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Micropython TMC2130 control script for a simple variable speed turntable, used on an ESP32. Docs for registry values at https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
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| import machine | |
| from machine import Pin, SPI, PWM, ADC | |
| import time | |
| import struct | |
| import sys | |
| # for use with TMC2130 | |
| led = Pin(13, Pin.OUT) | |
| enable = Pin(32, Pin.OUT) | |
| switch = Pin(33, Pin.IN, Pin.PULL_UP) | |
| cs = Pin(4, Pin.OUT) | |
| cs.value(1) | |
| step = PWM(Pin(14)) | |
| spi = SPI(-1,baudrate=100000,polarity=1,phase=1,firstbit=SPI.MSB, sck=Pin(5, Pin.OUT), mosi=Pin(18, Pin.OUT), miso=Pin(19, Pin.IN)) | |
| speed = ADC(Pin(36)) | |
| speed.atten(ADC.ATTN_11DB) | |
| speed.width(ADC.WIDTH_10BIT) | |
| # /2 because dedge enabled | |
| RPS = 51200/2 | |
| WRITE_FLAG = 0x80 #write flag | |
| READ_FLAG = 0x00 #read flag | |
| REG_GCONF = 0x00 | |
| REG_GSTAT = 0x01 | |
| REG_IHOLD_IRUN = 0x10 | |
| REG_CHOPCONF = 0x6C | |
| REG_COOLCONF = 0x6D | |
| REG_DCCTRL = 0x6E | |
| REG_DRVSTATUS = 0x6F | |
| def pack_data(data,fmt='>L'): | |
| pb = struct.pack(fmt,data) | |
| buf = bytearray(pb) | |
| return buf | |
| def tmc_write(cmd, data): | |
| cs.value(0) | |
| cmdpack = pack_data(cmd,'B') | |
| datapack = pack_data(data,'>L') | |
| c = spi.write(cmdpack) | |
| s = spi.write(datapack) | |
| cs.value(1) | |
| return s | |
| def tmc_read(addr): | |
| cs.value(0) | |
| tmc_write(addr,0x00) | |
| s = spi.write(pack_data(addr)) | |
| buf = struct.unpack('>L',spi.read(4,0x00)) | |
| cs.value(1) | |
| return (s,buf) | |
| def setup(): | |
| spi.init(baudrate=100000) | |
| enable.value(1) | |
| #voltage on AIN is current reference | |
| s = tmc_write(WRITE_FLAG+REG_GCONF, 0x00000001) | |
| print(parse_status(s)) | |
| #IHOLD=0x10, IRUN=0x10 | |
| s = tmc_write(WRITE_FLAG+REG_IHOLD_IRUN, 0x00001010) | |
| print(parse_status(s)) | |
| #native 256 microsteps, MRES=0, TBL=1=24, TOFF=8 | |
| s = tmc_write(WRITE_FLAG+REG_CHOPCONF, 0x20008008) | |
| #64 microsteps, MRES=0, TBL=1=24, TOFF=8 | |
| #s = tmc_write(WRITE_FLAG+REG_CHOPCONF, 0x02008008) | |
| #1 microsteps, MRES=0, TBL=1=24, TOFF=8 | |
| #s = tmc_write(WRITE_FLAG+REG_CHOPCONF, 0x13008008) | |
| print(parse_status(s)) | |
| def flash(num): | |
| #esp32 doesn't have lots of fancy LEDs on the board | |
| #connect some LEDs later to show externally | |
| for i in range(num): | |
| led.value(1) | |
| time.sleep(.250) | |
| led.value(0) | |
| time.sleep(.250) | |
| def error(num,e): | |
| while True: | |
| for i in range(num): | |
| led.value(1) | |
| time.sleep(.125) | |
| led.value(0) | |
| time.sleep(.125) | |
| print(e) | |
| sys.print_exception(e) | |
| time.sleep(4.000) | |
| def parse_status(s): | |
| if s: | |
| if (s & 0x01): | |
| return("reset") | |
| elif (s & 0x02): | |
| return("error") | |
| elif (s & 0x03): | |
| return("sg2") | |
| elif (s & 0x04): | |
| return("standstill") | |
| else: | |
| return(s) | |
| else: | |
| return s | |
| def speedsel(val): | |
| if val > 50: | |
| if val < 200: | |
| # 6RPM | |
| return int(RPS/10) | |
| elif val < 400: | |
| # 12RPM | |
| return int(RPS/5) | |
| elif val < 600: | |
| #60RPM | |
| return int(RPS) | |
| else: | |
| #120RPM | |
| return int(RPS*2) | |
| else: | |
| return 1 | |
| def run(): | |
| try: | |
| print("enabling") | |
| enable.value(0) | |
| s, data = tmc_read(REG_GSTAT) | |
| goutput = "REG_GSTAT: "+ str(data[0]) + " " + str(parse_status(data[0])) | |
| print(goutput) | |
| s, data = tmc_read(REG_GCONF) | |
| coutput = "REG_GCONF: "+ str(data[0]) + " " + str(parse_status(data[0])) | |
| print(coutput) | |
| s, data = tmc_read(REG_DRVSTATUS) | |
| doutput = "DRVSTATUS: "+ str(data[0]) + " " + str(parse_status(data[0])) | |
| print(doutput) | |
| print(speed.read()) | |
| revs = speedsel(speed.read()) | |
| step.init(freq=revs) | |
| while revs > 1: | |
| if revs is not speedsel(speed.read()): | |
| revs = speedsel(speed.read()) | |
| step.freq(revs) | |
| time.sleep(0.25) | |
| print(speed.read()) | |
| step.deinit() | |
| enable.value(1) | |
| print("disabling") | |
| except Exception as e: | |
| enable.value(1) | |
| error(5,e) | |
| def wait(): | |
| flash(4) | |
| while True: | |
| if not switch.value(): | |
| if speedsel(speed.read()) > 1: | |
| run() | |
| time.sleep(.5) | |
| else: | |
| print('speed at idle') | |
| else: | |
| print("switch off") | |
| flash(1) | |
| if __name__ == "__main__": | |
| try: | |
| setup() | |
| wait() | |
| except Exception as e: | |
| enable.value(1) | |
| error(3,e) |
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