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Examples: Some updates to the TMC4671 + TMC6100 eval system examples
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103 changes: 103 additions & 0 deletions
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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 | ||
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| with ConnectionManager().connect() as my_interface: | ||
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| # 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) | ||
|
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| # Configure TMC6100 pwm for use with TMC4671 (disable singleline) | ||
| drv_eval.write_register_field(TMC6100.FIELD.SINGLELINE, 0) | ||
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| # Configure TMC4671 for a BLDC motor with ABN-Encoder | ||
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| # Switch to stopped mode | ||
| mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_STOPPED) | ||
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| # 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) | ||
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| # 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)) | ||
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| # 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) | ||
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| # Limits | ||
| mc_eval.write_register(TMC4671.REG.PID_TORQUE_FLUX_LIMITS, 1000) | ||
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| # 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) | ||
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| # 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") | ||
|
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| # Commutation Feedback selection | ||
| mc_eval.write_register(TMC4671.REG.PHI_E_SELECTION, TMC4671.ENUM.PHI_E_ABN) | ||
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| # ===== ABN encoder test drive ===== | ||
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| # Limits | ||
| mc_eval.write_register(TMC4671.REG.PID_TORQUE_FLUX_LIMITS, 2000) | ||
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| # PI settings for velocity regulator | ||
| mc_eval.write_register(TMC4671.REG.PID_VELOCITY_P_VELOCITY_I, 400 << 16 | 100 << 0) | ||
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| # Velocity Feedback selection | ||
| mc_eval.write_register(TMC4671.REG.VELOCITY_SELECTION, TMC4671.ENUM.VELOCITY_PHI_M_ABN) | ||
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| # Switch to velocity mode | ||
| mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_VELOCITY) | ||
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| # Rotate right | ||
| print("Rotate right!") | ||
| mc_eval.write_register(TMC4671.REG.PID_VELOCITY_TARGET, 500) | ||
| time.sleep(3) | ||
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| # Stop | ||
| print("Stop!") | ||
| mc_eval.write_register(TMC4671.REG.PID_VELOCITY_TARGET, 0) | ||
| time.sleep(1) | ||
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| # Switch to stop mode | ||
| mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_STOPPED) | ||
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59
examples/evalboards/TMC4671/TMC4671_eval_TMC6100_eval_BLDC_README.md
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| # Setup | ||
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| ## Hardware | ||
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| ``` | ||
| |-----------------------------------------------------| | ||
| | | | ||
| | |---------------------------------------------| | | ||
| | | | | | ||
| | | | | | ||
| +---------------+ +----------|-|--+ +---------------+ | | | ||
| | | | | | | | | |----------------| | | ||
| | | | | | | | | | | | | ||
| | | | | | | | | +-|-----------------+ | ||
| | | | | | | | +-|--+| | | ||
| | | | | | | | | || | | ||
| | | | | | --------| | || |--- | ||
| | | | | | | | || | | ||
| | | | | | | +----+| | | ||
| | | | | | | TMCS-28-5-1024-AT01 +-------------------+ | ||
| | | | | | | QBL4208-61-04-013-DS | ||
| | | | | | | | ||
| | | | | | | | ||
| +---------------+ +---------------+ +---------------+ | ||
| Landungsbruecke TMC-4761-EVAL TMC6100-EVAL | ||
| ``` | ||
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| ## Wiring | ||
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| ### Motor | ||
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| | Cable Color | TMC6100 | | ||
| |-------------|---------| | ||
| | Black | U | | ||
| | Red | V | | ||
| | Yellow | W | | ||
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| ### ABN Encoder | ||
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| | Cable Color | TMC4671 | | ||
| |-------------|---------| | ||
| | Red | +5V | | ||
| | Black | GND | | ||
| | Withe | ENC1_A | | ||
| | Green | ENC1_B | | ||
| | Yellow | ENC1_N | | ||
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| ### Digital Hall | ||
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| | Cable Color | TMC4671 | | ||
| |-------------|---------| | ||
| | Red | +5V | | ||
| | Black | GND | | ||
| | Blue | HALL_UX | | ||
| | Green | HALL_V | | ||
| | Withe | HALL_WY | | ||
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examples/evalboards/TMC4671/TMC4671_eval_TMC6100_eval_BLDC_digital_hall_velocity.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| import time | ||
| import statistics | ||
| from pytrinamic.connections import ConnectionManager | ||
| from pytrinamic.evalboards import TMC4671_eval, TMC6100_eval | ||
| from pytrinamic.ic import TMC4671, TMC6100 | ||
|
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||
|
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| with ConnectionManager().connect() as my_interface: | ||
|
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| # 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) | ||
|
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| # Configure TMC6100 pwm for use with TMC4671 (disable singleline) | ||
| drv_eval.write_register_field(TMC6100.FIELD.SINGLELINE, 0) | ||
|
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| # Configure TMC4671 for a BLDC motor with digital hall | ||
|
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| # 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) | ||
|
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| # 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)) | ||
|
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| # Limits | ||
| mc_eval.write_register(TMC4671.REG.PID_TORQUE_FLUX_LIMITS, 1000) | ||
|
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| # 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) | ||
|
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| # hall settings | ||
| mc_eval.write_register_field(TMC4671.FIELD.HALL_DIRECTION, 1) | ||
| mc_eval.write_register_field(TMC4671.FIELD.HALL_PHI_E_OFFSET, 9500) | ||
|
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| # Commutation Feedback selection | ||
| mc_eval.write_register(TMC4671.REG.PHI_E_SELECTION, TMC4671.ENUM.PHI_E_HALL) | ||
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| # ===== Digital hall test drive ===== | ||
|
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| # Limits | ||
| mc_eval.write_register(TMC4671.REG.PID_TORQUE_FLUX_LIMITS, 2000) | ||
|
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| # PI settings for velocity regulator | ||
| mc_eval.write_register(TMC4671.REG.PID_VELOCITY_P_VELOCITY_I, 400 << 16 | 100 << 0) | ||
|
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| # Velocity Feedback selection | ||
| mc_eval.write_register(TMC4671.REG.VELOCITY_SELECTION, TMC4671.ENUM.VELOCITY_PHI_M_HAL) | ||
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| # Switch to velocity mode | ||
| mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_VELOCITY) | ||
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| # Rotate right | ||
| print("Rotate right!") | ||
| mc_eval.write_register(TMC4671.REG.PID_VELOCITY_TARGET, 500) | ||
| time.sleep(3) | ||
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| # Stop | ||
| print("Stop!") | ||
| mc_eval.write_register(TMC4671.REG.PID_VELOCITY_TARGET, 0) | ||
| time.sleep(1) | ||
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| # Switch to stop mode | ||
| mc_eval.write_register(TMC4671.REG.MODE_RAMP_MODE_MOTION, TMC4671.ENUM.MOTION_MODE_STOPPED) |
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