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TMC5160: Added TMC5160 support * Added example code for tmc5160 and smoke test * Update go.mod * Updated mod file * Cleaned up commented out code and updated readme. * ran go fmt * Fixed setrampspeed func * Removed spi1 pin setup in example.go. Renamed SPIComm to spicomm.go * Removed unused test file * Removed commented line
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| // Connects to SPI1 on a RP2040 (Pico) | ||
| package main | ||
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| import ( | ||
| "machine" | ||
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| "tinygo.org/x/drivers/tmc5160" | ||
| ) | ||
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| func main() { | ||
| // Step 1. Setup your protocol. SPI setup shown below | ||
| spi := machine.SPI1 | ||
| spi.Configure(machine.SPIConfig{ | ||
| Frequency: 12000000, // Upto 12 MHZ is pretty stable. Reduce to 5 or 6 Mhz if you are experiencing issues | ||
| Mode: 3, | ||
| LSBFirst: false, | ||
| }) | ||
| // Step 2. Set up all associated Pins | ||
| csPin0 := machine.GPIO13 | ||
| csPin0.Configure(machine.PinConfig{Mode: machine.PinOutput}) | ||
| enn0 := machine.GPIO18 | ||
| enn0.Configure(machine.PinConfig{Mode: machine.PinOutput}) | ||
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| // csPins is a map of all chip select pins in a multi driver setup. | ||
| //Only one pin csPin0 mapped to "0"is shown in this example, but add more mappings as required | ||
| csPins := map[uint8]machine.Pin{0: csPin0} | ||
| //bind csPin to driverAdddress | ||
| driverAddress := uint8(0) // Let's assume we are working with driver at address 0x01 | ||
| // Step 3. Bind the communication interface to the protocol | ||
| comm := tmc5160.NewSPIComm(*spi, csPins) | ||
| // Step 4. Define your stepper like this below | ||
| //stepper := tmc5160.NewStepper(angle , gearRatio vSupply rCoil , lCoil , iPeak , rSense , mSteps, fclk ) | ||
| stepper := tmc5160.NewDefaultStepper() // Default Stepper should be used only for testing. | ||
| // Step 5. Instantiate your driver | ||
| driver := tmc5160.NewDriver( | ||
| comm, | ||
| driverAddress, | ||
| enn0, | ||
| stepper) | ||
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| // Setting and getting mode | ||
| rampMode := tmc5160.NewRAMPMODE(comm, driverAddress) | ||
| err := rampMode.SetMode(tmc5160.PositioningMode) | ||
| if err != nil { | ||
| return | ||
| } | ||
| mode, err := rampMode.GetMode() | ||
| if err != nil { | ||
| println("Error getting mode:", err) | ||
| } else { | ||
| println("Current Mode:", mode) | ||
| } | ||
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| // Read GCONF register | ||
| GCONF := tmc5160.NewGCONF() | ||
| gconfVal, err := driver.ReadRegister(tmc5160.GCONF) | ||
| // Uppack the register to get all the bits and bytes of the register | ||
| GCONF.Unpack(gconfVal) | ||
| //E.g. MultiStepFlit is retrieved from the GCONF register | ||
| println("GCONF:MultiStepFlit:", GCONF.MultistepFilt) | ||
| } |
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| module tinygo.org/x/drivers | ||
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| go 1.18 | ||
| go 1.22.1 | ||
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| toolchain go1.23.1 | ||
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| require ( | ||
| github.com/eclipse/paho.mqtt.golang v1.2.0 | ||
| github.com/frankban/quicktest v1.10.2 | ||
| github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510 | ||
| github.com/orsinium-labs/tinymath v1.1.0 | ||
| github.com/soypat/natiu-mqtt v0.5.1 | ||
| golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d | ||
| golang.org/x/net v0.7.0 | ||
| tinygo.org/x/tinyfont v0.3.0 | ||
| tinygo.org/x/tinyterm v0.1.0 | ||
| ) | ||
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| require ( | ||
| github.com/google/go-cmp v0.5.2 // indirect | ||
| github.com/google/go-cmp v0.6.0 // indirect | ||
| github.com/kr/pretty v0.2.1 // indirect | ||
| github.com/kr/text v0.1.0 // indirect | ||
| golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543 // indirect | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,211 @@ | ||
| # TMC5160 Driver for Go (TinyGo) | ||
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| This repository provides a Go-based driver for the **TMC5160** stepper motor driver, implemented for both **SPI** and **UART** communication modes. The driver allows you to easily interface with the TMC5160 to configure and control stepper motors. | ||
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| ## Table of Contents | ||
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| - [Installation](#installation) | ||
| - [Communication Modes](#communication-modes) | ||
| - [SPI Mode](#spi-mode) | ||
| - [UART Mode](#uart-mode) | ||
| - [Usage Example](#usage-example) | ||
| - [Setting and Getting Modes](#setting-and-getting-modes) | ||
| - [Reading and Writing Registers](#reading-and-writing-registers) | ||
| - [API Reference](#api-reference) | ||
| - [License](#license) | ||
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| ## Installation | ||
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| To use the TMC5160 driver, you'll need to have **TinyGo** installed. You can install TinyGo by following the [official installation guide](https://tinygo.org/getting-started/). | ||
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| ### Dependencies | ||
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| - **machine**: To interface with hardware on platforms like Raspberry Pi, STM32, etc. | ||
| - **TinyGo**: A Go compiler for embedded systems. | ||
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| Add the module | ||
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| ```bash | ||
| import "tinygo.org/x/drivers/tmc5160" | ||
| ``` | ||
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| ### Communication Modes | ||
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| The TMC5160 supports two communication modes for controlling the motor: | ||
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| **SPI Mode** | ||
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| To communicate with the TMC5160 in SPI mode, you'll need to configure the SPI bus and the chip-select (CS) pin. This allows full-speed communication between your microcontroller and the TMC5160. | ||
| SPI Setup | ||
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| In SPI mode, you must configure the SPI interface on your microcontroller. Here's how to set up SPI communication for the TMC5160. | ||
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| ```go | ||
| spi := machine.SPI1 | ||
| csPin := machine.GPIO13 | ||
| spi.Configure(machine.SPIConfig{ | ||
| SCK: machine.GPIO10, | ||
| SDI: machine.GPIO11, | ||
| SDO: machine.GPIO12, | ||
| Frequency: 5000000, | ||
| Mode: 3, | ||
| LSBFirst: false, | ||
| }) | ||
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| csPin.Configure(machine.PinConfig{Mode: machine.PinOutput}) | ||
| ``` | ||
| **Sending Commands via SPI** | ||
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| The driver supports reading and writing registers using the SPIComm interface, which is initialized with the configured SPI bus and CS pins | ||
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| ```go | ||
| comm := tmc5160.NewSPIComm(*spi, csPins) | ||
| driver := tmc5160.NewTMC5160(comm, driverIndex) | ||
| driver.WriteRegister(tmc5160.GCONF, value) | ||
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| ``` | ||
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| **UART Mode** | ||
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| Alternatively, you can use UART mode to communicate with the TMC5160. UART mode is useful for cases where SPI is not available or when the TMC5160 is used in multi-driver configurations with limited SPI pins. | ||
| UART Setup | ||
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| In UART mode, you will need to configure the UART interface with the appropriate baud rate and settings: | ||
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| ```go | ||
| uart := machine.UART0 | ||
| uart.Configure(machine.UARTConfig{ | ||
| BaudRate: 115200, | ||
| }) | ||
| ``` | ||
| #### Sending Commands via UART | ||
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| The UART communication is handled through the UARTComm struct, which wraps the UART interface. | ||
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| ```go | ||
| comm := tmc5160.NewUARTComm(uart, 0x01) | ||
| driver := tmc5160.NewTMC5160(comm, 0) | ||
| driver.WriteRegister(tmc5160.GCONF, 0x01) | ||
| ``` | ||
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| ## Usage Example | ||
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| Here’s a simple example of how to use the TMC5160 driver with SPI and UART modes: | ||
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| ```aiignore | ||
| // Connects to SPI1 on a RP2040 (Pico) | ||
| package main | ||
| import ( | ||
| "machine" | ||
| "tinygo.org/x/drivers/tmc5160" | ||
| ) | ||
| func main() { | ||
| // Step 1. Setup your protocol. SPI setup shown below | ||
| spi := machine.SPI1 | ||
| spi.Configure(machine.SPIConfig{ | ||
| SCK: machine.GPIO10, | ||
| SDI: machine.GPIO11, | ||
| SDO: machine.GPIO12, | ||
| Frequency: 12000000, // Upto 12 MHZ is pretty stable. Reduce to 5 or 6 Mhz if you are experiencing issues | ||
| Mode: 3, | ||
| LSBFirst: false, | ||
| }) | ||
| // Step 2. Set up all associated Pins | ||
| csPin0 := machine.GPIO13 | ||
| csPin0.Configure(machine.PinConfig{Mode: machine.PinOutput}) | ||
| enn0 := machine.GPIO18 | ||
| enn0.Configure(machine.PinConfig{Mode: machine.PinOutput}) | ||
| // csPins is a map of all chip select pins in a multi driver setup. | ||
| //Only one pin csPin0 mapped to "0"is shown in this example, but add more mappings as required | ||
| csPins := map[uint8]machine.Pin{0: csPin0} | ||
| //bind csPin to driverAdddress | ||
| driverAddress := uint8(0) // Let's assume we are working with driver at address 0x01 | ||
| // Step 3. Bind the communication interface to the protocol | ||
| comm := tmc5160.NewSPIComm(*spi, csPins) | ||
| // Step 4. Define your stepper like this below | ||
| //stepper := tmc5160.NewStepper(angle , gearRatio vSupply rCoil , lCoil , iPeak , rSense , mSteps, fclk ) | ||
| stepper := tmc5160.NewDefaultStepper() // Default Stepper should be used only for testing. | ||
| // Step 5. Instantiate your driver | ||
| driver := tmc5160.NewDriver( | ||
| comm, | ||
| driverAddress, | ||
| enn0, | ||
| stepper) | ||
| // Setting and getting mode | ||
| rampMode := tmc5160.NewRAMPMODE(comm, driverAddress) | ||
| err := rampMode.SetMode(tmc5160.PositioningMode) | ||
| if err != nil { | ||
| return | ||
| } | ||
| mode, err := rampMode.GetMode() | ||
| if err != nil { | ||
| println("Error getting mode:", err) | ||
| } else { | ||
| println("Current Mode:", mode) | ||
| } | ||
| // Read GCONF register | ||
| GCONF := tmc5160.NewGCONF() | ||
| gconfVal, err := driver.ReadRegister(tmc5160.GCONF) | ||
| // Uppack the register to get all the bits and bytes of the register | ||
| GCONF.Unpack(gconfVal) | ||
| //E.g. MultiStepFlit is retrieved from the GCONF register | ||
| println("GCONF:MultiStepFlit:", GCONF.MultistepFilt) | ||
| } | ||
| ``` | ||
| ## Reading and Writing Registers | ||
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| You can easily read and write registers using the WriteRegister and ReadRegister methods: | ||
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| ```aiignore | ||
| // Write a value to a register | ||
| err := driver.WriteRegister(tmc5160.GCONF, 0x01) | ||
| if err != nil { | ||
| fmt.Println("Error writing register:", err) | ||
| } | ||
| // Read a register | ||
| value, err := driver.ReadRegister(tmc5160.GCONF) | ||
| if err != nil { | ||
| fmt.Println("Error reading register:", err) | ||
| } else { | ||
| fmt.Println("Read value from GCONF:", value) | ||
| } | ||
| ``` | ||
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| ## API Reference | ||
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| NewSPIComm(spi machine.SPI, csPins map[uint8]machine.Pin) *SPIComm | ||
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| Creates a new SPI communication interface for the TMC5160. | ||
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| NewUARTComm(uart machine.UART, address uint8) *UARTComm | ||
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| Creates a new UART communication interface for the TMC5160. | ||
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| NewTMC5160(comm RegisterComm, address uint8) *TMC5160 | ||
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| Creates a new instance of the TMC5160 driver. | ||
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| WriteRegister(register uint8, value uint32) error | ||
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| Writes a value to the specified register. | ||
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| ReadRegister(register uint8) (uint32, error) | ||
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| Reads a value from the specified register. | ||
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| ## License | ||
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| This project is licensed under the MIT License | ||
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