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trinamic-bp committed Jun 14, 2023
2 parents 12a0df5 + de222b2 commit 6e6fb50
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2 changes: 1 addition & 1 deletion examples/evalboards/MAX22216/ramdebug.py
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Expand Up @@ -20,7 +20,7 @@
debug.set_trigger_threshold(50)
debug.start_measurement()

while(not debug.is_measurement_done()):
while not debug.is_measurement_done():
pass

samples = debug.get_samples()
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2 changes: 1 addition & 1 deletion examples/evalboards/TMC2660/rotate_demo.py
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Expand Up @@ -16,7 +16,7 @@
motor = eval_board.motors[0]

print("Rotating...")
motor.rotate(10*25600)
motor.rotate(51200)
time.sleep(2)

print("Stopping...")
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20 changes: 17 additions & 3 deletions examples/evalboards/TMC4671/TMC4671_eval_TMC6100_eval_BLDC_ABN_encoder.py
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@@ -1,4 +1,5 @@
import time
import statistics
import pytrinamic
from pytrinamic.connections import ConnectionManager
from pytrinamic.evalboards import TMC4671_eval, TMC6100_eval
Expand All @@ -18,6 +19,9 @@

# Configure TMC4671 for a BLDC motor with ABN-Encoder

# Switch to stopped mode
mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_STOPPED)

# Motor type & PWM configuration
mc_eval.write_register_field(TMC4671.FIELD.MOTOR_TYPE, TMC4671.ENUM.MOTOR_TYPE_BLDC)
mc_eval.write_register_field(TMC4671.FIELD.N_POLE_PAIRS, 4)
Expand All @@ -33,11 +37,21 @@
mc_eval.write_register(TMC4671.REG.dsADC_MCLK_A, 0x20000000)
mc_eval.write_register(TMC4671.REG.dsADC_MCLK_B, 0x00000000)
mc_eval.write_register(TMC4671.REG.dsADC_MDEC_B_MDEC_A, int(0x014E014E))
mc_eval.write_register(TMC4671.REG.ADC_I0_SCALE_OFFSET, 0xFF00826D)
mc_eval.write_register(TMC4671.REG.ADC_I1_SCALE_OFFSET, 0xFF0081F8)
# ADC offset compensation
adc_i0_samples = []
adc_i1_samples = []
mc_eval.write_register(TMC4671.REG.ADC_I0_SCALE_OFFSET, 0xFF000000)
mc_eval.write_register(TMC4671.REG.ADC_I1_SCALE_OFFSET, 0xFF000000)
for _ in range(50):
adc_i0_samples.append(mc_eval.read_register_field(TMC4671.FIELD.ADC_I0_RAW))
adc_i1_samples.append(mc_eval.read_register_field(TMC4671.FIELD.ADC_I0_RAW))
adc_i0_offset = statistics.mean(adc_i0_samples)
adc_i1_offset = statistics.mean(adc_i1_samples)
mc_eval.write_register(TMC4671.REG.ADC_I0_SCALE_OFFSET, 0xFF000000 + int(adc_i0_offset))
mc_eval.write_register(TMC4671.REG.ADC_I1_SCALE_OFFSET, 0xFF000000 + int(adc_i1_offset))

# ABN encoder settings
mc_eval.write_register(TMC4671.REG.ABN_DECODER_MODE, 0x00001000)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_MODE, 0x00000000)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_PPR, 4096)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_PHI_E_PHI_M_OFFSET, 0)

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133 changes: 133 additions & 0 deletions ...valboards/TMC4671/TMC4671_eval_TMC6100_eval_BLDC_ABN_encoder_position_mode_linear_ramp.py
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import time
import dataclasses
import statistics
from pytrinamic.connections import ConnectionManager
from pytrinamic.evalboards import TMC4671_eval, TMC6100_eval
from pytrinamic.ic import TMC4671, TMC6100
import matplotlib.pyplot as plt


with ConnectionManager().connect() as my_interface:

# Create TMC4671-EVAL and TMC6100-EVAL class which communicate over the Landungsbrücke via TMCL
mc_eval = TMC4671_eval(my_interface)
drv_eval = TMC6100_eval(my_interface)
motor = mc_eval.motors[0]

# Configure TMC6100 pwm for use with TMC4671 (disable singleline)
drv_eval.write_register_field(TMC6100.FIELD.SINGLELINE, 0)

# Configure TMC4671 for a BLDC motor with ABN-Encoder

# Motor type & PWM configuration
mc_eval.write_register_field(TMC4671.FIELD.MOTOR_TYPE, TMC4671.ENUM.MOTOR_TYPE_BLDC)
mc_eval.write_register_field(TMC4671.FIELD.N_POLE_PAIRS, 4)
mc_eval.write_register(TMC4671.REG.PWM_POLARITIES, 0x00000000)
mc_eval.write_register(TMC4671.REG.PWM_MAXCNT, int(0x00000F9F))
mc_eval.write_register(TMC4671.REG.PWM_BBM_H_BBM_L, 0x00000019)
mc_eval.write_register_field(TMC4671.FIELD.PWM_CHOP, TMC4671.ENUM.PWM_CENTERED_FOR_FOC)
mc_eval.write_register_field(TMC4671.FIELD.PWM_SV, 1)

# ADC configuration
mc_eval.write_register(TMC4671.REG.ADC_I_SELECT, 0x24000100)
mc_eval.write_register(TMC4671.REG.dsADC_MCFG_B_MCFG_A, 0x00100010)
mc_eval.write_register(TMC4671.REG.dsADC_MCLK_A, 0x20000000)
mc_eval.write_register(TMC4671.REG.dsADC_MCLK_B, 0x00000000)
mc_eval.write_register(TMC4671.REG.dsADC_MDEC_B_MDEC_A, int(0x014E014E))
# ADC offset compensation
adc_i0_samples = []
adc_i1_samples = []
mc_eval.write_register(TMC4671.REG.ADC_I0_SCALE_OFFSET, 0xFF000000)
mc_eval.write_register(TMC4671.REG.ADC_I1_SCALE_OFFSET, 0xFF000000)
for _ in range(50):
adc_i0_samples.append(mc_eval.read_register_field(TMC4671.FIELD.ADC_I0_RAW))
adc_i1_samples.append(mc_eval.read_register_field(TMC4671.FIELD.ADC_I0_RAW))
adc_i0_offset = statistics.mean(adc_i0_samples)
adc_i1_offset = statistics.mean(adc_i1_samples)
mc_eval.write_register(TMC4671.REG.ADC_I0_SCALE_OFFSET, 0xFF000000 + int(adc_i0_offset))
mc_eval.write_register(TMC4671.REG.ADC_I1_SCALE_OFFSET, 0xFF000000 + int(adc_i1_offset))

# ABN encoder settings
mc_eval.write_register(TMC4671.REG.ABN_DECODER_MODE, 0x00000000)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_PPR, 4096)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_PHI_E_PHI_M_OFFSET, 0)

# Limits
mc_eval.write_register(TMC4671.REG.PID_TORQUE_FLUX_LIMITS, 1000)

# PI settings for Torque/Flux regulator
mc_eval.write_register(TMC4671.REG.PID_TORQUE_P_TORQUE_I, 1279 << 16 | 193 << 0)
mc_eval.write_register(TMC4671.REG.PID_FLUX_P_FLUX_I, 1279 << 16 | 193 << 0)

# Init encoder (mode 0)
print("Initializing Encoder...")
mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, 0x00000008)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_PHI_E_PHI_M_OFFSET, 0x00000000)
mc_eval.write_register(TMC4671.REG.PHI_E_SELECTION, TMC4671.ENUM.PHI_E_EXTERNAL)
mc_eval.write_register(TMC4671.REG.PHI_E_EXT, 0x00000000)
mc_eval.write_register(TMC4671.REG.UQ_UD_EXT, 1150)
time.sleep(1)
# Clear abn_decoder_count
mc_eval.write_register(TMC4671.REG.ABN_DECODER_COUNT, 0)
print("...done")

# Commutation Feedback selection
mc_eval.write_register(TMC4671.REG.PHI_E_SELECTION, TMC4671.ENUM.PHI_E_ABN)

# ===== ABN encoder test drive =====
@dataclasses.dataclass
class Sample:
timestamp: float
position: int
# Limits
mc_eval.write_register(TMC4671.REG.PID_TORQUE_FLUX_LIMITS, 8000)

# PI settings for velocity and position regulator
mc_eval.write_register(TMC4671.REG.PID_VELOCITY_P_VELOCITY_I, 6219 << 16 | 2047 << 0)
mc_eval.write_register(TMC4671.REG.PID_POSITION_P_POSITION_I, 8 << 16 | 0 << 0)

# Velocity Feedback selection
mc_eval.write_register(TMC4671.REG.VELOCITY_SELECTION, TMC4671.ENUM.VELOCITY_PHI_M_ABN)
# Position Feedback selection
mc_eval.write_register(TMC4671.REG.POSITION_SELECTION, TMC4671.ENUM.VELOCITY_PHI_M_ABN)

# Switch to velocity mode
mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_POSITION)

# motion settings
motor.linear_ramp.max_velocity = 2000
motor.linear_ramp.max_acceleration = 1000
motor.linear_ramp.enabled = 1
print(motor.linear_ramp)

samples = []

motor.set_actual_position(0)
time.sleep(1)

# Rotate right
print("Rotate right!")
targetPos = 409600
motor.set_axis_parameter(motor.AP.TargetPosition, targetPos)
start_time = time.time()
while time.time() - start_time < 5:
samples.append(Sample(time.perf_counter(), motor.get_axis_parameter(motor.AP.ActualPosition, True)))

# Stop
print("Stop!")
targetPos = 0
motor.set_axis_parameter(motor.AP.TargetPosition, targetPos)
start_time = time.time()
while time.time() - start_time < 3:
samples.append(Sample(time.perf_counter(), motor.get_axis_parameter(motor.AP.ActualPosition, True)))

fig, ax = plt.subplots()
t = [s.timestamp - samples[0].timestamp for s in samples]
pos = [s.position for s in samples]
ax.plot(t, pos, label='Position')
ax.legend()
plt.show()

# Switch to stop mode
mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_STOPPED)

103 changes: 103 additions & 0 deletions examples/evalboards/TMC4671/TMC4671_eval_TMC6100_eval_BLDC_ABN_encoder_velocity.py
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import time
import statistics
from pytrinamic.connections import ConnectionManager
from pytrinamic.evalboards import TMC4671_eval, TMC6100_eval
from pytrinamic.ic import TMC4671, TMC6100


with ConnectionManager().connect() as my_interface:

# Create TMC4671-EVAL and TMC6100-EVAL class which communicate over the Landungsbrücke via TMCL
mc_eval = TMC4671_eval(my_interface)
drv_eval = TMC6100_eval(my_interface)

# Configure TMC6100 pwm for use with TMC4671 (disable singleline)
drv_eval.write_register_field(TMC6100.FIELD.SINGLELINE, 0)

# Configure TMC4671 for a BLDC motor with ABN-Encoder

# Switch to stopped mode
mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_STOPPED)

# Motor type & PWM configuration
mc_eval.write_register_field(TMC4671.FIELD.MOTOR_TYPE, TMC4671.ENUM.MOTOR_TYPE_BLDC)
mc_eval.write_register_field(TMC4671.FIELD.N_POLE_PAIRS, 4)
mc_eval.write_register(TMC4671.REG.PWM_POLARITIES, 0x00000000)
mc_eval.write_register(TMC4671.REG.PWM_MAXCNT, int(0x00000F9F))
mc_eval.write_register(TMC4671.REG.PWM_BBM_H_BBM_L, 0x00001414)
mc_eval.write_register_field(TMC4671.FIELD.PWM_CHOP, TMC4671.ENUM.PWM_CENTERED_FOR_FOC)
mc_eval.write_register_field(TMC4671.FIELD.PWM_SV, 1)

# ADC configuration
mc_eval.write_register(TMC4671.REG.ADC_I_SELECT, 0x24000100)
mc_eval.write_register(TMC4671.REG.dsADC_MCFG_B_MCFG_A, 0x00100010)
mc_eval.write_register(TMC4671.REG.dsADC_MCLK_A, 0x20000000)
mc_eval.write_register(TMC4671.REG.dsADC_MCLK_B, 0x00000000)
mc_eval.write_register(TMC4671.REG.dsADC_MDEC_B_MDEC_A, int(0x014E014E))
# ADC offset compensation
adc_i0_samples = []
adc_i1_samples = []
mc_eval.write_register(TMC4671.REG.ADC_I0_SCALE_OFFSET, 0xFF000000)
mc_eval.write_register(TMC4671.REG.ADC_I1_SCALE_OFFSET, 0xFF000000)
for _ in range(50):
adc_i0_samples.append(mc_eval.read_register_field(TMC4671.FIELD.ADC_I0_RAW))
adc_i1_samples.append(mc_eval.read_register_field(TMC4671.FIELD.ADC_I0_RAW))
adc_i0_offset = statistics.mean(adc_i0_samples)
adc_i1_offset = statistics.mean(adc_i1_samples)
mc_eval.write_register(TMC4671.REG.ADC_I0_SCALE_OFFSET, 0xFF000000 + int(adc_i0_offset))
mc_eval.write_register(TMC4671.REG.ADC_I1_SCALE_OFFSET, 0xFF000000 + int(adc_i1_offset))

# ABN encoder settings
mc_eval.write_register(TMC4671.REG.ABN_DECODER_MODE, 0x00000000)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_PPR, 4096)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_PHI_E_PHI_M_OFFSET, 0)

# Limits
mc_eval.write_register(TMC4671.REG.PID_TORQUE_FLUX_LIMITS, 1000)

# PI settings for Torque/Flux regulator
mc_eval.write_register(TMC4671.REG.PID_TORQUE_P_TORQUE_I, 0x01000100)
mc_eval.write_register(TMC4671.REG.PID_FLUX_P_FLUX_I, 0x01000100)

# Init encoder (mode 0)
print("Initializing Encoder...")
mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, 0x00000008)
mc_eval.write_register(TMC4671.REG.ABN_DECODER_PHI_E_PHI_M_OFFSET, 0x00000000)
mc_eval.write_register(TMC4671.REG.PHI_E_SELECTION, TMC4671.ENUM.PHI_E_EXTERNAL)
mc_eval.write_register(TMC4671.REG.PHI_E_EXT, 0x00000000)
mc_eval.write_register(TMC4671.REG.UQ_UD_EXT, 1000)
time.sleep(1)
# Clear abn_decoder_count
mc_eval.write_register(TMC4671.REG.ABN_DECODER_COUNT, 0)
print("...done")

# Commutation Feedback selection
mc_eval.write_register(TMC4671.REG.PHI_E_SELECTION, TMC4671.ENUM.PHI_E_ABN)

# ===== ABN encoder test drive =====

# Limits
mc_eval.write_register(TMC4671.REG.PID_TORQUE_FLUX_LIMITS, 2000)

# PI settings for velocity regulator
mc_eval.write_register(TMC4671.REG.PID_VELOCITY_P_VELOCITY_I, 400 << 16 | 100 << 0)

# Velocity Feedback selection
mc_eval.write_register(TMC4671.REG.VELOCITY_SELECTION, TMC4671.ENUM.VELOCITY_PHI_M_ABN)

# Switch to velocity mode
mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_VELOCITY)

# Rotate right
print("Rotate right!")
mc_eval.write_register(TMC4671.REG.PID_VELOCITY_TARGET, 500)
time.sleep(3)

# Stop
print("Stop!")
mc_eval.write_register(TMC4671.REG.PID_VELOCITY_TARGET, 0)
time.sleep(1)

# Switch to stop mode
mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_STOPPED)

59 changes: 59 additions & 0 deletions examples/evalboards/TMC4671/TMC4671_eval_TMC6100_eval_BLDC_README.md
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# Setup

## Hardware

```
|-----------------------------------------------------|
| |
| |---------------------------------------------| |
| | | |
| | | |
+---------------+ +----------|-|--+ +---------------+ | |
| | | | | | | | |----------------| |
| | | | | | | | | | |
| | | | | | | | +-|-----------------+
| | | | | | | +-|--+| |
| | | | | | | | || |
| | | | | --------| | || |---
| | | | | | | || |
| | | | | | +----+| |
| | | | | | TMCS-28-5-1024-AT01 +-------------------+
| | | | | | QBL4208-61-04-013-DS
| | | | | |
| | | | | |
+---------------+ +---------------+ +---------------+
Landungsbruecke TMC-4761-EVAL TMC6100-EVAL
```

## Wiring

### Motor

| Cable Color | TMC6100 |
|-------------|---------|
| Black | U |
| Red | V |
| Yellow | W |

### ABN Encoder

| Cable Color | TMC4671 |
|-------------|---------|
| Red | +5V |
| Black | GND |
| Withe | ENC1_A |
| Green | ENC1_B |
| Yellow | ENC1_N |

### Digital Hall

| Cable Color | TMC4671 |
|-------------|---------|
| Red | +5V |
| Black | GND |
| Blue | HALL_UX |
| Green | HALL_V |
| Withe | HALL_WY |

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