20,7 @@
     mc = eval_board.ics[0]
     motor = eval_board.motors[0]
 
-    print("Preparing parameter...")
+    print("Preparing parameters...")
     eval_board.write_register(mc.REG.A1, 1000)
     eval_board.write_register(mc.REG.V1, 50000)
     eval_board.write_register(mc.REG.D1, 500)
@@ -25,19 +29,24 @@
     eval_board.write_register(mc.REG.VSTOP, 10)
     eval_board.write_register(mc.REG.AMAX, 1000)
 
+    # Set lower run/standby current
+    motorCurrent = 2
+    motor.set_axis_parameter(motor.AP.MaxCurrent, motorCurrent)
+    motor.set_axis_parameter(motor.AP.StandbyCurrent, motorCurrent)
+
     # Clear actual positions
     motor.actual_position = 0
 
     print("Rotating...")
-    motor.rotate(7*25600)
+    motor.rotate(7 * 25600)
     time.sleep(5)
 
     print("Stopping...")
     motor.stop()
     time.sleep(1)
 
     print("Moving back to 0...")
-    motor.move_to(0, 100000)
+    motor.move_to(0, 7 * 25600)
 
     # Wait until position 0 is reached
     while motor.actual_position != 0:

diff --git a/examples/modules/TMCM1231/TMCL/StallGuard2_demo.py b/examples/modules/TMCM1231/TMCL/StallGuard2_demo.py
@@ -0,0 +1,78 @@
+"""
+Sets the StallGuard2 threshold such that the stall guard value (i.e SG value) is zero
+when the motor comes close to stall and also sets the stop on stall velocity to a value
+one less than the actual velocity of the motor
+"""
+import pytrinamic
+from pytrinamic.connections import ConnectionManager
+from pytrinamic.modules import TMCM1231
+import time
+
+def stallguard2_init(motor, init_velocity):
+    # Resetting SG2 threshold and stop on stall velocity to zero
+    motor.stallguard2.set_threshold(0)
+    motor.stallguard2.stop_velocity = 0
+    print("Initial StallGuard2 values:")
+    print(motor.stallguard2)
+    print("Rotating...")
+    motor.rotate(init_velocity)
+    sgthresh = 0
+    sgt = 0
+    load_samples = []
+    while (sgt == 0) and (sgthresh < 64):
+        load_samples = []
+        motor.stallguard2.set_threshold(sgthresh)
+        time.sleep(0.2)
+        sgthresh += 1
+        for i in range(50):
+            load_samples.append(motor.stallguard2.get_load_value())
+        if not any(load_samples):
+            sgt = 0
+        else:
+            sgt = max(load_samples)
+    while 1:
+        load_samples = []
+        for i in range(50):
+            load_samples.append(motor.stallguard2.get_load_value())
+        if 0 in load_samples:
+            motor.drive_settings.max_current = motor.drive_settings.max_current - 1
+        else:
+            break
+
+    motor.stallguard2.stop_velocity = motor.get_actual_velocity() - 1
+    print("Configured StallGuard2 parameters:")
+    print(motor.stallguard2)
+
+def main():
+    pytrinamic.show_info()
+
+    # This example is using PCAN, if you want to use another connection please change the next line.
+    connection_manager = ConnectionManager("--interface pcan_tmcl")
+    with connection_manager.connect() as my_interface:
+        module = TMCM1231(my_interface)
+        motor = module.motors[0]
+
+        print("Preparing parameters")
+        # preparing drive settings
+        motor.drive_settings.max_current = 20
+        motor.drive_settings.standby_current = 8
+        motor.drive_settings.boost_current = 0
+        motor.drive_settings.microstep_resolution = motor.ENUM.microstep_resolution_256_microsteps
+        print(motor.drive_settings)
+        print(motor.linear_ramp)
+
+        time.sleep(1.0)
+
+        # clear position counter
+        motor.actual_position = 0
+
+        # set up StallGuard2
+        print("Configuring StallGuard2 parameters...")
+        stallguard2_init(motor, init_velocity = 10000)
+        print("Apply load and try to stall the motor...")
+        while not (motor.actual_velocity == 0):
+            pass
+        print("Motor stopped by StallGuard2!")
+
+if __name__ == "__main__":
+        main()
diff --git a/examples/modules/TMCM1231/TMCL/rotate_demo.py b/examples/modules/TMCM1231/TMCL/rotate_demo.py
@@ -0,0 +1,68 @@
+import pytrinamic
+from pytrinamic.connections import ConnectionManager
+from pytrinamic.modules import TMCM1231
+import time
+
+pytrinamic.show_info()
+
+# This example is using PCAN, if you want to use another connection please change the next line.
+connectionManager = ConnectionManager("--interface pcan_tmcl") 
+with connectionManager.connect() as myInterface: 
+    module = TMCM1231(myInterface)
+    motor = module.motors[0]
+
+    # Please be sure not to use a too high current setting for your motor.
+
+    print("Preparing parameters")
+    # preparing drive settings
+    motor.drive_settings.max_current = 128
+    motor.drive_settings.standby_current = 0
+    motor.drive_settings.boost_current = 0
+    motor.drive_settings.microstep_resolution = motor.ENUM.microstep_resolution_256_microsteps
+    print(motor.drive_settings)
+
+
+    # preparing linear ramp settings
+    motor.max_acceleration = 51200
+    motor.max_velocity = 51200
+
+    # reset actual position
+    motor.actual_position = 0
+
+    print(motor.linear_ramp)
+
+    # start rotating motor in different directions
+    print("Rotating")
+    motor.rotate(51200)
+    time.sleep(5)
+
+    # stop rotating motor
+    print("Stopping")
+    motor.stop()
+
+    # read actual position
+    print("ActualPostion = {}".format(motor.actual_position))
+    time.sleep(2)
+
+    # doubling moved distance
+    print("Doubling moved distance")
+    motor.move_by(motor.actual_position)
+
+    # wait till  position_reached
+    while not(motor.get_position_reached()):
+        print("target position motor: " + str(motor.target_position) + " actual position motor: " + str(motor.actual_position))
+
+    time.sleep(0.2)
+    print("Furthest point reached")
+    print("ActualPostion motor = {}".format(motor.actual_position))
+
+    # short delay and move back to start
+    time.sleep(2)
+    print("Moving back to 0")
+    motor.move_to(0)
+
+    # wait until position 0 is reached
+    while not(motor.get_position_reached()):
+        print("target position motor: " + str(motor.target_position) + " actual position motor: " + str(motor.actual_position))
+
+    print("Reached Position 0")