added register definitions of TMC2240 (not tested) #95

src/tmc_driver/_tmc_stepperdriver.py

@@ -12,7 +12,7 @@
 
 import logging
 from ._tmc_gpio_board import Gpio, GpioMode, Board, BOARD, tmc_gpio
-from .motion_control._tmc_mc import TmcMotionControl, MovementAbsRel, MovementPhase, StopMode
+from .motion_control._tmc_mc import TmcMotionControl, MovementAbsRel, MovementPhase, StopMode, Direction
 from .enable_control._tmc_ec import TmcEnableControl
 from .enable_control._tmc_ec_pin import TmcEnableControlPin
 from .motion_control._tmc_mc_step_dir import TmcMotionControlStepDir
@@ -39,11 +39,6 @@ class TmcStepperDriver:
 
 
 
-    from ._tmc_test import (
-        test_step
-    )
-
-
 # Constructor/Destructor
 # ----------------------------
     def __init__(self,
@@ -264,3 +259,12 @@ def run_to_position_steps(self, steps, movement_abs_rel:MovementAbsRel = None):
         """motioncontrol wrapper"""
         if self.tmc_mc is not None:
             self.tmc_mc.run_to_position_steps(steps, movement_abs_rel)
+
+
+# StepperDriver methods
+# ----------------------------
+    def test_step(self):
+        """test method"""
+        for _ in range(100):
+            self.tmc_mc.set_direction(Direction.CW)
+            self.tmc_mc.make_a_step()

src/tmc_driver/_tmc_test.py

@@ -1,189 +1 @@
-#pylint: disable=too-many-public-methods
-#pylint: disable=too-many-branches
-#pylint: disable=protected-access
-#pylint: disable=no-member
-#pylint: disable=bare-except
-#pylint: disable=duplicate-code
-"""
-Tmc2209 stepper driver test module
-"""
 
-import time
-from ._tmc_gpio_board import tmc_gpio, Gpio
-from ._tmc_logger import Loglevel
-from .motion_control._tmc_mc import MovementAbsRel, MovementPhase
-from .reg.bitfields import _tmc_220x_ioin as tmc_ioin_reg
-from .reg._tmc_220x_reg_addr import TmcRegAddr
-
-
-def test_step(self):
-    """test method"""
-    self.set_direction_pin(1)
-
-    for _ in range(100):
-        self._current_pos += 1
-        tmc_gpio.gpio_output(self._pin_step, Gpio.HIGH)
-        time.sleep(0.001)
-        tmc_gpio.gpio_output(self._pin_step, Gpio.LOW)
-        time.sleep(0.01)
-
-
-def test_pin(self, pin, ioin_reg_bp):
-    """tests one pin
-
-    this function checks the connection to a pin
-    by toggling it and reading the IOIN register
-    """
-    pin_ok = True
-
-    tmc_gpio.gpio_output(self.tmc_mc._pin_dir, Gpio.HIGH)
-    tmc_gpio.gpio_output(self.tmc_mc._pin_step, Gpio.HIGH)
-    tmc_gpio.gpio_output(self._pin_en, Gpio.HIGH)
-
-    ioin = self.read_ioin()
-    if not ioin.data >> ioin_reg_bp & 0x1:
-        pin_ok = False
-
-    tmc_gpio.gpio_output(pin, Gpio.LOW)
-    time.sleep(0.1)
-
-    ioin = self.read_ioin()
-    if ioin.data >> ioin_reg_bp & 0x1:
-        pin_ok = False
-
-    return pin_ok
-
-
-def test_dir_step_en(self):
-    """tests the EN, DIR and STEP pin
-
-    this sets the EN, DIR and STEP pin to HIGH, LOW and HIGH
-    and checks the IOIN Register of the TMC meanwhile
-    """
-    pin_dir_ok = self.test_pin(self.tmc_mc._pin_dir, tmc_ioin_reg.dir_bp)
-    pin_step_ok = self.test_pin(self.tmc_mc._pin_step, tmc_ioin_reg.step_bp)
-    pin_en_ok = self.test_pin(self._pin_en, tmc_ioin_reg.enn_bp)
-
-    self.set_motor_enabled(False)
-
-    self.tmc_logger.log("---")
-    if pin_dir_ok:
-        self.tmc_logger.log("Pin DIR: \tOK")
-    else:
-        self.tmc_logger.log("Pin DIR: \tnot OK")
-    if pin_step_ok:
-        self.tmc_logger.log("Pin STEP: \tOK")
-    else:
-        self.tmc_logger.log("Pin STEP: \tnot OK")
-    if pin_en_ok:
-        self.tmc_logger.log("Pin EN: \tOK")
-    else:
-        self.tmc_logger.log("Pin EN: \tnot OK")
-    self.tmc_logger.log("---")
-
-
-def test_com(self):
-    """test method"""
-    self.tmc_logger.log("---")
-    self.tmc_logger.log("TEST COM")
-    result = self.tmc_com.test_com(TmcRegAddr.IOIN)
-
-    snd = result[0]
-    rtn = result[1]
-
-    status = True
-
-    self.tmc_logger.log(f"length snd: {len(snd)}", Loglevel.DEBUG)
-    self.tmc_logger.log(f"length rtn: {len(rtn)}", Loglevel.DEBUG)
-
-
-    self.tmc_logger.log("complete messages:", Loglevel.DEBUG)
-    self.tmc_logger.log(str(snd.hex()), Loglevel.DEBUG)
-    self.tmc_logger.log(str(rtn.hex()), Loglevel.DEBUG)
-
-    self.tmc_logger.log("just the first 4 bytes:", Loglevel.DEBUG)
-    self.tmc_logger.log(str(snd[0:4].hex()), Loglevel.DEBUG)
-    self.tmc_logger.log(str(rtn[0:4].hex()), Loglevel.DEBUG)
-
-    if len(rtn)==12:
-        self.tmc_logger.log("""the Raspberry Pi received the sent
-                            bytes and the answer from the TMC""", Loglevel.DEBUG)
-    elif len(rtn)==4:
-        self.tmc_logger.log("the Raspberry Pi received only the sent bytes",
-                            Loglevel.ERROR)
-        status = False
-    elif len(rtn)==0:
-        self.tmc_logger.log("the Raspberry Pi did not receive anything",
-                            Loglevel.ERROR)
-        status = False
-    else:
-        self.tmc_logger.log(f"the Raspberry Pi received an unexpected amount of bytes: {len(rtn)}",
-                            Loglevel.ERROR)
-        status = False
-
-    if snd[0:4] == rtn[0:4]:
-        self.tmc_logger.log("""the Raspberry Pi received exactly the bytes it has send.
-                    the first 4 bytes are the same""", Loglevel.DEBUG)
-    else:
-        self.tmc_logger.log("""the Raspberry Pi did not received the bytes it has send.
-                    the first 4 bytes are different""", Loglevel.DEBUG)
-        status = False
-
-    self.tmc_logger.log("---")
-    if status:
-        self.tmc_logger.log("UART connection: OK", Loglevel.INFO)
-    else:
-        self.tmc_logger.log("UART connection: not OK", Loglevel.ERROR)
-
-    self.tmc_logger.log("---")
-    return status
-
-
-def test_stallguard_threshold(self, steps):
-    """test method for tuning stallguard threshold
-
-    run this function with your motor settings and your motor load
-    the function will determine the minimum stallguard results for each movement phase
-
-    Args:
-        steps (int):
-    """
-
-    self.tmc_logger.log("---", Loglevel.INFO)
-    self.tmc_logger.log("test_stallguard_threshold", Loglevel.INFO)
-
-    self.set_spreadcycle(0)
-
-    min_stallguard_result_accel = 511
-    min_stallguard_result_maxspeed = 511
-    min_stallguard_result_decel = 511
-
-    self.tmc_mc.run_to_position_steps_threaded(steps, MovementAbsRel.RELATIVE)
-
-
-    while self.tmc_mc.movement_phase != MovementPhase.STANDSTILL:
-        stallguard_result = self.get_stallguard_result()
-
-        self.tmc_logger.log(f"{self.tmc_mc.movement_phase} | {stallguard_result}",
-                    Loglevel.INFO)
-
-        if (self.tmc_mc.movement_phase == MovementPhase.ACCELERATING and
-            stallguard_result < min_stallguard_result_accel):
-            min_stallguard_result_accel = stallguard_result
-        if (self.tmc_mc.movement_phase == MovementPhase.MAXSPEED and
-            stallguard_result < min_stallguard_result_maxspeed):
-            min_stallguard_result_maxspeed = stallguard_result
-        if (self.tmc_mc.movement_phase == MovementPhase.DECELERATING and
-            stallguard_result < min_stallguard_result_decel):
-            min_stallguard_result_decel = stallguard_result
-
-    self.tmc_mc.wait_for_movement_finished_threaded()
-
-    self.tmc_logger.log("---", Loglevel.INFO)
-    self.tmc_logger.log(f"min StallGuard result during accel: {min_stallguard_result_accel}",
-                        Loglevel.INFO)
-    self.tmc_logger.log(f"min StallGuard result during maxspeed: {min_stallguard_result_maxspeed}",
-    Loglevel.INFO)
-    self.tmc_logger.log(f"min StallGuard result during decel: {min_stallguard_result_decel}",
-                        Loglevel.INFO)
-    self.tmc_logger.log("---", Loglevel.INFO)

src/tmc_driver/com/_tmc_com.py

@@ -9,8 +9,8 @@
 import time
 import struct
 from typing import List
-from ..reg._tmc_220x_reg_addr import TmcRegAddr
-from ..reg._tmc_gstat import GStat
+from ..reg._tmc_reg_addr import TmcRegAddr
+from ..reg.tmc220x._tmc_gstat import GStat
 from .._tmc_logger import TmcLogger, Loglevel
 
 

src/tmc_driver/enable_control/_tmc_ec_toff.py

@@ -4,7 +4,7 @@
 
 from ._tmc_ec import TmcEnableControl
 from ..com._tmc_com import TmcCom
-from ..reg._tmc_chopconf import ChopConf
+from ..reg.tmc220x._tmc_chopconf import ChopConf
 
 
 class TmcEnableControlToff(TmcEnableControl):

src/tmc_driver/motion_control/_tmc_mc_step_reg.py

@@ -8,7 +8,7 @@
 from ..com._tmc_com import TmcCom
 from .._tmc_logger import Loglevel
 from .._tmc_gpio_board import tmc_gpio, Gpio, GpioMode
-from ..reg._tmc_gconf import GConf
+from ..reg.tmc220x._tmc_gconf import GConf
 
 
 class TmcMotionControlStepReg(TmcMotionControlStepDir):

src/tmc_driver/motion_control/_tmc_mc_vactual.py

@@ -12,7 +12,7 @@
 from ..com._tmc_com import TmcCom
 from .._tmc_logger import Loglevel
 from .. import _tmc_math as tmc_math
-from ..reg._tmc_220x_reg_addr import TmcRegAddr
+from ..reg._tmc_reg_addr import TmcRegAddr
 
 
 class TmcMotionControlVActual(TmcMotionControl):

src/tmc_driver/reg/_tmc_reg.py

@@ -5,14 +5,13 @@
 """
 
 from .._tmc_logger import TmcLogger, Loglevel
-from ._tmc_220x_reg_addr import TmcRegAddr
 
 
 class TmcReg():
     """Register class"""
 
-    addr: TmcRegAddr
-    data: int
+    addr = None
+    data: int = None
 
 
     def deserialise(self, data:int):

src/tmc_driver/reg/_tmc_reg_addr.py

@@ -0,0 +1,10 @@
+"""
+this file contains the hexadecimal addresses of the different registers
+"""
+
+from enum import Enum
+
+
+class TmcRegAddr(Enum):
+    """Enum for the register addresses of the TMC"""
+    NONE    = 0x0

src/tmc_driver/reg/_tmc_chopconf.py → src/tmc_driver/reg/tmc220x/_tmc_chopconf.py

@@ -7,14 +7,13 @@
 
 import math
 from .bitfields import _tmc_220x_chopconf as bit
-from ._tmc_reg import *
+from ._tmc_reg_addr import *
+from .._tmc_reg import *
 
 
 class ChopConf(TmcReg):
     """Chopper Configuration register"""
 
-    data: int
-
     diss2vs: bool
     diss2g: bool
     dedge: bool

src/tmc_driver/reg/_tmc_drvstatus.py → src/tmc_driver/reg/tmc220x/_tmc_drvstatus.py

@@ -6,14 +6,13 @@
 """
 
 from .bitfields import _tmc_220x_drvstatus as bit
-from ._tmc_reg import *
+from ._tmc_reg_addr import *
+from .._tmc_reg import *
 
 
 class DrvStatus(TmcReg):
     """Driver Status register"""
 
-    data: int
-
     stst: bool      # standstill indicator
     stealth: bool   # StealthChop indicator
 

src/tmc_driver/reg/_tmc_gconf.py → src/tmc_driver/reg/tmc220x/_tmc_gconf.py

@@ -6,14 +6,13 @@
 """
 
 from .bitfields import _tmc_220x_gconf as bit
-from ._tmc_reg import *
+from ._tmc_reg_addr import *
+from .._tmc_reg import *
 
 
 class GConf(TmcReg):
     """General Configuration register"""
 
-    data: int
-
     i_scale_analog: bool
     internal_rsense: bool
     en_spreadcycle: bool